This paper describes experimental and theoretical investigations of Tuned Liquid Damper (TLD) characteristics for suppressing the wave-excited structural vibration. The structural model for the experiments is scaled a...This paper describes experimental and theoretical investigations of Tuned Liquid Damper (TLD) characteristics for suppressing the wave-excited structural vibration. The structural model for the experiments is scaled according to a full size offshore platform by matching their dynamic properties. Rectangular TLDs of different sizes with partially filled liquid are examined. By observing the performance and behavior of TLDs through laboratory experiments, the Study investigates the influence of a number of parameters, including container size, container shape, frequency ratio, and incident wave characteristics. In an analytical study, a mathematical model that describes the nonlinear behavior of liquid in TLD and the interaction of TLD and structure is prerequisite. The validity of the model is evaluated and simulating results can reasonably match the corresponding experimental results.展开更多
针对小型ROV在近海平台等浅水环境顶流作业能力差和运动控制难的问题,研制开发了基于Arduino的小型浅水作业ROV精灵号,提出以Arduino mega 2560作为核心控制器的控制系统架构,同时采用小体积大推力推进器,提高ROV本体顶流作业能力。以Ar...针对小型ROV在近海平台等浅水环境顶流作业能力差和运动控制难的问题,研制开发了基于Arduino的小型浅水作业ROV精灵号,提出以Arduino mega 2560作为核心控制器的控制系统架构,同时采用小体积大推力推进器,提高ROV本体顶流作业能力。以Arduino为核心,进行上层指令系统和底层运动系统的搭建并通过串口通信方式建立上下系统通信。设计了浅水作业ROV的机械结构,建立了精灵号ROV的动力学模型,采用PID进行艏向运动控制,并进行了系统仿真。系统联调和水池试验结果表明了以Arduino为核心的精灵号浅水ROV控制系统设计的可行性,同时验证了推力矢量合成的实际效果。该ROV的研制对于其他微小便携式机器人,尤其是小型ROV的开发具有参考意义。展开更多
基金This research was financially supported partially by the National Science Foundation of Japan under grant No.10555173 This work was partially supported by the Scholarship from Japan Ministry of Education,Science and Culture.
文摘This paper describes experimental and theoretical investigations of Tuned Liquid Damper (TLD) characteristics for suppressing the wave-excited structural vibration. The structural model for the experiments is scaled according to a full size offshore platform by matching their dynamic properties. Rectangular TLDs of different sizes with partially filled liquid are examined. By observing the performance and behavior of TLDs through laboratory experiments, the Study investigates the influence of a number of parameters, including container size, container shape, frequency ratio, and incident wave characteristics. In an analytical study, a mathematical model that describes the nonlinear behavior of liquid in TLD and the interaction of TLD and structure is prerequisite. The validity of the model is evaluated and simulating results can reasonably match the corresponding experimental results.
文摘针对小型ROV在近海平台等浅水环境顶流作业能力差和运动控制难的问题,研制开发了基于Arduino的小型浅水作业ROV精灵号,提出以Arduino mega 2560作为核心控制器的控制系统架构,同时采用小体积大推力推进器,提高ROV本体顶流作业能力。以Arduino为核心,进行上层指令系统和底层运动系统的搭建并通过串口通信方式建立上下系统通信。设计了浅水作业ROV的机械结构,建立了精灵号ROV的动力学模型,采用PID进行艏向运动控制,并进行了系统仿真。系统联调和水池试验结果表明了以Arduino为核心的精灵号浅水ROV控制系统设计的可行性,同时验证了推力矢量合成的实际效果。该ROV的研制对于其他微小便携式机器人,尤其是小型ROV的开发具有参考意义。