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1.
以X 舵智能水下机器人(Autonomous Underwater Vehicle,AUV)为研究对象,提出了一种改进 Super-Twisting 滑模与非线性干扰观测器结合的 AUV 控制方法。首先,对 AUV 进行了运动学、动力学以及 X 舵分配进行了建模;之后,按照 Super-Twisting 理论设计了 AUV 控制器;然后,考虑到原算法中符号函数引起的控制输出抖振现象,提出了基于 Sigmoid 函数的改进 Super-Twisting 控制器,考虑到未建模动态以及外部环境干扰,设计了非线性干扰观测器对集总干扰进行补偿;最后,通过仿真验证了所提控制器的有效性。仿真表明,在干扰影响条件下,所提方法能够在大幅降低输出抖振并保证良好的控制精度。 相似文献
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针对水下无人航行器（UUV）受到海流海浪等外部扰动与内部模型不确定导致航向角控制品质下降的问题,提出一种基于自抗扰（ADRC）的双环路航向角控制方法。首先,建立了 UUV 的六自由度动力学、运动学模型与水平面动力学模型。然后,设计了一种非线性控制器,将自抗扰控制与双控制环路相结合, 针对系统航向控制所受内部与外部等非线性因素的影响,采用扩张状态观测器对“总和”扰动进行观测与补偿。 在采用自抗扰控制的航向角反馈控制回路的基础上,增加航向角速度内环,降低系统对扰动的灵敏度,改造被控对象的传递函数,为外环路提供良好的被控对象模型。最后,通过仿真实验验证了该控制方法的有效性。 相似文献
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水下拖曳系统在工作过程中拖体的俯仰角控制一直是水下拖体姿态控制的重要环节,设计了一种基于 RBF 神经网络的水下拖体直接自适应控制器,在闭环系统中利用 RBF 神经网络的局部无限逼近非线性函数的特性。将 RBF 神经网络的输出代替水下拖体动力学模型中的非线性不确定项,配合传统的 PD 控制器, 无需预先离线学习,在线学习更新神经网络权值,控制律和神经网络权值更新律经 Lyapunov 定理证明为稳定, 跟踪误差收敛到 0,通过计算机仿真比较该控制器与传统 PD 控制器的控制效果。 相似文献
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辛几何算法是专门针对动力学过程设计的算法,以提高动力学问题求解的精度与效率。高斯束偏移过程中的运动学与动力学射线追踪,从物理上讲是一个动力学过程,可以利用辛几何算法对其进行优化。本文将基于辛几何算法的运动学射线追踪引入高斯束叠前深度偏移中,并在推导了动力学射线追踪方程组的辛差分格式基础上,实现了基于辛几何算法的高斯束叠前深度偏移。模型实验表明,基于辛几何算法的运动学射线追踪,其效率与精度相比常规算法都具有一定优势,而基于辛几何算法的高斯束叠前深度偏移方法能够对复杂构造模型精确成像。 相似文献
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开架式水下机器人运动的模糊非线性PD控制方法 总被引：4，自引：0，他引：4
由于水下机器人系统的非线性动力学特性和工作环境的复杂性和不确定性,如何更好地设计水下机器人作业时的运动控制器一直是其实用化过程中没能得到很好解决的问题。结合模糊逻辑和S面控制,利用T—S推理结构,设计了一种兼具局部和全局调整功能的模糊非线性PD(m)控制器,仿真结果表明,其控制效果要优于采用单一控制参数的S面控制器。 相似文献
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针对虚拟锚泊浮标在目标点位置难以进行锚泊的问题,设计了一种神经网络模糊滑模控制器。通过引入虚拟锚泊圆,将在锚泊点一定范围内虚拟锚泊的问题转变为对虚拟锚泊圆进行路径跟踪的问题,应用Fossen矩阵建立虚拟锚泊浮标动力学模型,采用Serret-Frenet坐标变换和重新定义输出变量,将单输入多输出非线性系统转变为单输入单输出非线性系统,进而构建滑模控制器,采用模糊算法对滑模开关量进行在线调整,削弱滑模控制器的"抖振",采用神经网络对滑模控制器进行优化,摆脱对系统模型的依赖性,提高控制器的鲁棒性,并对该控制器进行仿真实验和分析,结果表明该控制器具有很好的虚拟锚泊性能。 相似文献
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对于一类具有变时滞和控制器增益摄动的非线性系统,研究非脆弱保成本控制问题。在控制器参数存在加法摄动和乘法摄动2种情况下,设计1个无记忆状态反馈非脆弱保成本控制律,使闭环系统渐近稳定,并且闭环性能指标不超过某个确定的上界。利用线性矩阵不等式方法,给出时滞相关的非脆弱保成本控制律存在的条件和控制器的设计方法。 相似文献
8.
基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制 总被引：2，自引：0，他引：2
基于控制力矩陀螺群(CMGs)的水下航行器具有低速或零速机动的能力。采用基于分布式CMGs的水下航行器方案,并研究其水平面的轨迹跟踪控制问题。通过全局微分同胚变换将非完全对称的动力学模型解耦成标准欠驱动控制模型,并根据简化的模型构建其轨迹跟踪的误差动力学模型,将轨迹跟踪控制问题转化为误差模型镇定问题。基于一种分流神经元模型和反步法设计了系统的轨迹跟踪控制律,该控制器不需要对任何虚拟控制输入进行求导计算,且能确保跟踪误差的最终一致有界性。仿真结果表明该控制器能够实现在不依赖动力学参数先验知识的情况下对光滑轨迹的有效跟踪。 相似文献
9.
二维情况下波浪对潮流场作用的数值分析 总被引：2，自引：1，他引：1
波浪和潮流是近岸地区主要的动力因素,两者之间存在着复杂的相互作用.波浪与潮流在时间尺度、空间尺度上都有很大的差别,因此现阶段对于波流相互作用的研究主要采用两种不同的概化方法.第一种方法是把周期变化的潮流概化成具有某一特征的海流叠加到波浪运动方程中去,用来模拟波流运动结构在短时间内所发生的变化.对于波浪来说,海流的作用既有动力学影响又有运动学的影响,在运动学方面,包括水深和海流对波浪频散关系的影响,另外还有由于顺流或逆流引起的波长的变化;在动力学方面,海流会引起波浪波高的变化;另一种方法是把波浪过程概化为在潮周期中具有平均意义的波浪要素叠加到潮流运动方程中,用来计算波浪对流的运动状态的影响,主要着眼于波浪和潮流对于泥沙的输运研究. 相似文献
10.
无人机编队具有广泛的应用价值和发展前景,然而,无人机动力学模型的非线性和耦合性,以及实际应用中的不确定性限制了其应用。为了解决模型不精确问题,提出了一种数据驱动的自适应动态编程（ADP）最优编队控制器设计方法。该方法结合了分布式一致性和线性二次方相关理论。首先,通过建立虚拟领航–跟随者模型,可以将四旋翼无人机的复杂非线性动力学模型简化为4个线性子系统,并解耦它们的相互影响;接下来,针对每个子系统设计编队控制器;随后应用李雅普诺夫理论对算法进行稳定性分析;最后通过仿真,验证了所提算法的稳定性和有效性。 相似文献
11.
海上大直径钢管桩打桩过程中,桩周土体受到强烈扰动而发生强度弱化,掌握桩周土体强度弱化规律对于准确预测打桩过程、保证工程安全具有重要意义。为研究土体强度弱化规律,开展了环剪试验模拟打桩对桩周土体的扰动,测试土体强度随剪切速率的变化规律,建立了描述土体强度弱化规律的拟合公式,引入到打桩分析软件中。研究结果表明：土体的强度折减程度不仅与土体本身的性质有关还受到土体的埋深和剪切速率的影响,埋深越深土体强度折减程度越低,剪切速率越高土体强度折减越高,在打桩分析中可采用这里推荐的线性折减方法来模拟不同深度处土体强度的折减规律。 相似文献
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14.
Phylogenetic diversity and phenotypic characterization of cultivable bacterioplankton isolated from polar oceans 总被引：1，自引：0，他引：1
A set of 27 marine planktonic bacteria isolated from the polar regions was characterized by 16S rDNA sequencing and physiological and biochemical testing. More than half of these bacteria were positive for caseinase, gelatinase and 13-glucosidase, and could utilize glucose, maltose or malic acid as carbon source for cell growth. Twelve isolates expressed nitrate reduction activities. Except for one antarctic isolate BSwlO175 belonging to Actinobacteria phylum, these isolates were classified as γ-Proteobacteria, suggesting that γ-Proteobacteria dominated in cultivable marine bacterioplankton at both poles. Genus Pseudoalteromonas was the predominant group in the Chukchi Sea and the Bering Sea, and genus ShewaneUa dominated in cultivable bacterioplankton in the Prydz Bay. With sequence similarities above 97%, genus Psychrobacter was found at both poles. These 27 isolates were psychrotolerant, and significant 16S rDNA sequence similarities were found not only between arctic and antarctic marine bacteria （ 〉 99% ）, but also between polar marine bacteria and bacteria from other aquatic environments （ ≥ 98.8% ）, including temperate ocean, deep sea, pond and lake, suggesting that in the polar oceans less temperature-sensitive bacteria may be cosmopolitan and have a bipolar, even global, distribution at the species level. 相似文献
15.
Sediment properties, such as water content and density, have been used to estimate the dry and wet weights, as well as the volume of sediment recovered and discharged, during benthic impact experiments conducted in the Pacific and Indian Oceans. The estimates show that the weights of dry (355-1332 t) and wet sediment (1651-4888 t) recovered during the experiments, are not only a function of the total duration and distance covered during the experiment, but also depend on water content and density of the sediment. Estimation of dry sediment and its volumetric ratio in the discharge, are key parameters for calculating the discharged volume. The estimated volume of wet sediment recovered (1427-4049 m 3 ) as well as discharged (2693-6951 m 3 ) during the experiments, provide important inputs to evaluate the sediment resettlement and migration. Using these estimates, the average depth of excavation on the seafloor, can also been calculated. However, the stages of sediment recovery and discharge are expressed differently in some of the experiments. In order to standardize these, different stages have been identified, and definitions of certain terms have been suggested, for use in the future. The methods of calculating different properties, as well as weight and volume of discharged sediment are described in the paper for use in other applications concerning deep-sea discharges. 相似文献
16.
A vertically integrated model has been used to study the tidal circulation and currents in the Gulf of Kachchh along the west coast of India. The model is fully nonlinear and uses a semiexplicit finite difference scheme to solve the basic hydrodynamic equations on a staggered grid. The model is forced by prescribing the tides along the open boundary of the model domain. The flow is simulated both with and without the presence of the proposed tidal barrage across the Hansthal Creek in the Gulf of Kachchh. The results show a considerable change in the behavior of the tidal flow in the presence of the barrage. 相似文献
17.
利用中国GF-3卫星SAR和HY-2A卫星微波散射计的首次台风联合定量观测 总被引：4，自引：0，他引：4
<正>The typhoon,as a mature tropical cyclone that develops in the western part of the North Pacific Ocean with high wind speed and heavy rainfall,is one of the most lethal and costly of natural disasters for the densely populated countries of East Asia.It can be easily detected by space-borne sensors operated at microwave,visible or infrared bands(Liu et al.,2014).Synthetic Aperture Radar(SAR)is 相似文献
18.
G. Parthiban 《Marine Georesources & Geotechnology》2000,18(3):223-235
Particle fluxes were measured 7 m above the sea bottom during the predisturbance, disturbance, and postdisturbance periods by using time series sediment traps attached to seven deep-sea moorings deployed in the INDEX experiment site in the Central Indian Basin. The predisturbance particle fluxes varied between 22.3 to 55.1 mg m -2 day -1 . Increased and variable particle fluxes were recorded by the sediment traps during the disturbance period. The increase observed was 0.5 to 4 times more than the background predisturbance fluxes. The increases in particle fluxes (~4 times) recorded by the sediment trap located in the southwestern direction (DMS-1) were the greatest, which could be the result of preferential movement of resuspended particles generated during the deep-sea benthic disturbance along the general current direction prevailing in this area during the experimental period. Also, the traps located closer to the disturbance area recorded greater fluxes than did the traps far away, across the Deep Sea Sediment Resuspension System path. This variability in recorded particle fluxes by the traps around the disturbance area clearly indicates that physical characteristics such as grain size and density of the resuspended particles produced during the disturbance had an important effect on particle movement. The postdisturbance measurements during ~5 days showed a reduction in particle fluxes of ~50%, indicating rapid particle settlement. 相似文献
19.
Derek V. Ellis 《Marine Georesources & Geotechnology》2001,19(1):51-63
This article reviews information recently available from existing marine and coastal mining for responses to environmental issues affecting marine mining at different depths. It is particularly but not exclusively concerned with those issues affecting seabed biodiversity impact and recovery. Much information has been gathered in the past 10 years from shallow mining operations for construction aggregate, diamonds, and gold, from coastal mines discharging tailings to shallow and deep water, and from experimental deep mining tests. The responses to issues identified are summarized in a series of eight tables intended to facilitate site-specific consideration. Since impacts can spread widely in the surface mixing layer SML, and can affect the biologically productive euphotic zone, the main issues considered arise from the depth of mining relative to the SML of the sea. Where mining is below the SML, the issue is whether it is environmentally better to bring the extraction products to the surface vessel for processing (and waste discharge), or to process the extraction products as much as possible on the seabed. Responses to the issues need to be sitespecific, and dependent on adequate preoperational environmental impact and recovery prediction. For deep tailings disposal from a surface vessel, there are four important environmental unknowns: (1) the possible growth of "marine snow" (bacterial flocs) utilizing the enormous quantities of fine tailings particles (hundreds or thousands of metric tons per day) as nuclei for growth, (2) the possibility that local keystone plankton and nekton species may migrate diurnally down to and beyond the depth of deep discharge and hence be subjected to tailings impact at depth, (3) the burrow-up capability of deep benthos and their ability to survive high rates of tailings deposition, and (4) the pattern and rate of dispersion of a tailings density current through the deep water column from discharge point to seabed. Actions to obtain relevant information in general and site-specifically are suggested. 相似文献