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Dynamic modeling and control of hydraulic driven payload anti-swing system for shipborne cranes 船载起重机液压驱动载荷防摆系统动力学建模与控制
IF 1.8 4区 工程技术 Q2 Engineering Pub Date : 2023-04-28 DOI: 10.1177/14750902231170914
G. Jin, Yu-qing Sun, Hongyu Cheng, Hailong Sun, Shenghai Wang, Haiquan Chen
Shipborne cranes are widely used in marine engineering and are employed in more diversified working scenes. However, due to the extensive swing range of ships, it is impossible to locate the payload accurately. A constant tension control method of payload anti-swing is proposed based on the principle of linear velocity feedback. This paper establishes a dynamic model of the payload anti-swing system driven by hydraulic motors. The characteristics of the payload swing and the cable tension are obtained through the dynamic simulation. The simulation and experimental results show that the constant tension control method significantly suppresses the shipborne crane’s payload swing, and the payload anti-swing effect reaches 73% and 85.6%. It is also found that the payload swings asymmetrically under external excitation. In addition, the effects of payload asymmetric swing on cable tension, payload swing angle, and the hydraulic pump output oil pressure are studied by a payload asymmetric swing experiment, and the results show that the proposed method also has a good suppression effect on the asymmetric payload swing.
船载起重机在海洋工程中应用广泛,工作场合也更加多样化。然而,由于舰船的大摆动范围,不可能精确地定位有效载荷。提出了一种基于线速度反馈原理的载荷抗摆恒张力控制方法。建立了液压马达驱动载荷防摆系统的动力学模型。通过动态仿真得到了载荷摆动和索张力的特性。仿真和实验结果表明,恒张力控制方法能显著抑制船载起重机的有效载荷摆动,有效载荷抗摆效果分别达到73%和85.6%。研究还发现,载荷在外部激励下存在不对称摆动。此外,通过载荷不对称摆动实验,研究了载荷不对称摆动对缆索张力、载荷摆动角和液压泵输出油压的影响,结果表明,该方法对载荷不对称摆动也有良好的抑制效果。
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引用次数: 0
The application of laminar numerical wave tank for a heaving buoy hydrodynamics study in low-turbulence nonlinear waves 层流数值波槽在低度湍流非线性波浪中升沉浮筒流体动力学研究中的应用
IF 1.8 4区 工程技术 Q2 Engineering Pub Date : 2023-04-19 DOI: 10.1177/14750902231168674
Yijun Sun, A. Hamada, O. Sallam, B. Windén, M. Fürth
Numerical Wave Tanks (NWTs) allow for in-depth investigations into the hydrodynamics and wave responses of floating objects. Thus, they are widely used during the design phase of many offshore platforms and devices. Such problems often feature low turbulence, with wave propagation and wave-object interaction being the key features. In this paper, the merits of using a laminar flow model for a NWT with a free-to-heave buoy, subject to second order Stokes waves in a low sea state is investigated. The simulations are implemented using the interFoam solver, which is embedded in OpenFOAM. The time series of waves measured upstream and downstream of the buoy, and the buoy hydrodynamics are compared to analytical and experimental results for accuracy evaluations. It is shown that, due to the low turbulence level of the problem, the laminar approach can deliver more accurate results than turbulent models, such as Reynolds-averaged Navier-Stokes Simulation (RANS) or partially-averaged Navier-Stokes Simulation (PANS). Moreover, the simulation time of the laminar simulations is significantly shorter than to those of RANS and PANS.
数值波槽(NWTs)允许深入研究流体力学和浮动物体的波浪响应。因此,它们在许多海上平台和设备的设计阶段被广泛使用。这类问题通常以低湍流度为特征,波的传播和波-物相互作用是关键特征。本文研究了低海况下二阶斯托克斯波作用下带自由升沉浮标的西北西北海域层流模型的优点。仿真是使用嵌入在OpenFOAM中的interFoam求解器实现的。将浮标上下游测得的波浪时间序列以及浮标的水动力与分析结果和实验结果进行了比较,以评价浮标的精度。结果表明,由于问题的湍流程度较低,层流方法比湍流模型(如reynolds -average Navier-Stokes Simulation (RANS)或部分平均Navier-Stokes Simulation (PANS))可以提供更准确的结果。层流模拟的模拟时间明显短于RANS和PANS的模拟时间。
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引用次数: 1
A semi analytic method for the analysis of the symmetric hydroelastic response of a container ship under slamming and green water loads 用半解析法分析了集装箱船在猛烈撞击和绿水载荷作用下的对称水弹性响应
IF 1.8 4区 工程技术 Q2 Engineering Pub Date : 2023-04-17 DOI: 10.1177/14750902231165808
D. Sengupta, Tushar Kanti Show, S. Hirdaris, R. Datta
This paper presents a semi analytic time domain method for the analysis of the symmetric hydroelastic response of a container ship subject to slamming and green water loads. An Impulse Response Function (IRF) is adopted for the calculation of radiation, diffraction and wave excitation forces. Local hydrodynamic forces associated with green water on decks and slamming loads are respectively modelled by the Buchner’s Dam Break Model and a Generalised Wagner Model. The structural responses are captured by Euler-Bernoulli beam theory and solved by the modal superposition method. The Duhamel Integral technique is used to evaluate the dynamic response. A parametric study demonstrates how external forces may affect the global wave induced vertical bending moments and shear forces. Numerical simulations are compared against a hybrid method that combines computational fluid dynamics, boundary element and finite element methods for low to medium frequency induced dynamic response. It is concluded that the proposed semi analytic methodology is fast and accurate and may be useful at concept ship design stage.
本文提出了一种半解析时域方法,用于分析集装箱船在撞击和绿水载荷作用下的对称水弹性响应。采用脉冲响应函数(IRF)计算辐射、衍射和波激力。与甲板上的绿水和撞击载荷相关的局部水动力分别由Buchner的溃坝模型和广义Wagner模型建模。结构响应用欧拉-伯努利梁理论捕获,用模态叠加法求解。采用Duhamel积分技术对系统的动态响应进行了计算。参数研究表明,如何外力可能影响全局波诱导的垂直弯矩和剪力。数值模拟与计算流体力学、边界元法和有限元法相结合的低中频动力响应混合方法进行了比较。结果表明,所提出的半解析方法快速、准确,可用于概念船设计阶段。
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引用次数: 3
Composite anti-disturbance control for ship dynamic positioning systems with thruster faults 具有推力器故障的船舶动力定位系统的复合抗干扰控制
4区 工程技术 Q2 Engineering Pub Date : 2023-04-14 DOI: 10.1177/14750902231167073
Ziwen Yu, Xinjiang Wei, Huifeng Zhang, Xin Hu, Jian Han
Anti-disturbance control problem is studied for ship dynamic positioning systems with model uncertainties and ocean disturbances under thruster faults. For the ocean disturbance, a stochastic disturbance observer (SDO) is established to give the online estimation. For thruster faults, an adaptive law is used to evaluate, which is obtain from Lyapunov function. For model uncertainties, a robust control term with adaptive technology is used to attenuate it. Then, a composite anti-disturbance control (CADC) strategy is raised by combining disturbance observer-based control (DOBC), adaptive technology, and robust control term, which makes the position and yaw angle of ship reach the desired values. Finally, the simulation example proves the validity of the controller.
研究了具有模型不确定性和海洋扰动的船舶动力定位系统在推力器故障下的抗扰动控制问题。针对海洋扰动,建立了随机扰动观测器(SDO)进行在线估计。对于推力器故障,采用由李雅普诺夫函数得到的自适应律进行评估。对于模型的不确定性,采用鲁棒控制项和自适应技术对其进行衰减。然后,将基于扰动观测器的控制(DOBC)、自适应技术和鲁棒控制项相结合,提出了一种复合抗干扰控制(CADC)策略,使船舶的位置和偏航角达到期望值。最后,通过仿真实例验证了该控制器的有效性。
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引用次数: 0
On the use of Fourier Features-Physics Informed Neural Networks (FF-PINN) for forward and inverse fluid mechanics problems 傅里叶特征-物理信息神经网络(FF-PINN)在流体力学正反问题中的应用
IF 1.8 4区 工程技术 Q2 Engineering Pub Date : 2023-04-13 DOI: 10.1177/14750902231166424
O. Sallam, M. Fürth
Physics Informed Neural Networks (PINN), a deep learning tool, has recently become an effective method for solving inverse Partial Differential Equations (PDEs) where the boundary/initial conditions are not well defined and only noisy sparse measurements sampled in the domain exist. PINN, and other Neural Networks, tends to converge to the low frequency solution in a field that has multiple frequency scales, this is known as spectral bias. For PINN this happens when solving PDEs that exhibit periodic behavior spatially and temporally with multi frequency scales. Previous studies suggested that Fourier Features-Neural Networks (FF-NN) can be used to overcome the spectral bias problem. They proposed the Multi Scale-Spatio Temporal-Fourier Features-Physics Informed Neural Networks (MS-ST-FF-PINN) to overcome the spectral bias problem in PDEs solved by PINN. This has been evaluated on basic PDEs such as Poisson, wave and Gray-Scott equations. In this paper we take MS-ST-FF-PINN a step further by applying it to the incompressible Navier-Stokes equations. Furthermore, a comparative analysis between the PINN and the MS-ST-FF-PINN architectures solution accuracy, the learnt frequency components and the rate of convergence to the correct solution is included. To show this three test cases are shown (a)-Forward time independent double-lid-driven cavity, (b)-Inverse time independent free surface estimation of Kelvin wave pattern, and (c)-Inverse 2D time-dependent turbulent Von Karman vortex shedding interaction downstream of multiple cylinders. The results show that MS-ST-FF-PINN is better at learning low and high frequency components synchronously at early training iterations compared to the PINN architecture that does not learn the high frequency components even after multiple iteration numbers such as the Kelvin wave pattern and the Karman vortex shedding cases. However, for the third test case, the MS-ST-FF-PINN architecture showed a discontinuity for the temporal prediction of the pressure field due to over-fitting.
摘要物理信息神经网络(PINN)作为一种深度学习工具,近年来已成为求解边界/初始条件不明确且域内仅存在噪声稀疏测量值的反偏微分方程(PDEs)的有效方法。在具有多个频率尺度的领域中,PINN和其他神经网络倾向于收敛于低频解,这被称为频谱偏倚。对于PINN,这种情况发生在求解具有多频率尺度的空间和时间周期性行为的偏微分方程时。以往的研究表明,傅里叶特征神经网络(FF-NN)可以用来克服频谱偏倚问题。他们提出了多尺度-时空-傅立叶特征-物理信息神经网络(MS-ST-FF-PINN),以克服PINN解决的偏频问题。这已经在泊松方程、波方程和格雷-斯科特方程等基本偏微分方程上进行了评价。在本文中,我们将MS-ST-FF-PINN进一步应用于不可压缩的Navier-Stokes方程。此外,还比较分析了MS-ST-FF-PINN和MS-ST-FF-PINN结构的解精度、学习到的频率分量和收敛到正确解的速度。为了证明这一点,三个测试用例如图所示(a)-向前时间无关的双盖驱动腔,(b)-反时间无关的开尔文波型自由面估计,以及(c)-多圆柱体下游逆二维时间相关湍流冯·卡门涡脱落相互作用。结果表明,MS-ST-FF-PINN在早期训练迭代中同步学习低频和高频分量的能力优于即使经过多次迭代(如开尔文波型和卡门涡脱落案例)也不学习高频分量的PINN架构。然而,对于第三个测试用例,由于过度拟合,MS-ST-FF-PINN架构对压力场的时间预测显示出不连续性。
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引用次数: 2
Energy-specific greenhouse gas emissions measurements from 2-stroke marine diesel engine using liquefied natural gas 使用液化天然气的二冲程船用柴油机的能源特定温室气体排放测量
IF 1.8 4区 工程技术 Q2 Engineering Pub Date : 2023-04-13 DOI: 10.1177/14750902231166442
Kang-Ki Lee, Wilfried Hochegger, A. Schönborn
This study reports the energy specific air emissions from a diesel-cycle high pressure injection dual fuel engine for operation on liquefied natural gas and heavy fuel oil. An experiment at sea was performed onboard a bulk carrier during commercial voyages, to measure the efficiency of the engine and to measure air emissions relevant to air pollution and climate impact for operation on both fuels. The measurements showed that the energy conversion efficiency of the engine was higher for operation on liquefied natural gas because its lower NOx emissions permitted the use of a higher effective compression ratio whilst meeting the same NOx emissions level. The results showed that the climate impact for operation on heavy fuel oil was 2.1–2.3 times higher than for liquefied natural gas at 50% load, if considering only the emissions occurring at the engine. Analysis of the air emissions for their individual contributions to climate impacts suggested that black carbon had the strongest climate impact of all air emissions in the case of operation on heavy fuel oil. For operation on liquefied natural gas, CO2 had the strongest individual climate impact amongst the air emissions from the engine.
本研究报告了一种以液化天然气和重质燃料油为燃料的柴油循环高压喷射双燃料发动机的能量比空气排放。在商业航行期间,在一艘散货船上进行了海上实验,以测量发动机的效率,并测量两种燃料运行时与空气污染和气候影响相关的空气排放。测量结果表明,液化天然气发动机的能量转换效率更高,因为其较低的氮氧化物排放允许使用更高的有效压缩比,同时满足相同的氮氧化物排放水平。结果表明,如果只考虑发动机排放,重质燃料油在50%负荷下的运行气候影响是液化天然气的2.1-2.3倍。对空气排放对气候影响的个别贡献的分析表明,在使用重质燃料油的情况下,黑碳对所有空气排放的气候影响最大。在使用液化天然气的情况下,在发动机排放的空气中,二氧化碳对气候的影响最大。
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引用次数: 2
Virginia tech advanced towing carriage 弗吉尼亚理工大学先进的拖车
IF 1.8 4区 工程技术 Q2 Engineering Pub Date : 2023-04-13 DOI: 10.1177/14750902231166958
Christine M. Gilbert, M. Javaherian, C. Woolsey, Mark L. Shepheard
Virginia Tech has recently acquired a new towing carriage and vertical planar motion mechanism. The new towing carriage replaces the original carriage that was installed in the 1960s. The original carriage had a maximum speed of roughly 3 m/s, and the new carriage has a maximum speed of 7 m/s with the current wavemaker installation. The towing tank facility is used for both teaching and research activities in ocean engineering. The vertical planar motion mechanism includes two linear actuators to change the pitching and heaving behavior of a surface or subsurface test article to model different phenomena such as slamming or porpoising of surface vessels and vertical plane maneuvers for subsurface vessels. The focus of this paper is on the determination of the specifications for the towing tank to meet both teaching and research needs and the early resistance experiments that have been conducted during initial shake-down of the new facility. The authors will discuss how preliminary resistance experiments compare to the USNA towing tank facility.
弗吉尼亚理工大学最近获得了一个新的拖车和垂直平面运动机构。新的拖车取代了上世纪60年代安装的原来的拖车。原始车厢的最大速度约为3米/秒,而安装了当前造波器的新车厢的最大速度为7米/秒。拖曳舱设施用于海洋工程的教学和研究活动。垂直平面运动机构包括两个线性致动器,用于改变水面或水下试验件的俯仰和起伏行为,以模拟水面船舶的砰击或震荡以及水下船舶的垂直平面机动等不同现象。本文的重点是确定拖曳水箱的规格,以满足教学和研究的需要,以及在新设施初始调试期间进行的早期阻力实验。作者将讨论如何将初步阻力实验与USNA拖曳水箱设施进行比较。
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引用次数: 1
Assessment of percent-time-operable of surface combatants with conventional and wave-piercing hulls 使用常规和穿波船体的水面战舰的可操作时间百分比评估
IF 1.8 4区 工程技术 Q2 Engineering Pub Date : 2023-04-06 DOI: 10.1177/14750902231166429
Sungeun Choi, Kiwon Kim, Hoyong Kim, Jeonghwa Seo, Kyung-Kyu Yang, S. Rhee
The present study concerns assessing and comparing the operability of two surface combatants with conventional and modern wave-piercing hulls. The operability is measured in terms of the percent-time-operable (PTO), based on the capability of missions in the annual operating condition by seakeeping analysis. The seakeeping criteria of the surface combatant in various missions are selected by the literature review applicable to the basic design stage. The numerical seakeeping analysis is performed to obtain ship motion spectra in seaways around the Korean peninsula and North Pacific, after corrected by comparison to the experiments in regular waves. It is found that the wave-piercing hull has higher PTO than the flared hull under a generic operation scenario owing to reduced pitch motion and low resonance frequency of roll motion, the main restraint of seakeeping performance in PTO assessment.
目前的研究涉及评估和比较两种水面战斗舰艇的常规和现代穿波船体的可操作性。可操作性以可操作时间百分比(PTO)来衡量,基于任务在年度操作条件下的能力,通过耐波性分析。通过对基本设计阶段的文献综述,选择了水面作战舰艇在各种任务中的耐波性标准。本文对朝鲜半岛和北太平洋沿岸航道的船舶运动谱进行了数值耐浪分析,并与规则波下的实验结果进行了校正。结果表明,在一般工况下,由于横摇运动和俯仰运动的减少,横摇运动的共振频率较低,使得穿浪船体的抗浪性能高于扩浪船体。
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引用次数: 1
A risk assessment of scrubber use for marine transport by rule-based fuzzy FMEA 基于规则模糊FMEA的海上运输洗涤器风险评估
IF 1.8 4区 工程技术 Q2 Engineering Pub Date : 2023-04-03 DOI: 10.1177/14750902231166030
Çağlar Karatuğ, Bulut Ozan Ceylan, Yasin Arslanoğlu
To comply with the International Maritime Organization’s sulfur regulations, shipping companies have mainly favored scrubber systems. Even though the ship’s operations might be continued provided regulatory constraints are followed, the installation presents system-based risks depending on the scrubber type. This study’s primary aim is to inform the shipping industry about the risks associated with various scrubber applications on ships and to propose guidelines to ensure safer scrubber operation on marine vessels. Consequently, a risk evaluation is conducted on all kinds of scrubber systems. Experts in the marine industry identify the main subsystems and components and evaluate their failure modes and consequences. Using the fuzzy failure modes and effects analysis method, the acquired judgments are analyzed. The risk value of each failure scenario is computed using the Mamdani fuzzy inference technique and the evaluation of expert ratings. The riskiest failure modes identified by the investigation include the sensing element, injection nozzles, packed peds, and seawater system valves.
为了遵守国际海事组织的硫规定,航运公司主要青睐洗涤器系统。即使在遵守监管限制的情况下,船舶的作业可能会继续进行,但根据洗涤器的类型,安装会带来基于系统的风险。本研究的主要目的是向航运业介绍船舶上各种洗涤器应用的相关风险,并提出指导方针,以确保船舶上洗涤器的安全操作。因此,对各种洗涤系统进行了风险评估。海洋工业专家识别主要子系统和组件,并评估其失效模式和后果。采用模糊失效模式和影响分析方法,对获得的判断结果进行分析。利用Mamdani模糊推理技术和专家评级的评价,计算出各故障场景的风险值。调查发现,最危险的失效模式包括传感元件、注入喷嘴、填料阀和海水系统阀。
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引用次数: 1
Research on propeller cavitation wake characteristics based on multivariate statistical modeling method 基于多元统计建模方法的螺旋桨空化尾流特性研究
IF 1.8 4区 工程技术 Q2 Engineering Pub Date : 2023-03-29 DOI: 10.1177/14750902231164789
Kun Zhou, Zhi-Feng Zhu, Bing Wang, Fang Zhou
The radiation noise generated by cavitation has been extensively studied for underwater target recognition, but there are few reports on the related mechanism of the cavitation noise of ship propellers that attract attention in the field of hydroacoustics. In this paper, the RANS equations of the underwater propeller wake field are constructed, and numerically solved by combining the cavitation model and the turbulence model. The power spectrum is used to analyze the signal of the numerical calculation results of the propeller wake pressure. The feature estimation and extraction are carried out to obtain the characteristic values of the specific characteristic parameters. These eigenvalues not only reflect the flow field characteristics but also the geometric parameters and working conditions of the propeller. Therefore, two models are established around the relationship between them. Firstly, these eigenvalues are used for regression analysis in multivariate statistics to obtain a statistical model reflecting the characteristics of propeller cavitation wake. Secondly, the relationship between the propeller skew angle and the low frequency linear spectrum amplitude is obtained by using the power spectrum diagram. In this paper, the processing results of the experimental data of the cavitation water tunnel with controllable parameters and the radiation noise data of the actual target are used to verify and supplement each other with the processing results of the feature model.
空化产生的辐射噪声在水下目标识别中已经得到了广泛的研究,但在水声领域引起关注的船舶螺旋桨空化噪声的相关机理报道很少。本文建立了水下螺旋桨尾流场的RANS方程,并结合空化模型和湍流模型对其进行了数值求解。利用功率谱对螺旋桨尾流压力数值计算结果的信号进行分析。进行特征估计和提取,得到具体特征参数的特征值。这些特征值不仅反映了流场特性,而且反映了螺旋桨的几何参数和工作状态。因此,围绕它们之间的关系建立了两个模型。首先,利用这些特征值进行多元统计回归分析,得到反映螺旋桨空泡尾流特性的统计模型。其次,利用功率谱图得到螺旋桨斜倾角与低频线性谱幅值的关系;本文利用参数可控的空化水洞实验数据的处理结果和实际目标的辐射噪声数据,与特征模型的处理结果进行验证和补充。
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引用次数: 0
期刊
Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment
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