A frequency domain analysis method based on the three-dimensional translating-pulsating （3DTP） source Green function is developed to investigate wave loads and free motions of two ships advancing on parallel course ...A frequency domain analysis method based on the three-dimensional translating-pulsating （3DTP） source Green function is developed to investigate wave loads and free motions of two ships advancing on parallel course in waves. Two experiments are carried out respectively to mea- sure the wave loads and the free motions for a pair of side-by- side arranged ship models advancing with an identical speed in head regular waves. For comparison, each model is also tested alone. Predictions obtained by the present solution are found in favorable agreement with the model tests and are more accurate than the traditional method based on the three dimensional pulsating （3DP） source Green function. Numer- ical resonances and peak shift can be found in the 3DP pre- dictions, which result from the wave energy trapped in the gap between two ships and the extremely inhomogeneous wave load distribution on each hull. However, they can be eliminated by 3DTP, in which the speed affects the free sur- face and most of the wave energy can be escaped from the gap. Both the experiment and the present prediction show that hydrodynamic interaction effects on wave loads and free motions are significant. The present solver may serve as a validated tool to predict wave loads and motions of two ves- sels under replenishment at sea, and may help to evaluate the hydrodynamic interaction effects on the ships safety in replenishment operation.展开更多
Bed Load Motion and its transport rate is one of the basic issues in river dynamics.In this paper,the authors discussed the stochastic nature of bed load motion in Chuanjiang River in details.Chungjiang liesin the ups...Bed Load Motion and its transport rate is one of the basic issues in river dynamics.In this paper,the authors discussed the stochastic nature of bed load motion in Chuanjiang River in details.Chungjiang liesin the upstream reach of Yangtze River.Its stochastic nature is shown in the following four aspects.Firstly,even though all the conditions are the same,due to the fluctuation of the flow,the bed load discharge and thelocation and width of sediment transport belts are different.Secondly,during the process of bed load motion,pebbles show the strong nature of intermittence.Thirdly,the sediment discharges through upstream and down-stream reach are not equal,i.e.the pebble motion exists the discontinuity.Fourthly,annual mean transportrates of bed load for different stations are different and variation of transport rate of pebbles for a given stationwith year is large.The four aspects will be discussed one by one detailedly.展开更多
Numerical simulation tools based on potential-flow theory and/or Morison’s equation are widely used for predicting the hydrodynamic responses of floating offshore wind platforms.In general,these simplified approaches...Numerical simulation tools based on potential-flow theory and/or Morison’s equation are widely used for predicting the hydrodynamic responses of floating offshore wind platforms.In general,these simplified approaches are used for the analysis under operational conditions,albeit with a carefully selected approach to account for viscous effects.Nevertheless,due to the limit hydrodynamic modelling to linear and weakly nonlinear models,these approaches severely underpredict the low-frequency nonlinear wave loads and dynamic responses of a semisubmersible.They may not capture important nonlinearities in severe sea states.For the prediction of wave-induced motions and loads on a semisubmersible,this work systematically compares a fully nonlinear viscous-flow solver and a hybrid model combining the potential-flow theory with Morison-drag loads in steep waves.Results show that when nonlinear phenomena are not dominant,the results obtained by the hybrid model and the high-fidelity method show reasonable agreement,while larger discrepancies occur for highly nonlinear regular waves.Specifically,regular waves with various steepness over different frequencies are focused in the present study,which supplements the understanding in applicability of these two groups of method.展开更多
This paper considers the torque control problem for robots with flexible joints driven by electrical actuators. It is shown that the achievable closed-loop tracking bandwidth using PI torque controllers may be limited...This paper considers the torque control problem for robots with flexible joints driven by electrical actuators. It is shown that the achievable closed-loop tracking bandwidth using PI torque controllers may be limited due to transmission zeros introduced by the load dynamics. This limitation is overcome by using positive feedback from the load motion in unison with PI torque controllers. The positive feedback is given in terms of load velocity, acceleration and jerk. Stability conditions for designing decentralized PI torque controllers are derived in terms of Routh-Hurwitz criteria. Disturbance rejection properties of the closed system are characterized and an analysis is carried out investigating the use of approximate positive feedback by omitting acceleration and/or jerk signals. The results of this paper are illustrated for a two DoF （degrees of freedom） system. Experimental results for a one DoF system are also included.展开更多
基金supported by the National Natural Science Foundation of China(50879090)the Key Research Program of Hydrodynamics of China(9140A14030712JB11044)
文摘A frequency domain analysis method based on the three-dimensional translating-pulsating （3DTP） source Green function is developed to investigate wave loads and free motions of two ships advancing on parallel course in waves. Two experiments are carried out respectively to mea- sure the wave loads and the free motions for a pair of side-by- side arranged ship models advancing with an identical speed in head regular waves. For comparison, each model is also tested alone. Predictions obtained by the present solution are found in favorable agreement with the model tests and are more accurate than the traditional method based on the three dimensional pulsating （3DP） source Green function. Numer- ical resonances and peak shift can be found in the 3DP pre- dictions, which result from the wave energy trapped in the gap between two ships and the extremely inhomogeneous wave load distribution on each hull. However, they can be eliminated by 3DTP, in which the speed affects the free sur- face and most of the wave energy can be escaped from the gap. Both the experiment and the present prediction show that hydrodynamic interaction effects on wave loads and free motions are significant. The present solver may serve as a validated tool to predict wave loads and motions of two ves- sels under replenishment at sea, and may help to evaluate the hydrodynamic interaction effects on the ships safety in replenishment operation.
基金Supported by National Key Basic Besearch and Development Program of(973 Program)(2003CB415202)Key Project of Chinese Ministry of China(03134)
文摘Bed Load Motion and its transport rate is one of the basic issues in river dynamics.In this paper,the authors discussed the stochastic nature of bed load motion in Chuanjiang River in details.Chungjiang liesin the upstream reach of Yangtze River.Its stochastic nature is shown in the following four aspects.Firstly,even though all the conditions are the same,due to the fluctuation of the flow,the bed load discharge and thelocation and width of sediment transport belts are different.Secondly,during the process of bed load motion,pebbles show the strong nature of intermittence.Thirdly,the sediment discharges through upstream and down-stream reach are not equal,i.e.the pebble motion exists the discontinuity.Fourthly,annual mean transportrates of bed load for different stations are different and variation of transport rate of pebbles for a given stationwith year is large.The four aspects will be discussed one by one detailedly.
文摘Numerical simulation tools based on potential-flow theory and/or Morison’s equation are widely used for predicting the hydrodynamic responses of floating offshore wind platforms.In general,these simplified approaches are used for the analysis under operational conditions,albeit with a carefully selected approach to account for viscous effects.Nevertheless,due to the limit hydrodynamic modelling to linear and weakly nonlinear models,these approaches severely underpredict the low-frequency nonlinear wave loads and dynamic responses of a semisubmersible.They may not capture important nonlinearities in severe sea states.For the prediction of wave-induced motions and loads on a semisubmersible,this work systematically compares a fully nonlinear viscous-flow solver and a hybrid model combining the potential-flow theory with Morison-drag loads in steep waves.Results show that when nonlinear phenomena are not dominant,the results obtained by the hybrid model and the high-fidelity method show reasonable agreement,while larger discrepancies occur for highly nonlinear regular waves.Specifically,regular waves with various steepness over different frequencies are focused in the present study,which supplements the understanding in applicability of these two groups of method.
基金supported by the AMARSI(Adaptive Modular Architecture for Rich Motor Skills,FP7-ICT-248311)Walk-Man(FP7-ICT-611832)European projects
文摘This paper considers the torque control problem for robots with flexible joints driven by electrical actuators. It is shown that the achievable closed-loop tracking bandwidth using PI torque controllers may be limited due to transmission zeros introduced by the load dynamics. This limitation is overcome by using positive feedback from the load motion in unison with PI torque controllers. The positive feedback is given in terms of load velocity, acceleration and jerk. Stability conditions for designing decentralized PI torque controllers are derived in terms of Routh-Hurwitz criteria. Disturbance rejection properties of the closed system are characterized and an analysis is carried out investigating the use of approximate positive feedback by omitting acceleration and/or jerk signals. The results of this paper are illustrated for a two DoF （degrees of freedom） system. Experimental results for a one DoF system are also included.
