The effects of wave length with constant wave height rudder angle and ship speed on the deviation of turning trajectory are discussed. 计算时考虑了波浪漂移力,并讨论波高一定时波长、舵角、船速对回转圈漂移的影响。
The error of the rudder angle indicator is too large. 舵角指示器的误差太大。
Both the sideslip angle and the rudder angle are seen to be very much dependent on the angle of climb. 人们可以看到,侧滑角和方向舵偏角都在很大程度上依赖于爬升角。
On the background of the building of autopilot ′ s navigation simulative environment, this paper discusses the building of the model of wave disturbance that is equivalent to rudder angle, and analyzes the influence of many factors on wave disturbance. 以航向自动舵实船模拟环境的建立为背景,讨论了等效到舵叶舵角上的海浪扰动数学模型的建立,并通过仿真,分析了各种因素对海浪扰动的影响。
The Pattern of Differential The definition of detached rudder and differential rudder angle is clarified in the paper. 阐明分离式舵及差动舵角的定义,并以某型潜艇为例,分析了分离式舵对潜艇横倾的控制能力。
Study on the equivalent rudder angle between X type and cruciform rudders on submarine 潜艇X形舵和十字形舵等效舵角研究
After cut of deadwood, the relative turning radius of a ship reduces greatly, and it is more significant in small rudder angle, however the course stability becomes worse. 呆木割除后,船的相对回转直径显著减小,小舵角时更为明显,但航向稳定性随之变差。
Moreover, the rudder deflection angle matches reasonably with the balance angle of attack, so the ERGM has super glide ability. 舵偏角与平衡攻角匹配合理,有较高的滑翔增程能力;
The equivalent rudder angle can be used for primary design of the X rudder and the control system. It is helpful to the practical use of X type rudder on submarine. 结论适用于潜艇X形舵的初步设计以及操纵控制系统,解决了X形舵在潜艇上应用的一个实际问题。
The simulation results show that the proposed algorithm is effective, rudder angle fluctuates between-0.2 ° and 0.2 ° when the ship steering controller system becomes stable and the nonlinear ship steering controller achieves good control effect. 结果表明:算法完全有效,航向控制系统稳定时舵角的波动控制在-0.2°~0.2°,控制效果良好。
Furthermore, the fuzzy-PID autopilot, with integral item of rudder angle, shows smaller overshoot, and better performance. 在两种控制算法中,对舵角进行积分的船舶航向模糊PID自动舵超调较小,效果更为理想。
The central control steering system software for X rudder submarine is developed based on the equivalent rudder angle transition mathematic model. 在等效舵角转换数学模型基础上编制了X舵潜艇集中控制操舵系统软件并进行了仿真分析。
The calculating results indicate that the balance rudder angle through a canal depends on relative width of the sea-route W/ B and water depth H/ d, and it is concerned immediately with the distance deflected from center line of the sea-route. 计算结果表明过运河压舵角取决于相对航道宽度W/B和相对水深H/d的综合作用,并与偏离航道中心线距离y/B直接有关。
To display the course, rudder angle and current. 显示罗经航向、舵角信息,海流的信息。
Under the same rudder angle, the speed loss in turning of Kort nozzle is greater than that of a normal rudder, however under the same nondimensional angular speed, both speed losses are same. 在相同舵角下,装有回转导管的船舶在稳定回转时的速降大于装有舵时的速降,但在同一无因次角速度下,两者速降一致。
A Design of Four-Channel Signal Generator for Rudder Angle Adjustment 四通道舵偏信号发生器设计
Calculating balance rudder angle through a canal for the large vessel 大型船舶过运河压舵角计算
On the basis of establishing the leeway motion model, the laws of the motion are studied and the strategy on ship off-course correction is discussed by using reasonable rudder angle timely. 在建立船舶偏航运动模型的基础上,对偏航运动规律进行分析,提出适时合理地采用舵角进行偏航控制的策略。
The relationship of pressure, rudder angle, and torque 转舵机构舵角、压力和输出扭矩的关系
The motor has been applied for lifting and lowering control of driving cone in hydraulic cone breaker, rudder angle control in hydraulic rudder, drilling hole positioning control in drifter and position control in worktable of machine-tool. 这种元件已应用于液压圆锥破碎机的动锥升降、液压舵机的舵角控制、掘进钻车的炮孔定位和机床移动工作台的位置控制。
Design and stimulating analysis of the equivalent rudder angle transition device for submarine with X rudder X舵潜艇等效舵角转换装置设计与仿真分析
Then, integral control, i.e. integrating course error and rudder angle, respectively, is fused into the above controller, and two kinds of fuzzy-PID autopilot are designed. 对此,在上述模糊自动舵中增加积分控制功能,提出了两种船舶航向模糊PID自动舵控制算法,分别对航向偏差和舵角进行积分。
The prototypes are processed and some experiments on the prototype in load, output range of rudder movement angle and time of rudder movement are taken. 对样机进行了负载实验、转舵角度输出范围的实验和转舵时间的实验。
Digital simulation results show that the rudder angle which under the control of the existing controller constantly reaches saturation. In essence, the system is in the uncontrolled ( open-loop) status in this process. Thus, the ship steering control accuracy requirements are unsatisfied. 仿真结果表明在高于设计海情下,现有控制器控制的舵角不断达到饱和,实质上在这个过程中系统是处于失控(开环)状态,所以无法满足船舶航向控制精度的要求。
First, using PLC and the stepper motor make a rudder angle generating device which is used to replace the practical complex large hydraulic steering gear system. Connect the auto navigator forming a feedback loop of the rudder angle. 首先利用PLC与步进电机设计舵角产生装置代替实际中复杂庞大的液压舵机系统,再将自动操舵仪及其附属设备进行硬件连接,形成了舵角反馈回路。
For ease of simulation, a simple PID controller is used as the command rudder angle input and it achieve a better control effect. 为了便于仿真,本为采用简单的PID控制器来作为命令舵角输入,仿真结果表明达到了较好的控制效果。
According to the fault simulation experiments of "Hai Yi-ⅰ" underwater vehicle, decision tables judging the level of fault and the stuck rudder angle are respectively established. 根据海鷁-Ⅰ水下机器人的故障模拟实验,建立了故障程度判断决策表和舵卡死角度判断决策表。
Based on these, to the characteristics of low speed rolling projectile in flying, an automatic control system is designed with the classic control methods. The air dynamic couplings were eliminated by the equivalent rudder angle method. 在此基础上,针对低速滚转炮弹飞行过程中的特点,采用经典控制理论设计了制导炮弹的自动控制系统,并引入等效舵偏角对气动耦合进行补偿。
The control system simulations in different sea conditions and encounter angles are carried out. The curves and statistic values of yawing angle, rudder angle and flap-rudder angle are given. 对多种海情、不同遭遇角下的航行过程进行仿真,给出航向角、舵角的曲线以及统计值。
In the platform of Windows XP, matlab is used to calculate changes of the ship parameters such as running speed, course, rudder angle. 在WindowsXP平台下,作者利用Matlab计算船舶运行过程中船速、航向、舵角等参数的变化。