Applied Ocean Research最新文献_第4页

Model validation and improved PTO modeling of a field-deployed wave energy converter with tethered heave plate 绳系升沉板现场部署波能转换器的模型验证及改进PTO建模

IF 4.4 2区工程技术 Q1 ENGINEERING, OCEAN

Applied Ocean Research

Pub Date : 2026-01-01 DOI: 10.1016/j.apor.2026.104921

David Okushemiya , Curtis J. Rusch , Bryson Robertson , Zhe Zhang

Rigorous incremental testing and validation are essential to advancing wave energy converter (WEC) technology. Although laboratory wave tank testing remains common, it poses challenges in scaling hydrodynamic responses and power take-off (PTO) dynamics. These issues are more pronounced for WECs with tethered heave plates due to complex interactions between the structure, tether, heave plate, and PTO; all of which often exceed tank depth and scaling limits. Field testing enables full-system evaluation but introduces practical limitations, including environmental variability, limited sensing, and measurement uncertainty. A knowledge gap remains in how to overcome these limitations to extract meaningful insights and validate WEC numerical models using field test data. Moreover, full-scale PTOs exhibit significant nonlinearities, such as generator inertia, internal losses, and inefficiencies across the full energy conversion chain, that are not captured in current PTO models. This highlights the need for improved modeling techniques to realistically estimate useful power and energy output. This study uses a field-deployed WEC with a tethered heave plate to demonstrate how combining statistical and spectral analyses enables comprehensive insight and validation of WEC models using field data. It also advances PTO modeling by incorporating generator inertia and fitting a parametric relationship between shaft speed and useful power based on PTO dynamometer test data. This approach predicted power and energy within 9% of field measurements, whereas conventional models overestimated these output by up to a factor of 3. The improved PTO modeling yields more realistic levelized cost of energy (LCOE) estimates to better guide future full-scale WEC development.

严格的增量测试和验证是推进波能转换器（WEC）技术的关键。虽然实验室波浪罐测试仍然很常见，但在缩放水动力响应和动力输出（PTO）动力学方面提出了挑战。由于结构、系绳、升沉板和PTO之间复杂的相互作用，这些问题对于带有系绳升沉板的WECs更为明显；所有这些都经常超过水箱深度和结垢限制。现场测试可以进行全系统评估，但会引入实际限制，包括环境可变性、有限的传感和测量不确定性。如何克服这些限制，提取有意义的见解，并使用现场测试数据验证WEC数值模型，仍然存在知识差距。此外，全尺寸PTO表现出显著的非线性，如发电机惯性、内部损耗和整个能量转换链的低效率，这些在当前的PTO模型中没有被捕获。这突出了改进建模技术以实际估计有用功率和能量输出的必要性。本研究使用现场部署的WEC和系绳升降板，展示了如何结合统计和频谱分析，利用现场数据全面了解和验证WEC模型。基于PTO测功机测试数据，结合发电机惯量，拟合轴转速与有用功率之间的参数关系，提出了PTO建模方法。该方法预测的功率和能量在现场测量值的9%以内，而传统模型对这些输出的高估高达3倍。改进的PTO模型产生了更现实的平准化能源成本（LCOE）估算，以更好地指导未来全面的WEC开发。

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引用次数: 0

Experimental investigation of suction-assisted penetration of compartmented bucket foundations 分隔桶形基础吸力辅助侵彻试验研究

IF 4.4 2区工程技术 Q1 ENGINEERING, OCEAN

Applied Ocean Research

Pub Date : 2026-01-01 DOI: 10.1016/j.apor.2026.104923

Linlong Mu , Tao Zhou , Yimin Lu , Guangming Yu , Jianguo Sun

Compartmented bucket foundations (CBFs) represent a promising alternative to conventional offshore wind turbine foundations, offering enhanced structural stability and bearing capacity. However, the compartmented internal configuration of CBFs complicates the soil-water-structure interaction and poses unique challenges for suction-assisted installation, particularly in sandy soils where seepage effects are prominent. This study presents a series of model tests investigating the suction penetration behavior of both mono bucket foundations (MBFs) and CBFs in homogeneous sand. By varying bucket wall thickness, bulkhead thickness, and mid-chamber size, the influence of compartment geometry on penetration suction was evaluated. Results show that suction installation significantly reduces penetration resistance compared to jacking, which requires up to 8.7 times resistance for MBFs and 15.8 times for CBFs compared to suction-assisted penetration. Additionally, while increased wall and bulkhead thickness lead to higher suction demands, variations in mid-chamber size have minimal impact. Moreover, a theoretical model originally developed for MBFs was extended to incorporate additional bulkhead-induced resistance. The modified model provides accurate predictions for suction pressure, particularly during the stable penetration phase. This work advances the understanding of CBF installation mechanics and offers practical guidance for optimizing suction bucket designs in offshore wind applications.

隔舱桶型基础（cbf）是传统海上风力涡轮机基础的一种很有前途的替代方案，具有增强的结构稳定性和承载能力。然而，cbf的内部分隔结构使土壤-水-结构相互作用复杂化，并对吸力辅助装置提出了独特的挑战，特别是在渗流效应突出的沙质土壤中。本文通过一系列模型试验研究了单桶基础和单桶基础在均质砂土中的吸力侵彻特性。通过改变桶壁厚度、舱壁厚度和中腔尺寸，评估了隔室几何形状对穿透吸力的影响。结果表明，与吸力辅助侵彻相比，吸力装置显著降低了侵彻阻力，与吸力辅助侵彻相比，mbf和cbf的阻力分别为8.7倍和15.8倍。此外，虽然增加的壁厚和舱壁厚度会导致更高的吸力需求，但中腔尺寸的变化影响最小。此外，最初为MBFs开发的理论模型被扩展到包含额外的舱壁诱导阻力。修正后的模型提供了准确的吸气压力预测，特别是在稳定侵彻阶段。这项工作促进了对CBF安装机制的理解，并为海上风电应用中优化吸力桶设计提供了实用指导。

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引用次数: 0

A Generative AI Model for irregular wave conditions that induce parametric roll 非规则波浪条件下诱发参数滚转的生成AI模型

IF 4.4 2区工程技术 Q1 ENGINEERING, OCEAN

Applied Ocean Research

Pub Date : 2026-01-01 DOI: 10.1016/j.apor.2026.104917

Kevin J. Maki , Hyo-Jin Park , Wenzhe Xu , Bo Woo Nam

Parametric roll is a nonlinear and intermittent dynamical phenomenon that causes damage to or loss of cargo, and poses significant risks for passenger safety and comfort. The current engineering practice to evaluate susceptibility or likelihood of parametric roll requires hours of nonlinear simulation or model tests in many wave conditions from the long-term operation wave scatter diagram. In this paper a novel generative AI method is proposed to learn the specific conditions that lead to parametric roll without the need to perform exhaustive and time consuming Monte Carlo simulations of all wave conditions. The method uses a low fidelity hydrodynamics model to generate the required large set of training data. A distillation process is employed that produces a series of models that can generate new wave conditions that lead to increasingly severe parametric roll behavior. Then the exceedance probabilities derived from the generated wave conditions are shown to closely match those from Monte Carlo simulations, while requiring significantly fewer computations. Finally, the generated wave conditions are verified by performing simulation with a weakly-nonlinear IRF method, confirming the ability of the method to find conditions that lead to pronounced parametric roll responses at a small fraction of the cost relative to the current practice of using Monte Carlo simulation.

参数滚转是一种非线性、间歇性的动力现象，会造成货物的损坏或灭失，给乘客的安全与舒适带来重大风险。目前的工程实践评估敏感性或可能性的参数滚动需要非线性模拟或模型试验在许多波浪条件下从长期运行波散点图。本文提出了一种新的生成式人工智能方法来学习导致参数滚动的特定条件，而无需对所有波浪条件进行详尽而耗时的蒙特卡罗模拟。该方法使用低保真流体力学模型来生成所需的大量训练数据。采用蒸馏过程产生一系列模型，这些模型可以产生新的波浪条件，从而导致越来越严重的参数横摇行为。然后，从产生的波浪条件中得出的超越概率与蒙特卡罗模拟的结果非常接近，而需要的计算量却大大减少。最后，通过使用弱非线性IRF方法进行模拟来验证生成的波浪条件，确认该方法能够以相对于使用蒙特卡罗模拟的当前实践的一小部分成本找到导致明显参数侧滚响应的条件。

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引用次数: 0

Mitigating roll response of high-speed catamarans by dual Demihull mounted T-Foils, Part 1: Design and validation in calm water open-loop tests 用双半船体安装t型翼减轻高速双体船的侧倾响应，第1部分：静水开环试验的设计和验证

IF 4.4 2区工程技术 Q1 ENGINEERING, OCEAN

Applied Ocean Research

Pub Date : 2026-01-01 DOI: 10.1016/j.apor.2026.104922

Ehsan Javanmard , Javad A. Mehr , Michael R. Davis , Damien S Holloway , Jason Ali-Lavroff

Efficient roll motion mitigation is essential for ensuring the structural integrity and passenger comfort of high-speed catamarans in oblique seas. Ride Control Systems (RCSs) used by Incat Tasmania wave-piercing catamarans (WPCs) typically consist of a single centrally mounted bow T-Foil and two stern-mounted trim tabs, and roll control relies solely on the independent action of the stern tabs, limiting their effectiveness for heave and pitch while not providing optimal ability to mitigate roll in beam and oblique seas. This study experimentally evaluates a new RCS that integrates dual demihull-mounted bow T-Foils with stern trim tabs. The system was implemented on a 2.5 m scale model of a 112 m Incat Tasmania WPC and tested in calm water at 2.89 m/s (equivalent to 37 knots full-scale) using open-loop step and frequency response experiments. Step response tests assessed heel responses under various demihull T-Foils and stern tab deflection patterns. The most effective heel excitation was achieved when the port and starboard demihull T-Foils and stern tab control surfaces operated in antiphase, increasing the heel range by about 43% compared to the centre bow mounted T-Foil RCS configuration. Frequency response tests demonstrated that the integration of dual T-Foils enhanced the RCS roll excitation capability by 45%. A lumped parameter approach was employed to derive and solve the roll dynamic equation of the model, which accurately predicted the heel responses observed in step response tests, with an average deviation of just 4.7%. It also predicted roll response and phase lag trends across a range of excitation frequencies, closely aligning with experimental trends. These findings highlight the significant improvement in the system’s roll control capability by incorporating demihull-mounted T-Foils into the RCS configuration, providing strong support for the new RCS design and laying the foundation for the development of a roll control algorithm for future closed-loop control experiments.

有效的横摇减缓是保证斜交海域高速双体船结构完整性和乘客舒适度的关键。Incat塔斯马尼亚穿波双体船（wpc）使用的平顺控制系统（rcs）通常由单个安装在船头中央的t型箔片和两个安装在船尾的装饰片组成，并且横摇控制完全依赖于船尾标签的独立作用，限制了它们对升沉和俯仰的有效性，同时也不能提供最佳的减轻横摇和斜海上横摇的能力。本研究通过实验评估了一种新的RCS，该RCS集成了双半船体安装的船首t型箔片和船尾装饰片。该系统在一艘112米Incat Tasmania WPC的2.5米比例模型上实施，并在平静水中进行了开环阶跃和频率响应实验，测试速度为2.89米/秒（相当于全尺寸37节）。台阶响应试验评估了在各种半船体t型翼和艉板偏转模式下的后跟响应。当左右半船身t型翼和船尾标签控制面以反相位操作时，实现了最有效的后跟激励，与安装在船头中心的t型翼RCS配置相比，脚跟范围增加了约43%。频率响应试验表明，双t型箔片的集成使RCS侧倾激励能力提高了45%。采用集总参数法推导并求解了模型的横摇动力学方程，该方程准确地预测了阶跃响应试验中观察到的跟侧响应，平均偏差仅为4.7%。它还预测了在激励频率范围内的滚动响应和相位滞后趋势，与实验趋势密切相关。这些研究结果表明，将半船体t型箔片纳入RCS配置后，系统的横摇控制能力得到了显著提高，为新的RCS设计提供了有力支持，并为未来闭环控制实验中横摇控制算法的开发奠定了基础。

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引用次数: 0

Effects of bed-proximity on VIV onset of an elastically mounted circular cylinder with low to high mass-damping parameters 靠近床层对高、低质量阻尼弹性圆柱激振起始的影响

IF 4.4 2区工程技术 Q1 ENGINEERING, OCEAN

Applied Ocean Research

Pub Date : 2026-01-01 DOI: 10.1016/j.apor.2026.104926

Jun Liu , Yun-He Zhao , Shu-Ming Yan , Kai Liang , Wen-Gang Qi , Fu-Ping Gao

Vortex-induced vibrations (VIVs) of cylindrical structures present significant challenges in engineering practices. While most existing studies have focused on wall-free scenarios. This work experimentally investigates the combined effects of bed-proximity and mass-damping on the onset of transverse VIVs of an elastically mounted cylinder subjected to turbulent shear flow in a recirculating water flume. The mass-damping parameter K_s was varied from low to high values, with the gap ratio e/D ranging from 2.0 to 0.20. Flow field measurements were conducted using an innovative upward-illumination PIV, structural vibration and associated wake fluctuation were captured concurrently. Experimental findings demonstrate that the critical reduced velocity (Vr_cr) for onset of VIV remains highly consistent at e/D > 1.0 under constant K_s, and increases as K_s increased for a fixed value of e/D. Under low-K_s conditions, Vr_cr decreases exponentially as e/D falls below 1.0. Conversely, the opposite trend is observed under high-K_s conditions. These contrasting behaviors may be attributed to the competition among multiple factors: in the former case, stronger disturbances to the cylinder and an increasing Strouhal number facilitate the onset of near-bed VIV; in the latter, however, reduced vortex-shedding strength and enhanced energy dissipation capacity suppress the onset of near-bed VIV. Empirical correlations between Vr_cr and e/D were established for various values of K_s. A correction factor ψ is proposed to quantitatively characterize the combined bed-proximity and mass-damping effects on Vr_cr. The present study thus provides a valuable supplement to the DNV GL guidelines for predicting the onset of VIVs in submarine pipelines near the seabed.

圆柱结构的涡激振动（VIVs）在工程实践中是一个重大挑战。而大多数现有的研究都集中在无墙的情况下。本文通过实验研究了床层接近和质量阻尼对循环水槽中受湍流剪切流影响的弹性安装圆柱体横向涡激振动的综合影响。质量阻尼参数Ks由低到高，间隙比e/D在2.0 ~ 0.20之间。流场测量采用创新的向上照明PIV，同时捕获结构振动和相关尾迹波动。实验结果表明，在一定的k值下，VIV起始的临界减速速度（Vrcr）在e/D >； 1.0处保持高度一致，在一定的e/D值下，随k值的增加而增加。在低k条件下，当e/D低于1.0时，Vrcr呈指数下降。相反，在高k条件下观察到相反的趋势。这些不同的行为可能归因于多种因素的竞争：在前一种情况下，对柱体的较强扰动和Strouhal数的增加有利于近床涡激振荡的发生；而在后者中，旋涡脱落强度的降低和能量耗散能力的增强抑制了近床涡激振荡的发生。对于不同的k值，建立了Vrcr与e/D之间的经验相关关系。提出了一个修正因子ψ来定量表征床层接近和质量阻尼对Vrcr的综合影响。因此，本研究为DNV GL指南提供了一个有价值的补充，用于预测海床附近海底管道中viv的发生。

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引用次数: 0

Tribute to Professor Bin Teng 向滕斌教授致敬

IF 4.4 2区工程技术 Q1 ENGINEERING, OCEAN

Applied Ocean Research

Pub Date : 2026-01-01 DOI: 10.1016/j.apor.2025.104916

Dezhi Ning, Bing Ren, Abbas Khayyer

引用次数: 0

Development of a novel intelligent control system for an autonomous multiple codend opening/closing mechanism in sampling nets 一种新型采样网自主多码开/关机构智能控制系统的研制

IF 4.4 2区工程技术 Q1 ENGINEERING, OCEAN

Applied Ocean Research

Pub Date : 2026-01-01 DOI: 10.1016/j.apor.2025.104906

Zhiqiang Liu , Biao Wang , Fuxiang Hu , Rong Wan , Cheng Zhou

Quantitative sampling of ichthyoplankton is a critical tool for estimating recruitment abundance and supporting the sustainable management of fishery resources. This study introduces a novel multiple codend release mechanism utilizing an electromagnetic induction device as part of an autonomous multiple codend opening/closing system for sampling nets. The electromagnetic induction mechanism operates solely on the principle of electromagnetism to open and close codends, significantly reducing the reliance on mechanical components compared to traditional motor-triggered systems. Furthermore, an intelligent control system integrating automatic and remote modes via acoustic communication has been developed, allowing researchers to select the appropriate mode based on varying operational conditions and requirements. These advancements demonstrated strong stability and reliability in both controlled tests and sea trials. Collectively, the newly developed multiple codend release mechanism and intelligent control system offer a foundational reference for enhancing the efficiency and adaptability of multiple sampling nets.

浮游鱼的定量采样是估算浮游鱼补充丰度和支持渔业资源可持续管理的重要工具。本研究介绍了一种新型的多码端释放机制，该机制利用电磁感应装置作为采样网自主多码端打开/关闭系统的一部分。电磁感应机构完全依靠电磁原理来打开和关闭电源，与传统的电机触发系统相比，大大减少了对机械部件的依赖。此外，还开发了一种通过声学通信集成自动和远程模式的智能控制系统，使研究人员能够根据不同的操作条件和要求选择合适的模式。这些进步在控制试验和海上试验中都表现出很强的稳定性和可靠性。新开发的多码释放机构和智能控制系统为提高多采样网的效率和适应性提供了基础参考。

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引用次数: 0

A shape optimization design method based on PCA geometric dimensionality reduction and Kriging inverse mapping for a blended-wing-body underwater glider 基于PCA几何降维和Kriging逆映射的翼身混合型水下滑翔机形状优化设计方法

IF 4.4 2区工程技术 Q1 ENGINEERING, OCEAN

Applied Ocean Research

Pub Date : 2026-01-01 DOI: 10.1016/j.apor.2026.104918

Daiyu Zhang, Zhenwei Liu, Chaoming Bao, Qian Liu, Junming Hu

In the shape optimization of underwater gliders, conventional geometric parameterization methods usually require a large number of design variables to ensure sufficient shape representation capability, which in turn leads to excessive optimization iterations, high CFD computational cost, and low optimization efficiency. To address this “high-dimensional and high-cost” issue, this paper proposes a shape optimization design method based on principal component analysis (PCA) geometric dimensionality reduction and Kriging inverse mapping for a blended-wing-body underwater glider (BWBUG). In this method, firstly, PCA is employed to the conventional geometric parameterization variables, significantly reducing the dimensionality of the design variables while preserving the principal shape variation features. Subsequently, a Kriging inverse mapping model is constructed between the reduced-dimensional variables and the original parameterization variables, enabling reversible reconstruction from the low-dimensional feature space to the original parameter space. On this basis, a shape optimization design framework based on geometric parameterization dimensionality reduction for a BWBUG is established, which effectively reduces computational cost and significantly improves optimization efficiency. To validate the effectiveness and efficiency of the proposed method, a shape optimization case study is conducted on a BWBUG. The results show that, by reducing 12 geometric parameters to 4 principal components, 98.36% of the shape deformation information is retained, while the number of CFD evaluations during the optimization process is reduced by 64, and the lift-to-drag ratio (

L / D

) is effectively improved.

在水下滑翔机的形状优化中，传统的几何参数化方法通常需要大量的设计变量来保证足够的形状表示能力，从而导致优化迭代次数过多，CFD计算成本高，优化效率低。针对这种“高维高成本”的问题，提出了一种基于主成分分析（PCA）几何降维和Kriging逆映射的混合式翼身水下滑翔机（BWBUG）形状优化设计方法。该方法首先对传统几何参数化变量进行主成分分析，在保留主要形状变化特征的同时，显著降低了设计变量的维数；随后，在降维变量与原始参数化变量之间构建Kriging逆映射模型，实现从低维特征空间到原始参数空间的可逆重构。在此基础上，建立了基于几何参数化降维的BWBUG形状优化设计框架，有效降低了计算成本，显著提高了优化效率。为了验证所提方法的有效性和效率，以BWBUG为例进行了形状优化研究。结果表明，通过将12个几何参数简化为4个主成分，保留了98.36%的形状变形信息，优化过程中CFD评估次数减少64次，有效提高了升阻比（L/D）。

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引用次数: 0

Efficient estimation of temporal exceeding probability for ship responses in broadband wave fields 宽频波场中船舶响应时间超越概率的有效估计

IF 4.4 2区工程技术 Q1 ENGINEERING, OCEAN

Applied Ocean Research

Pub Date : 2026-01-01 DOI: 10.1016/j.apor.2025.104898

Shayesteh Hafezi, Xianliang Gong, Yulin Pan

In this paper, we develop an efficient method to evaluate the temporal exceeding probability of ship motion (percentage of time for the ship motion to be above a given high threshold) in an irregular wave field. Our method builds on our previous work Gong et al. (2022), which converts the calculation into a sampling problem in the space of wave group parameters, within which an acquisition-based sequential sampling method is developed to reduce the number of required samples. Two critical advancements are achieved in this paper relative to Gong et al. (2022). (1) We develop a new wave group parameterization method, which allows the framework to be applied to general broadband wave fields. (2) We incorporate the variability regarding each parameterized wave group (e.g., varying wave form and initial condition of the ship encountering the group) into the final estimation of a single value of the temporal exceeding probability. Our complete framework is tested for a ship subject to a wave field with a JONSWAP spectrum, for different ship motion dynamical models, spectral bandwidths, and exceeding thresholds. The results show that for most cases our method provides a result with O(15 %) error or below within 210 samples, with the ground truth obtained from a continuous simulation that is more than 2300 times more expensive than our method. We also demonstrate the benefits of sequential sampling (with an acquisition function updated due to (2)) compared to standard random or Latin hypercube (LH) samplings, in terms of the mean error of the results.

在本文中，我们开发了一种有效的方法来评估不规则波场中船舶运动的时间超越概率（船舶运动超过给定高阈值的时间百分比）。我们的方法建立在Gong等人（2022）之前的工作基础上，该工作将计算转换为波群参数空间中的采样问题，其中开发了基于采集的顺序采样方法以减少所需样本的数量。与Gong等人（2022）相比，本文取得了两个关键进展。(1)提出了一种新的波群参数化方法，使该框架能够应用于一般宽带波场。(2)我们将每个参数化波组的可变性（例如，不同的波形和遇到该波组的船舶的初始条件）纳入到时间超越概率的单个值的最终估计中。我们的完整框架测试了受JONSWAP频谱的波场影响的船舶，不同的船舶运动动力学模型，频谱带宽和超过阈值。结果表明，在大多数情况下，我们的方法在210个样本内提供的结果误差为0（15%）或以下，并且从连续模拟中获得的地面真实值比我们的方法贵2300倍以上。就结果的平均误差而言，我们还展示了与标准随机或拉丁超立方体（LH）抽样相比，顺序抽样（具有根据(2)更新的采集函数）的好处。

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引用次数: 0

Energy efficient formation control of multi vessel systems via hydrodynamics aware configuration optimization 基于流体动力学感知配置优化的多船系统高效编队控制

IF 4.4 2区工程技术 Q1 ENGINEERING, OCEAN

Applied Ocean Research

Pub Date : 2026-01-01 DOI: 10.1016/j.apor.2025.104907

Xin Xiong, Rudy R. Negenborn, Yusong Pang

Existing studies on multi-vessel formations rarely combine physically based models of ship–ship hydrodynamic interaction with online formation control, so that energy benefits are typically assessed offline or only approximated through artificial potentials. This paper addresses this gap by embedding a reduced-order, hydrodynamics-aware resistance model into a hierarchical formation control framework for multi vessel systems. A three degree of freedom interaction model is incorporated into the cost function, enabling the supervisory controller to adaptively optimize inter ship spacing and formation geometry in a speed dependent and hydrodynamics aware manner. The lower level MPC ensures accurate trajectory tracking and stability under the guidance of the top level optimization. Four simulation studies are conducted to evaluate the proposed method. The platooning formation is first analyzed as a reference, followed by the triangular formation, which achieves balanced tracking performance and stability. The echelon formation is then examined, demonstrating significant energy savings in medium to high speed regimes while maintaining yaw stability. Finally, an unconstrained optimization scenario is explored, where the system autonomously adapts its geometry without prescribed patterns, revealing emergent energy efficient and stable arrangements across different speed ranges. Results show that the proposed approach not only reduces resistance and improves energy efficiency but also enhances formation adaptability and robustness under varying operating conditions. These findings provide new insights into hydrodynamics aware cooperative control and the development of energy conscious fleet management strategies for future maritime transportation.

现有的多船地层研究很少将基于物理的船-船流体动力相互作用模型与在线地层控制相结合，因此能量效益通常是离线评估或仅通过人工势来近似估算的。本文通过将降阶流体动力学感知阻力模型嵌入到多船系统的分层编队控制框架中，解决了这一问题。成本函数中加入了一个三自由度的交互模型，使监督控制器能够以速度依赖和流体动力学感知的方式自适应优化船间间距和编队几何形状。底层MPC在顶层优化的指导下确保精确的轨迹跟踪和稳定性。进行了四个仿真研究来评估所提出的方法。首先分析了队列编队作为参考，然后分析了三角形编队，实现了均衡的跟踪性能和稳定性。然后对梯队队形进行检查，证明在保持偏航稳定性的同时，在中高速状态下可以显著节省能源。最后，研究了一种无约束优化方案，在该方案中，系统可以在没有规定模式的情况下自主调整其几何形状，从而在不同的速度范围内显示出紧急的节能和稳定的安排。结果表明，该方法不仅降低了阻力，提高了能源效率，而且增强了不同工况下的地层适应性和鲁棒性。这些发现为未来海上运输的流体动力学意识协同控制和能源意识船队管理策略的发展提供了新的见解。

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引用次数: 0