Ocean Engineering最新文献_第4页

Computational modelling of hydrodynamic loads on offshore monopiles in concurrent wave and current conditions 波浪和水流同时作用下近海单桩水动力荷载的计算模型

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-02-12 DOI: 10.1016/j.oceaneng.2026.124204

Ali Kareem Hilo , Felix Nieto , Gabriel Barajas , Javier L. Lara , Byoung-Kwon Ahn , Antonio J. Alvarez , Hrvoje Kozmar

Offshore monopile wind-turbine systems face significant design challenges due to complex environmental loading conditions, including wind, waves, current, and their intricate coupling effects. Computational Fluid Dynamics (CFD) simulations of complex nonlinear wave-structure interactions have become essential for understanding offshore systems. However, high-fidelity (HF) CFD analyses are computationally demanding, making it impractical to use them alone for extensive parametric studies. Surrogate models provide a promising alternative, as they can deliver efficient and accurate predictions once trained. This study presents a methodology for combining HF computational models and a data-driven approach to assess hydrodynamic loads on an offshore monopile subjected to waves and current. A three-dimensional numerical wave tank was developed in the OpenFOAM environment and validated using experimental and theoretical data. This model accurately accounts for complex wave-current interactions and the resulting force variations on the monopile. The obtained results indicate that the hydrodynamic forces on the monopile are significantly affected when waves and current act concurrently. To reduce the extensive computational HF simulations, a Gaussian Process Regression (GPR)-based surrogate model was developed using HF simulations sampled via Latin Hypercube Sampling. The surrogate model was trained to predict peak inline and transverse forces for various wave heights, frequencies, and current velocities. The GPR model exhibits high accuracy with

R^{2}

= 0.98 (coefficient of determination) and MAE = 0.03 (Mean Absolute Error) for the inline force, and

R^{2}

= 0.94 and MAE = 0.01 for the transverse force, thus demonstrating its ability to accurately assess complex nonlinear responses, while reducing the computational demand significantly. These findings provide a practical and applicable solution for offshore structural design, especially during early-stage assessments or probabilistic load evaluations.

由于风、浪、流等复杂的环境载荷条件及其复杂的耦合效应，海上单桩风力发电系统面临着巨大的设计挑战。计算流体动力学（CFD）模拟复杂的非线性波结构相互作用已经成为理解海上系统的必要手段。然而，高保真（HF） CFD分析在计算上要求很高，因此单独使用它们进行广泛的参数研究是不切实际的。代理模型提供了一个很有希望的替代方案，因为它们可以提供有效和准确的预测，一旦训练。本研究提出了一种结合高频计算模型和数据驱动方法的方法，以评估受波浪和水流影响的海上单桩的水动力载荷。在OpenFOAM环境下开发了三维数值波槽，并用实验和理论数据进行了验证。该模型准确地解释了复杂的波流相互作用和由此产生的单桩力变化。结果表明，波浪和水流同时作用对单桩的水动力影响较大。为了减少大量的高频模拟计算，利用拉丁超立方采样的高频模拟，建立了基于高斯过程回归（GPR）的代理模型。代理模型经过训练，可以预测不同波高、频率和流速下的峰值内线和横向力。GPR模型具有较高的精度，直线力的决定系数R2 = 0.98，平均绝对误差MAE = 0.03，横向力的平均绝对误差R2 = 0.94，平均绝对误差MAE = 0.01，表明该模型能够准确评估复杂非线性响应，同时显著减少了计算量。这些发现为海上结构设计提供了实用的解决方案，特别是在早期评估或概率载荷评估中。

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引用次数: 0

Numerical analysis of post-cyclic ultimate bearing capacity of helical anchors in clay 黏土中螺旋锚杆循环后极限承载力数值分析

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-02-12 DOI: 10.1016/j.oceaneng.2026.124583

Tingran Zhang , Le Wang , Libo Chen , Wenjun Lu , Dongxue Hao , Wei Shao , Chunhui Zhang , Yinghui Tian

Helical anchors, serving as foundations for floating offshore structures on clay seabeds, experience cyclic loading that significantly impacts their ultimate bearing capacity. However, accurately assessing this post-cyclic loading capacity remains challenging. To address this, a 3D finite element model incorporating the E-R model is developed to investigate the effects of cyclic loading patterns and soil parameters of clay on the ultimate bearing capacity. The underlying mechanisms driving capacity changes are explored through the lens of soil strength evolution and failure mechanisms. Results indicate that increases in cyclic amplitude markedly reduce the horizontal bearing capacity by up to 43% at 0.5q_ref. Additionally, greater horizontal loading angles and higher soil sensitivity diminish capacity, whereas the capacity reduction by only 4% as the loading period increases from 2s to 6s. This reduction is associated with localized soil strength degradation near the shaft and helix edge, as well as changes in failure mechanisms under cyclic loading, both of which contribute to the observed decrease in bearing capacity. Consequently, a predictive expression for estimating post-cyclic ultimate bearing capacity is developed through a polynomial nonlinear least square fitting, providing a practical tool for design optimization and enhanced industrial guidance.

螺旋锚作为海上浮式结构的基础，在粘土海床上，其承受的循环载荷对其极限承载能力有显著影响。然而，准确评估这种循环后载荷能力仍然具有挑战性。为了解决这一问题，建立了一个结合E-R模型的三维有限元模型，研究了循环加载模式和粘土参数对极限承载力的影响。从土体强度演化和破坏机制的角度探讨了承载力变化的潜在机制。结果表明，循环幅值的增加显著降低了0.5qref的水平承载力，降幅达43%。水平加载角度越大，土体敏感性越高，承载力降低幅度越大，加载周期从2s增加到6s时，承载力降低幅度仅为4%。这种减少与轴和螺旋边缘附近的局部土强度退化以及循环荷载下破坏机制的变化有关，这两者都有助于观察到承载力的下降。因此，通过多项式非线性最小二乘拟合建立了估算后循环极限承载力的预测表达式，为设计优化和增强工业指导提供了实用工具。

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引用次数: 0

Nonparametric prediction of ship maneuvering motions based on the heterogeneous integration model 基于异构积分模型的船舶机动运动非参数预测

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-02-12 DOI: 10.1016/j.oceaneng.2026.124635

Xinwei Zhou , Lijia Chen , Kezhong Liu , Yang Zhou

In maritime engineering and intelligent ship navigation, single nonparametric models fail to simultaneously ensure prediction accuracy and cross-condition robustness under complex sea states. To address this limitation, this study proposes a heterogeneous integration-based method for predicting ship maneuvering motions. Specifically, the method combines a fully connected neural basis expansion analysis with exogenous variables network with a bidirectional long short-term memory time-series network and employs the non-dominated sorting genetic algorithm-II to adaptively determine the sub-model weights considering mean squared error (MSE) and mean absolute error (MAE) as dual optimization objectives. Additionally, an autoregressive moving average-based residual modeling module is activated using segmented Ljung–Box Q tests for on-demand error correction. Case studies based on SR108 step-response rudder tests and free-sailing simulations of the KVLCC2 tanker demonstrate that the proposed heterogeneous integration-based model achieves a high prediction accuracy for multi-degree-of-freedom (DOF) maneuvering motions and significantly reduces the residual autocorrelation. Specifically, the prediction accuracy is improved by an average of 31.2% and 40.1% respectively in terms of the root MSE and MAE across four DOFs in the free-sailing simulations. Overall, relative to single-model baselines and other benchmark methods, the proposed method demonstrates superior cross-condition robustness and adaptive error control capability.

在海事工程和智能船舶导航中，单一的非参数模型无法同时保证复杂海况下的预测精度和交叉条件鲁棒性。为了解决这一限制，本研究提出了一种基于异构集成的船舶机动运动预测方法。具体而言，该方法将带外生变量的全连接神经基展开分析网络与双向长短期记忆时间序列网络相结合，并以均方误差（MSE）和平均绝对误差（MAE）为双优化目标，采用非支配排序遗传算法- ii自适应确定子模型权重。此外，使用分段Ljung-Box Q测试激活了基于自回归移动平均的残差建模模块，用于按需纠错。基于SR108阶跃响应舵试验和KVLCC2油轮自由航行仿真的实例研究表明，基于异构集成的模型对多自由度（DOF）机动运动具有较高的预测精度，并显著降低了残差自相关。其中，在自由航行模拟中，四自由度的根MSE和MAE的预测精度分别平均提高了31.2%和40.1%。总体而言，相对于单模型基线和其他基准方法，该方法具有较好的跨条件鲁棒性和自适应误差控制能力。

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引用次数: 0

Effect of variable stiffness characteristics on the propulsion performance of biomimetic caudal fin flexible plates 变刚度特性对仿生尾鳍柔性板推进性能的影响

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-02-11 DOI: 10.1016/j.oceaneng.2026.124486

Chuanzhen Bai, Peng Liu, Yuhua Lyu, Siqi Wang

The caudal fin is a major propulsive organ in most fish, and its flexible oscillatory motion offers high efficiency, good maneuverability, and low noise. In current studies on caudal-fin propulsion performance, flexible deformation is often prescribed through active deformation patterns or obtained from fluid–structure interaction simulations assuming a single uniform stiffness, which makes it difficult to capture the true passive deformation of real caudal fins with non-uniform stiffness. In this study, the caudal fin is simplified as a rectangular flexible plate. Its motion is decomposed into macroscopic periodic oscillation and passive deformation induced by fluid loading, and this process is simulated using a two-way fluid–structure interaction algorithm. The results show that plates with medium stiffness produce the highest mean thrust, whereas plates with lower stiffness achieve higher propulsion efficiency. A segmented non-uniform stiffness distribution provides more balanced hydrodynamic performance, achieving high thrust while maintaining excellent efficiency. This study clarifies how overall stiffness and spatial stiffness distribution influence thrust generation and propulsion efficiency. By appropriately adjusting global stiffness and its distribution, bio-inspired robotic fish can meet performance requirements in confined, high-maneuverability tasks and long-distance, high-efficiency cruising.

尾鳍是大多数鱼类的主要推进器官，其灵活的摆动运动具有效率高、机动性好、噪声低等优点。在目前的尾鳍推进性能研究中，通常通过主动变形模式来规定柔性变形，或者通过假设单一均匀刚度的流固耦合模拟来获得柔性变形，这使得难以捕捉非均匀刚度的真实尾鳍的真实被动变形。在本研究中，尾鳍被简化为一个矩形柔性板。将其运动分解为流体加载引起的宏观周期振荡和被动变形，并采用双向流固耦合算法对这一过程进行了模拟。结果表明，中等刚度板的平均推力最高，而较低刚度板的推进效率较高。分段的非均匀刚度分布提供了更平衡的流体动力性能，在保持优异效率的同时实现了高推力。本研究阐明了整体刚度和空间刚度分布对推力产生和推进效率的影响。通过适当调整整体刚度及其分布，仿生机器鱼可以满足密闭、高机动性任务和远距离、高效率巡航的性能要求。

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引用次数: 0

A partitioned coupling framework for occupant head injury assessment under water entry impact of a free-fall lifeboat 自由落体救生艇入水冲击下乘员头部损伤评估的分区耦合框架

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-02-11 DOI: 10.1016/j.oceaneng.2026.124559

Ningge Fan , Gong Chen , Shunhua Chen , Yingying Lin , Di Wang

During the water entry stage, a free-fall lifeboat experiences strong impact and complex two-phase flow, which exposes occupants to injury risk. Existing assessments often rely on combined acceleration response (CAR), a global evaluation standard, for quick screening. However, occupant head injuries during lifeboat impact with the water surface can be fatal, while CAR lacks the precision needed for head-specific assessment. To address this limitation, a partitioned coupling framework for accurate occupant head injury evaluation subjected to water entry impact of a free-fall lifeboat is developed. The fluid and lifeboat motion are solved utilizing a fluid-rigid body interaction manner, in which the fluid is discretized with the finite volume method (FVM). The occupant response is then computed with the dynamic explicit finite element method (FEM) with the aid of a one-way coupling strategy, which improves computational efficiency while maintaining high accuracy. A standardized data interface links the two solvers and transfers displacement and orientation histories from the matched-node region. Occupant head injury is evaluated with the head injury criterion (HIC) using an occupant-seat-restraint finite element model that includes a Hybrid III 50th percentile dummy, a shell seat, and a four-point safety belt. The accuracy and effectiveness of the developed framework are well demonstrated, including a comparison with the 35 mph sled test data. Finally, a parametric study is conducted to examine the influence of vertical velocity, horizontal velocity, and pitch angle on the dynamic response and head injury of an occupant subjected to water entry impact, where the results are compared with those computed via CAR. The proposed framework provides reliable head acceleration histories efficiently, enabling occupant head injury assessment over a wide range of water-entry conditions.

在入水阶段，自由落体救生艇经历了强烈的冲击和复杂的两相流，使乘员面临受伤的风险。现有的评估通常依赖于联合加速响应（CAR），这是一种全球评估标准，用于快速筛选。然而，在救生艇撞击水面时，乘员头部受伤可能是致命的，而CAR缺乏对头部特定评估所需的精度。为了解决这一限制，开发了一种用于自由落体救生艇入水冲击下乘员头部损伤准确评估的分区耦合框架。采用流体-刚体相互作用的方法求解流体和救生艇运动，并采用有限体积法对流体进行离散化。采用单向耦合的动态显式有限元法计算乘员响应，提高了计算效率，同时保持了较高的计算精度。标准化的数据接口将两个求解器连接起来，并从匹配节点区域传输位移和方向历史。乘员头部损伤评估采用头部损伤标准（HIC），使用乘员座椅约束有限元模型，包括混合动力III第50百分位假人，壳式座椅和四点安全带。开发的框架的准确性和有效性得到了很好的证明，包括与35英里/小时的雪橇测试数据的比较。最后，进行了参数化研究，考察了垂直速度、水平速度和俯仰角对乘员在进水冲击下的动态响应和头部损伤的影响，并将结果与CAR计算结果进行了比较。提出的框架有效地提供可靠的头部加速度历史，使乘员在大范围的进水条件下进行头部损伤评估。

{"title":"A partitioned coupling framework for occupant head injury assessment under water entry impact of a free-fall lifeboat","authors":"Ningge Fan , Gong Chen , Shunhua Chen , Yingying Lin , Di Wang","doi":"10.1016/j.oceaneng.2026.124559","DOIUrl":"10.1016/j.oceaneng.2026.124559","url":null,"abstract":"<div><div>During the water entry stage, a free-fall lifeboat experiences strong impact and complex two-phase flow, which exposes occupants to injury risk. Existing assessments often rely on combined acceleration response (CAR), a global evaluation standard, for quick screening. However, occupant head injuries during lifeboat impact with the water surface can be fatal, while CAR lacks the precision needed for head-specific assessment. To address this limitation, a partitioned coupling framework for accurate occupant head injury evaluation subjected to water entry impact of a free-fall lifeboat is developed. The fluid and lifeboat motion are solved utilizing a fluid-rigid body interaction manner, in which the fluid is discretized with the finite volume method (FVM). The occupant response is then computed with the dynamic explicit finite element method (FEM) with the aid of a one-way coupling strategy, which improves computational efficiency while maintaining high accuracy. A standardized data interface links the two solvers and transfers displacement and orientation histories from the matched-node region. Occupant head injury is evaluated with the head injury criterion (HIC) using an occupant-seat-restraint finite element model that includes a Hybrid III 50th percentile dummy, a shell seat, and a four-point safety belt. The accuracy and effectiveness of the developed framework are well demonstrated, including a comparison with the 35 mph sled test data. Finally, a parametric study is conducted to examine the influence of vertical velocity, horizontal velocity, and pitch angle on the dynamic response and head injury of an occupant subjected to water entry impact, where the results are compared with those computed via CAR. The proposed framework provides reliable head acceleration histories efficiently, enabling occupant head injury assessment over a wide range of water-entry conditions.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"352 ","pages":"Article 124559"},"PeriodicalIF":5.5,"publicationDate":"2026-02-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146154121","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Experimental study of clear-water local scour around a large-diameter monopile in silty sand 粉质砂中大直径单桩周围清水局部冲刷试验研究

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-02-11 DOI: 10.1016/j.oceaneng.2026.124463

Dong Wang , Sheng Yan , Shaowu Li

This study experimentally investigates clear-water scour around a large-diameter monopile (0.60 m) in silty sand, featuring an exceptionally high pile-to-sediment size ratio (7500). The large diameter and non-uniform silty sand jointly produce distinct scour behaviors, including prolonged equilibrium times (6–10 days), formation of a coarse-grained armor layer at the scour base, and shallower equilibrium depths compared to non-cohesive sands. The effects of approach velocity and flow shallowness on scour evolution were systematically examined. Real-time internal imaging and total-station surveys captured the temporal development and three-dimensional geometry of the scour hole. Scour progressed through three stages—rapid initiation, progressive deepening, and asymptotic equilibrium—with bed armoring limiting further erosion. Increased approach velocity deepened the scour and shortened the equilibrium time, while deeper flow reduced equilibrium depth and time under identical boundary-layer velocities. The results reveal the inadequacy of conventional predictors derived from small-scale sand-bed tests and highlight the need to incorporate partial-depth boundary-layer development, pile-to-sediment size ratio, and armoring effects in scour design for estuarine and nearshore foundations.

本研究通过实验研究了粉质砂中大直径单桩（0.60 m）周围的清水冲刷，该单桩具有极高的桩-沉积物尺寸比（7500）。大直径和不均匀粉砂共同产生了不同的冲刷行为，包括平衡时间延长（6-10天），冲刷底部形成粗粒装甲层，与非粘性砂相比，平衡深度较浅。系统考察了接近速度和水流浅度对冲刷演化的影响。实时内部成像和全站测量捕获了冲刷孔的时间发展和三维几何形状。冲刷通过三个阶段进行——快速启动、逐渐加深和渐近平衡——床层盔甲限制了进一步的侵蚀。当接近速度增加时，冲刷加深，平衡时间缩短，而在相同边界层速度下，较深的流动使平衡深度和平衡时间缩短。研究结果揭示了基于小规模沙床试验的传统预测方法的不足，并强调了在河口和近岸基础冲刷设计中考虑部分深度边界层发育、桩沙尺寸比和装甲效应的必要性。

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引用次数: 0

Oblique wave interaction with (M+1) U-shaped thick porous structures interconnected with (M) thin porous boxes in the presence of dual trenches near a partially reflected wall 斜波与（M+1）个u形厚多孔结构相互作用，与(M)个薄多孔盒子相互连接，存在于部分反射壁附近的双沟槽中

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-02-11 DOI: 10.1016/j.oceaneng.2026.124505

P Jothika, R Gayathri, M Chandru

This study presents a comprehensive investigation into the hydrodynamic behavior of a hybrid coastal structure consisting of an interconnected thick and thin porous configuration, with a partially reflective vertical wall and an array of periodic trenches. The system is subjected to oblique wave incidence, and the corresponding boundary value problem is addressed through a multi-domain boundary element framework. Numerical simulations are conducted to evaluate wave scattering characteristics, including reflection coefficients, hydrodynamic forces on the seaside thin porous box and U-shaped structure, and the moment on the floating box. The results found that the wave run-up, wave forces, and moment on the porous box reduce as the interconnected structures increase. The study reveals that the radius, thick porosity, and porous effect parameter attenuate the wave reflection. In addition, the effect of U-shaped structures plays a major role in mitigating the forces and moment on the porous box. These insights offer valuable guidance for the engineering of multifunctional coastal systems, including harbor tranquility zones, sediment transport, aquaculture shielding frameworks, and modular floating breakwaters.

本研究对一个混合海岸结构的水动力行为进行了全面的研究，该结构由一个相互连接的厚和薄多孔结构组成，具有部分反射的垂直壁和一系列周期性沟槽。系统受到斜入射波的作用，通过多域边界元框架解决了相应的边值问题。数值模拟计算了波浪散射特性，包括反射系数、海边薄多孔箱和u型结构的水动力以及浮箱上的力矩。结果表明，随着结构的增加，孔箱上的波浪爬高、波浪力和弯矩减小。研究表明，半径、厚孔隙度和多孔效应参数对波反射有衰减作用。此外，u型结构对多孔箱的受力和弯矩的减小起着重要的作用。这些见解为多功能海岸系统的工程设计提供了有价值的指导，包括港口宁静区、沉积物运输、水产养殖屏蔽框架和模块化浮动防波堤。

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引用次数: 0

Nezha-SeaDart III: A VTOL tail-sitting vehicle with versatile dual-medium thrusters nezhaseadart III：一种VTOL尾部坐式飞行器，具有多用途双介质推进器

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-02-11 DOI: 10.1016/j.oceaneng.2026.124619

Yufei Jin , Zheng Zeng , Lian Lian

This paper presents the design and testing of a versatile dual-medium thruster that allows quick switching between underwater and aerial propellers based solely on the motor's rotational direction. Using the dual-medium thruster, a hybrid aerial underwater vehicle (HAUV) called Nezha-SeaDart III is designed through an innovative constraint analysis that considers vertical and inclined water-exiting scenarios. Nezha-SeaDart III exhibits a significant improvement in water-exiting maneuvers compared to its predecessor, Nezha-SeaDart. During a field test in China's Thousand Islands Lake in Zhejiang Province, the vehicle's autonomous and seamless water-exiting performance is validated. This research contributes to the field of HAUV in the following aspects: (i) a versatile dual-medium thruster that enables quick and reliable switching between underwater and aerial propellers, featuring a simple design and control strategy; (ii) an improved prototype of the tail-sitting VTOL (vertical takeoff and landing) HAUV (hybrid aerial underwater vehicle) equipped with the versatile dual-medium thruster, with water-exiting performance validated in field tests; (iii) a robust strategy for seamless water exit of the tail-sitting VTOL HAUVs; (iv) an innovative method to quantify the water exit process in constraint analysis for sizing the vehicle's wing.

本文介绍了一种多功能双介质推进器的设计和测试，该推进器可以仅根据电机的旋转方向在水下和空中螺旋桨之间快速切换。使用双介质推进器，一种名为nezhaseadart III的混合空中水下航行器（HAUV）通过创新的约束分析设计，考虑了垂直和倾斜的出水场景。“哪吒-海达特”3型与前代“哪吒-海达特”相比，在出水机动方面有了显著改进。在中国浙江省千岛湖的现场测试中，验证了车辆的自主无缝出水性能。本研究在以下几个方面为HAUV领域做出了贡献：(i)一种多用途双介质推进器，能够在水下和空中螺旋桨之间快速可靠地切换，设计和控制策略简单；（ii）尾部坐式VTOL（垂直起降）HAUV（混合空中水下航行器）的改进原型，配备多功能双介质推进器，出水性能在现场测试中得到验证；（iii）尾部垂直起降hauv无缝出水的稳健策略；(4)提出了一种创新的方法来量化车辆机翼尺寸约束分析中的出水过程。

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引用次数: 0

Data-driven robust thrust allocation for over-actuated UUVs under flow-speed-dependent uncertainties 流量速度不确定性下数据驱动的超驱动uuv鲁棒推力分配

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-02-11 DOI: 10.1016/j.oceaneng.2026.124598

Liwen Zhang, Yushan Sun, Jiehui Tan, Haotian Zheng, Zhan Liu, Puxin Chai

This study presents a data-driven robust thrust allocation strategy for over-actuated underwater unmanned vehicles (UUVs) operating under flow-induced thruster uncertainties. In contrast to conventional thrust allocation methods that rely on deterministic control effectiveness matrices, the proposed approach explicitly incorporates flow-dependent efficiency degradation and heterogeneous uncertainty among individual thrusters. Using experimental thruster data, Gaussian process regression is employed to construct flow-speed-dependent nominal efficiency models together with associated uncertainty bounds. These experimentally derived uncertainty descriptions are embedded within a robust quadratic programming formulation with heterogeneous weighting, enabling penalisation of thrusters according to their uncertainty levels. An adaptive regularisation mechanism is further introduced to balance robustness and conservatism across varying flow conditions. Monte Carlo simulations under multiple flow velocities demonstrate that the proposed method substantially reduces force allocation errors, particularly in high-flow regimes, compared with pseudoinverse-based and conventional robust allocation approaches. When integrated into a closed-loop UUV control system, the proposed strategy effectively suppresses force mismatch accumulation and enhances overall motion tracking robustness. Field experiments conducted on a 16-thruster UUV further corroborate the feasibility and effectiveness of the proposed method under realistic underwater operating conditions.

研究了一种数据驱动的鲁棒推力分配策略，用于超驱动水下无人航行器（uuv）在流致推进器不确定性条件下的工作。与传统的依赖于确定性控制效能矩阵的推力分配方法不同，该方法明确地考虑了单个推进器之间的流量相关效率退化和异质不确定性。利用实验数据，采用高斯过程回归方法建立了与流量速度相关的标称效率模型及其不确定性边界。这些实验推导的不确定性描述嵌入到一个具有异质加权的鲁棒二次规划公式中，从而能够根据不确定性水平对推进器进行惩罚。进一步引入自适应正则化机制来平衡不同流量条件下的鲁棒性和保守性。在多种流速下的蒙特卡罗模拟表明，与基于伪逆和传统的鲁棒分配方法相比，所提出的方法大大减少了力分配误差，特别是在高流量状态下。将该策略集成到闭环控制系统中，有效地抑制了力失配累积，增强了整体运动跟踪的鲁棒性。在16推进器UUV上进行的现场实验进一步证实了该方法在实际水下操作条件下的可行性和有效性。

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引用次数: 0

Numerical simulation of the horizontal plane maneuverability of a submarine with conformal and non-conformal rudder 潜艇保形舵与非保形舵水平面机动性能数值模拟

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-02-11 DOI: 10.1016/j.oceaneng.2026.124485

Feiyue Wang , Yibo Liu , Yingguang Wang

This study investigates the horizontal turning and zigzag maneuvering characteristics of a submarine equipped with conformal and non-conformal rudders utilizing Computational Fluid Dynamics (CFD) methods. The Joubert BB2 submarine model serves as the research subject, with modifications applied to create conformal and non-conformal rudder configurations. Simulations were conducted using STAR-CCM+, employing the Reynolds-Averaged Navier–Stokes (RANS) equations coupled with the SST k-ω turbulence model to resolve the flow field. The propeller was modeled using the body force method, and submarine motion was captured using an overset mesh and Dynamic Fluid Body Interaction (DFBI) techniques. Grid convergence was verified using three levels of mesh refinement. The numerical method was validated through the self-propulsion and turning motion of the original BB2 model. Subsequently, horizontal turning maneuvers under rudder deflections of 5°, 10°, and 15°, along with 10/10 zigzag maneuvers, were simulated for both rudder configurations. Comparative analyses were performed in terms of turning performance, hydrodynamic forces, and surface pressure distribution. Results indicate that, across the tested rudder angles, the conformal rudder configuration reduced the turning diameter by approximately 18–35 % compared to the non-conformal counterpart, signifying enhanced maneuverability. Moreover, the conformal rudder design exhibited a 14.95 % reduction in overshoot angle, a 14.67 % decrease in overshoot time, and a 10.56 % reduction in yaw period, highlighting its superior yawing response performance.

利用计算流体动力学方法研究了一种配备保形和非保形舵的潜艇水平转向和之字形机动特性。Joubert BB2潜艇模型作为研究对象，通过修改应用于创建保形和非保形舵配置。采用STAR-CCM+软件，采用reynolds - average Navier-Stokes （RANS）方程和SST k-ω湍流模型对流场进行了模拟。采用体力法对螺旋桨进行了建模，并采用偏移网格和动态流体-体相互作用（DFBI）技术捕获了潜艇的运动。通过三个层次的网格细化验证了网格收敛性。通过原BB2模型的自推进和转向运动验证了数值方法。在此基础上，分别对方向舵在5°、10°和15°偏转情况下的水平转向机动以及10/10之字形机动进行了仿真。在车削性能、水动力和表面压力分布方面进行了比较分析。结果表明，在测试的舵角范围内，共形舵构型比非共形舵构型减少了约18 - 35%的转弯直径，表明机性增强。此外，保形舵设计的超调角减小了14.95%，超调时间减小了14.67%，偏航周期减小了10.56%，显示出其优越的偏航响应性能。

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引用次数: 0