Sensitivity Analysis of Dimensionless Parameters for Physical Simulation of Water-Flooding Reservoir

A numerical approach to optimize dimensionless parameters of water-flooding porous media flows is proposed based on the analysis of the sensitivity factor defined as the variation ration of a target function with respect to the variation of dimensionless parameters. A complete set of scaling criteria for water-flooding reservoir of five-spot well pattern case is derived from the 3-D governing equations, involving the gravitational force, the capillary force and the compressibility of water, oil and rock. By using this approach, we have estimated the influences of each dimensionless parameter on experimental results and thus sorted out the dominant ones with larger sensitivity factors ranging from10-4to10-0 .

船载综合信息显示系统半实物仿真设计与实现

针对船载综合信息显示系统在实体船舶内开发不方便的问题,提出了一种半实物仿真系统的设计与实现方法。结合"科学三号"海洋科学考察船的综合信息显示系统的设计和开发过程,从体系结构、信息流程和实现方法3个方面对半实物仿真系统的设计和实现过程进行了探索。实践结果表明,这种半实物仿真系统一方面可以为实际系统的体系结构、信息流程设计提供支持,另一方面可以为实际系统应用软件的开发提供较为真实的环境,有效的缩短开发时间和降低开发风险。

基于OpenGL的交会对接仿真系统

针对基于视觉的空间载体位姿测量很难进行真实实验的特点,提出了一种基于OpenG1的半物理仿真实验方法。该方法通过计算机图形学技术和计算机视觉技术的结合,能够直观、快速地模拟空间载体位姿测量过程。

基于并联机器人的船载炮半物理仿真试验系统研究

20世纪90年代以来，并联机器人被广为注意，成了机器人技术新的热点。并联机器人技术被广泛地应用在工业、航天、航海等领域，尤其是并联机床，佩一出现就引起了广泛的关注，被称为是“21世纪的机床”，“20世纪机床首次革命性改型”。为了提高船载炮射击训练效益，解决船载炮兵训练的保障问题，同时也为船载炮兵训练的保障工作探索新的路子，提出研制基于并联机器人的船载炮半物理仿真试验系统，使训练可以不受天气、场地的限制。本系统采用模拟船、操瞄炮等设备与计算机图形虚拟技术相结合的方式组成船载炮半物理仿真试验系统。系统既要虚拟船载炮的作战环境，又要实现船在海浪中的6维运动。采用3自由度并联机器人平台构建模拟船，实现船的3维转动；采用计算机仿真虚拟作战环境，并实现船的3维移动。本文介绍了整个系统的软硬件构成，硬件从三自由度并联机构的运动学到控制系统的结构，软件从形成虚拟视景的图形驱动原理到主程序界面，最后展示了系统的硬件实物和软件界面的照片。基于并联机器人的船载炮半物理仿真试验系统具有以下特点：1．采用变频调速技术，研制了三自由度并联机构模拟系统，实现了船炮平台的运动模拟，使系统具有负载能力强、成本低、性能可靠等特点。2.整个系统由计算机图形分系统、动态数据采集与处理分系统、船的运动模拟分系统等组成，实现了船载炮兵射击指挥和火炮操作的模拟训练。 3．应用了多传感器信息融合技术，实现了多信息实时处理，达到了实时仿真的要求。系统能够实时检测船姿态和火炮操作状态等信息，评价射击效果。4.采用三自由度的旋转模拟与图像三自由度的平移运动相结合的方法，实现了六自由度的炮目相对运动模拟效果。该系统可用于模拟炮兵部队实施渡海登陆作战，对岸防目标、海上目标射击和指挥训练。完成船载炮兵的火炮操瞄和射击指挥的教学、训练及考核任务。

一种欠驱动AUV的三维实时避碰方法

针对以测距声纳为避碰传感器的一类欠驱动型AUV，提出了一种水平面和垂直面相结合的三维实时避碰方法。根据测距声纳和欠驱动AUV 的特殊性，首先从运动规划和路径规划2 个层次提出了AUV 混合型实时避碰结构，并分别设计了基于事件反馈监控的避碰自动机和基于免疫遗传的局部路径规划算法。多种典型障碍场景的半物理仿真实验表明，论文所提方法能够实现AUV 安全、稳定的三维避碰过程。

一种自治水下机器人垂直面避碰规划方法

为提高自治水下机器人在垂直面跨越坡型、台阶型障碍的能力,提出了一种基于模糊控制的垂直面避碰规划方法。该方法以避碰声纳的输出作为输入,垂直面的深度调节量作为输出,直接建立了从障碍感知到避碰行为的映射。半物理仿真实验表明,该方法有效提高了某型自治水下机器人垂直面操纵性能,具有反应迅速、稳定性好、便于工程实现的优点。

基于混合灵敏度的水下机器人鲁棒控制研究

为了使水下机器人(AUV,autonomous underwater vehicle)在多环节不确定条件下满足水下作业时动力定位的控制精度要求,深入研究了混合灵敏度鲁棒控制中各加权函数的选取原则后,设计了基于混合灵敏度的 AUV 鲁棒控制器。通过 AUV 半物理仿真平台上的动力定位试验和控制算法对比试验,证明了所设计的鲁棒控制器对于水下机器人系统的外界扰动和参数变化不确定性具有良好的抑制作用,控制效果令人鼓舞。

基于数字海图的自主水下机器人路径规划研究

为了解决远程自主水下机器人(LAUV)路径规划问题,提出一种基于数字海图的路径规划算法.该算法对传统人工势场法进行了有效改进,克服了传统人工势场法固有的缺点和不足,可以用于LAUV离线和在线路径规划.其有效性已在半物理实时仿真平台上得到了验证.

7000米载人潜水器推进器故障容错控制分配研究

介绍了7000米载人潜水器推进系统的组成和推进器布置,描述了潜水器控制分配问题,对推进器推力和期望控制量进行了归一化处理.根据载人潜水器的推进器布置,建立了系统的控制分配模型,设计了推进器故障容错处理策略,研究了基于推力最小二范数的载人潜水器控制分配求解方法.采用基于伪逆矩阵与定点分配的混合控制分配求解算法,在半物理仿真平台上实验验证了控制分配求解算法的正确性和有效性.

基于SQP算法的7000m载人潜水器有约束非线性控制分配研究

以7000m载人潜水器为研究对象,分析了潜水器的推进系统,并给出了6自由度推力转换模型,重点讨论了载人潜水器控制分配的优化问题.结合7000m载人潜水器的推进器布置和推进器特点,设计了优化准则代价函数,采用序列二次规划(sequential quadratic programm ing,SQP)算法求解了载人潜水器的非线性控制分配问题,通过半物理仿真平台实验验证了本文提出的控制分配算法的正确性和有效性.yh

一类载人潜水器的导航技术研究

介绍了一类载人潜水器导航系统的组成,接着阐述了基于工业以太网的信息采集模块.由于载人潜水器动力学模型存在未建模扰动以及各种传感器存在不同程度的误差,需要采用卡尔曼滤波器(KF)等方法进行数据滤波,最后将滤波后的数据用于该类载人潜水器的导航研究.半物理仿真平台结果表明,载人潜水器的导航精度得到了大幅度提高.

载人潜水器及其运动控制

介绍了载人潜水器的构成及推进器的布置,在此基础上导出了载人潜水器的推力分配方程。阐述了载人潜水器的运动控制。最后,将运动控制系统在载人潜水器半物理仿真平台上进行了验证,运动控制效果良好。

Processing Simulation of Virtual Manufacture in Laser Surface Treatmenthang

Processing simulation is at the bottom of the coral technology of VM and is also difficult due to the complexity of mechanism and diversity of parameters. Previously much research has been mainly carried out on the geometrical simulation or physical simulation respectively. The aim of this paper is to study the processing simulation in laser surface treatment based on the mechanism, put forward the architecture of the whole processing simulation and give the models of the processing. As a result the data structure layers in the whole simulation is presented.

载人潜器半物理虚拟仿真系统及其性能分析

为了缩短深海载人潜器控制系统的开发周期,测试系统性能,根据载人潜器的自身特点,构建和实现了载人潜器所有传感器、执行器设备模拟,以及潜器在海底实景的运动状态的半物理虚拟仿真系统。首先,以仿真系统的硬件架构和数据流程为基础,重点介绍了潜器设备模拟的软件体系结构;其次,在仿真平台上测试了各种网络数据的传输延迟,分析了其整体性能;最后,得出了潜器控制器设计的时间约束。现阶段整个系统已经开发成功,并投入运行到潜器控制系统的安装调试中。

沾化凹陷泥质岩油气藏成藏特征研究

Mudstone reservoir is a subtle reservoir with extremely inhomogeneous, whose formation is greatly related to the existence of fracture. For this kind of reservoir, mudstone is oil source rock, cover rock and reservoir strata, reservoir type is various, attitude of oil layer changes greatly, and the distribution of oil and gas is different from igneous or clastic rock reservoir as well as from carbonate reservoir of self-producing and self-containing of oil and gas. No mature experience has been obtained in the description, exploration and development of the reservoir by far. Taking Zhanhua depression as an example, we studied in this thesis the tectonic evolution, deposit characteristics, diagenesis, hydrocarbon formation, abnormal formation pressure, forming of fissure in mudstone reservoir, etc. on the basis of core analysis, physical simulation, numerical simulation, integrated study of well logging and geophysical data, and systematically analyzed the developing and distributing of mudstone fissure reservoir and set up a geological model for the formation of mudstone fissure reservoir, and predicted possible fractural zone in studied area. Mudstone reservoir mainly distributed on the thrown side of sedimentary fault along the sloping area of the petroleum generatiion depression in Zhanhua depression. Growing fault controlled subsidence and sedimentation. Both the rate of subsidence and thickness of mudstone are great on the thrown side of growing fault, which result in the formation of surpressure in the area. The unlocking of fault which leads to the pressure discharges and the upward conduct of below stratum, also makes for the surpressure in mudstone. In Zhanhua depression, mudstone reservior mainly developed in sub-compacted stratum in the third segment of Shahejie formation, which is the best oil source rock because of its wide spread in distribution, great in thickness, and rich in organic matter, and rock types of which are oil source mudstone and shale of deep water or semi-deep water sediment in lacustrine facies. It revealed from core analysis that the stratum is rich in limestone, and consists of lamina of dark mudstone and that of light grey limestone alternately, such rock assemblage is in favor of high pressure and fracture in the process of hydrocarbon generation. Fracture of mudstone in the third segment of Shahejie formation was divided into structure fracture, hydrocarbon generation fracture and compound fracture and six secondary types of fracture for the fist time according to the cause of their formation in the thesis. Structural fracture is formed by tectonic movement such as fold or fault, which develops mainly near the faults, especially in the protrude area and the edge of faults, such fracture has obvious directivity, and tend to have more width and extension in length and obvious direction, and was developed periodically, discontinuously in time and successively as the result of multi-tectonic movement in studied area. Hydrocarbon generation fracture was formed in the process of hydrocarbon generation, the fracture is numerous in number and extensively in distribution, but the scale of it is always small and belongs to microfracture. The compound fracture is the result of both tectonic movement and hydrocarbon forming process. The combination of above fractures in time and space forms the three dimension reservoir space network of mudstone, which satellites with abnormal pressure zone in plane distribution and relates to sedimentary faces, rock combination, organic content, structural evolution, and high pressure, etc.. In Zhanhua depression, the mudstone of third segment in shahejie formation corresponds with a set of seismic reflection with better continuous. When mudstone containing oil and gas of abnormal high pressure, the seismic waveform would change as a result of absorb of oil and gas to the high-frequency composition of seismic reflection, and decrease of seismic reflection frequency resulted from the breakage of mudstone structure. The author solved the problem of mudstone reservoir predicting to some degree through the use of coherent data analysis in Zhanhua depression. Numerical modeling of basin has been used to simulate the ancient liquid pressure field in Zhanhua depression, to quantitative analysis the main controlling factor (such as uncompaction, tectonic movement, hydrocarbon generation) to surpressure in mudstone. Combined with factual geologic information and references, we analyzed the characteristic of basin evolution and factors influence the pressure field, and employed numerical modeling of liquid pressure evolution in 1-D and 2-D section, modeled and analyzed the forming and evolution of pressure in plane for main position in different periods, and made a conclusion that the main factors for surpressure in studied area are tectonic movement, uncompaction and hydrocarbon generation process. In Zhanhua depression, the valid fracture zone in mudstone was mainly formed in the last stage of Dongying movement, the mudstone in the third segment of Shahejie formation turn into fastigium for oil generation and migration in Guantao stage, and oil and gas were preserved since the end of the stage. Tectonic movement was weak after oil and gas to be preserved, and such made for the preserve of oil and gas. The forming of fractured mudstone reservoir can be divided into four different stages, i.e. deposition of muddy oil source rock, draining off water by compacting to producing hydrocarbon, forming of valid fracture and collecting of oil, forming of fracture reservoir. Combined with other regional geologic information, we predicted four prior mudstone fracture reservoirs, which measured 18km2 in area and 1200 X 104t in geological reserves.