共查询到20条相似文献，搜索用时 31 毫秒
1.
This paper considers the optimal trajectory tracking control problem for near-surface autonomous underwater vehicles (AUVs) in the presence of wave disturbances. An approximate optimal tracking control (AOTC) approach is proposed. Firstly, a six-degrees-of-freedom (six-DOF) AUV model with its body-fixed coordinate system is decoupled and simplified and then a nonlinear control model of AUVs in the vertical plane is given. Also, an exosystem model of wave disturbances is constructed based on Hirom approximation formula. Secondly, the time-parameterized desired trajectory which is tracked by the AUV’s system is represented by the exosystem. Then, the coupled two-point boundary value (TPBV) problem of optimal tracking control for AUVs is derived from the theory of quadratic optimal control. By using a recently developed successive approximation approach to construct sequences, the coupled TPBV problem is transformed into a problem of solving two decoupled linear differential sequences of state vectors and adjoint vectors. By iteratively solving the two equation sequences, the AOTC law is obtained, which consists of a nonlinear optimal feedback item, an expected output tracking item, a feedforward disturbances rejection item, and a nonlinear compensatory term. Furthermore, a wave disturbances observer model is designed in order to solve the physically realizable problem. Simulation is carried out by using the Remote Environmental Unit (REMUS) AUV model to demonstrate the effectiveness of the proposed algorithm. 相似文献
2.
Sloshing phenomenon in a moving container is a complicated free surface flow problem. It has a wide range of engineering applications, especially in tanker ships and Liquefied Natural Gas (LNG) carriers. When the tank in these vehicles is partially filled, it is essential to be able to evaluate the fluid dynamic loads on tank perimeter. Different geometric shapes such as rectangular, cylindrical, elliptical, spherical and circular conical have been suggested for ship storage tanks by previous researchers. In this paper a numerical model is developed based on incompressible and inviscid fluid motion for the liquid sloshing phenomenon. The coupled BEM-FEM is used to solve the governing equations and nonlinear free surface boundary conditions. The results are validated for rectangular container using data obtained for a horizontal periodic sway motion. Using the results of this model a new arrangement of trapezoidal shapes with quadratic sidewalls is suggested for tanker ship storage panels. The suggested geometric shape not only has a maximum surrounded tank volume to the constant available volume, but also reduces the sloshing effects more efficiently than the existing geometric shapes. 相似文献
3.
将一个二次曲面和一个三次曲面沿平面接口的拼接曲面的存在性转化为求三个多项式理想交的成员问题,进而化为一组齐次线性方程组的非零解的存在问题。给出了三次和四次拼接曲面存在的条件,并且给出了拼接曲面的计算方法。 相似文献
4.
基于模糊控制的快速循迹智能车的设计与实现 总被引：1，自引：0，他引：1
提出基于模糊控制的快速循迹智能车的实现方法.利用转速传感器、线阵CCD、舵机等构成一个闭环控制系统,并采用PI算法控制智能车后轮速度.采用模糊控制算法将线阵CCD返回的误差模糊化,然后按照MAX-MIN规则进行逻辑推理,最后将推理结果反模糊化后以控制舵机转向.实验结果证明了该方法的有效性. 相似文献
5.
ZHAO Wei WANG Hongbo GENG Jianning HU Wenmei ZHANG Zhanshuo ZHANG Guangyu 《中国海洋大学学报(英文版)》2022,21(1):28-38
Maritime transportation has become an important part of the international trade system.To promote its sustainable de-velopment,it is necessary to reduce the fuel consumption of ships,decrease navigation risks,and shorten the navigation time.Ac-cordingly,planning a multi-objective route for ships is an effective way to achieve these goals.In this paper,we propose a multi-ob-jective optimal ship weather routing system framework.Based on this framework,a ship route model,ship fuel consumption model,and navigation risk model are established,and a non-dominated sorting and multi-objective ship weather routing algorithm based on particle swarm optimization is proposed.To fasten the convergence of the algorithm and improve the diversity of route solutions,a mutation operation and an elite selection operation are introduced in the algorithm.Based on the Pareto optimal front and Pareto optimal solution set obtained by the algorithm,a recommended route selection criterion is designed.Finally,two sets of simulated navigation simulation experiments on a container ship are conducted.The experimental results show that the proposed multi-objective optimal weather routing system can be used to plan a ship route with low navigation risk,short navigation time,and low fuel consumption,fulfilling the safety,efficiency,and economic goals. 相似文献
6.
船舶碰撞距离直接影响船舶碰撞危险度的大小。分析了影响船舶碰撞距离的因素:会遇 态势、船舶的操纵性能、船舶尺度、船舶速度等;给出目标船静止不动时和目标船有运动速度时的 船舶转向避让时碰撞距离数学模型,为研究船舶碰撞危险度和船舶自动避碰决策系统提供理论依 据。 相似文献
7.
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8.
针对平面拟合、二次曲面拟合和GA-BP神经网络3种模型的各自特点和适用范围,为综合各模型优点、提高高程拟合的精度与可靠性,对比分析了不同非线性组合和线性组合方法,即RBF神经网络组合、加权最小二乘支持向量机（WLSSVM）组合和最优加权组合、最优非负变权组合等对GPS高程拟合精度的影响。理论分析和算例结果表明,不同组合方法对GPS高程拟合精度的影响不同,WLSSVM组合和最优非负变权组合的拟合效果较好,可靠性较强|最优非负变权组合能较好地控制残差极值,有效减小误差区间,且转换精度较高。 相似文献
9.
The maritime administrative department employs synthetic aperture radar(SAR)satellite remote sensing technology to obtain evidence of illegal discharge of ships.If the ship is discharged during navigation,it forms a long dark wake on the SAR image due to the suppression of the Bragg wave by the oil film.This study investigates key techniques for rapid detection of long ship wakes,thereby providing law enforcement agencies with candidate ships for possible discharge.This paper presents a rapid long ship wake detection method that uses satellite imaging parameters and the axial direction of the ship in images to determine the potential detection area of the wake.Then,the threshold of long ship wake detection is determined using statistical analysis,the area is binarized,and isolated points are removed using a morphological filter operator.The method was tested with ENVISAT Synthetic Aperture Radar and GF-3 SAR data,and results showed that the method was effective,and the overall accuracy of the decision reaches 71%.We present two innovations;one is a method that draws a Doppler shift curve,and uses the SAR imaging parameters to determine the detection area of the long wake to achieve rapid detection and reduce the image detection area.The other is where a classical linear fitting method is used to quickly and accurately determine whether the detected dark area is a long ship wake and realizes the twisted long ship wake detection caused by the sea surface flow field,which is otherwise difficult to detect by the traditional Radon and Hough transform methods.This method has good suppression performance for the dark spot false alarm formed by low speed wind region or upward flow.The method is developed for maritime ship monitoring system and will promote the operational application of maritime ship monitoring system. 相似文献
10.
Damping is critical for the roll motion response of a ship in waves. A common method for the assessment of damping in a ship's rolling motion is to perform a free-decay experiment in calm water. In this paper, we propose an approach for estimating nonlinear damping that involves a linear exponential analytical approximation of the experimental roll free-decay amplitudes, followed by parametric identification based on the asymptotic method. The restoring moment can be strongly nonlinear. To validate this method, we first analyzed numerically simulated roll free-decay data using rolling equations with two alternative parametric forms: linear-plus-quadratic and linear-plus-cubic damping. By doing so, we obtained accurate estimates of nonlinear damping coefficients, even for large initial roll amplitudes. Then, we applied the proposed method to real free-decay data obtained from a scale model of a bulk barrier, and found the simulated results to be in good agreement with the experimental data. Using only free-decay peak data, the proposed method can be used to estimate nonlinear roll-damping coefficients for conditions with a strongly nonlinear restoring moment and large initial roll amplitudes. 相似文献
11.
Based on a barotropic inflow-outflow model,we examine the formation of the Kuroshio large meander(LM) using conditional nonlinear optimal perturbation(CNOP) method.Both linear and nonlinear evolutions of such perturbations obtained by this method are investigated.The results show that the nonlinear evolution can result in the Kuroshio transition from a straight to LM path,whereas the linear evolution cannot.This implies that nonlinearity plays an important role in the formation of the Kuroshio LM path.The nonlinearity exists as advection in the evolution equations of the perturbation derived from the barotropic inflow-outflow model,namely the nonlinear advection of the perturbation by the perturbation(NAPP).By examining the role of this nonlinearity,we find that the NAPP tends to move the cyclonic eddy induced by the CNOP-type perturbation westward.Together with the beta effect,this offsets part of the eastward advection caused by the interaction between the perturbation and the background flow.Hence,the eastward movement of the cyclonic eddy is significantly weakened,effectively causing the eddy to develop.The sufficient evolution of this cyclonic eddy leads to the formation of the Kuroshio LM. 相似文献
12.
停泊船空间分布规律挖掘,在海事监管、港口管理和航运公司船队管理方面有着重要意义。现有研究主要针对船舶停泊点进行空间聚类以识别码头和锚地,缺乏对码头、锚地内船舶停泊特征分析,及码头和锚地外的异常停船的检测。因此,利用海量船舶自动识别系统（AIS）数据探索船舶停泊规律显得很有必要,且具备可行性。根据海况设定停泊速度阈值和停泊位置变化量阈值,建立停船判定模型。按港区、船型筛选,获取2016年1至11月外高桥港区集装箱船停泊记录。根据类中心点密度和聚类数量,设定邻域半径（ε）和邻域密度（MinPts）,采用密度聚类（DBSCAN）算法对船舶停泊点进行密度聚类,并将聚类结果与外高桥港区码头、锚地分布图进行比较,生成可疑停船列表。对比船舶历史轨迹,明确可疑停船列表中船舶真实停泊记录,筛选出异常停船。研究发现,2016年1至11月外高桥港区船舶异常停泊点位于圆圆沙锚地至吴淞口锚地间的南港水道和江亚南沙锚地附近的南港水道航段。船舶停泊前、后位置变化幅度小,而速度变化幅度大,推测船舶突发故障是其异常停泊的原因。海事主管部门（MSA）可根据船舶水上移动通信业务识别码（MMSI）快速锁定航运公司,加强岸上船舶安全管理。船舶停泊位置和时间能够记录船舶发生故障地点及其持续时间,为船队管理提供重要依据。 相似文献
13.
结合现代餐饮业自动化服务的需求,以无线Soc芯片nRF9E5和点阵型LCD模块ST7920为硬件核心,结合C++Builder软件编程环境,构建了一种基于nRF9E5芯片的无线网络自动化服务管理系统,该系统具有人机界面友好、数据管理软件完善、无线数据传输与控制稳定、高效等特点。可以推广应用到区域水质、土壤等环境的自动监测等领域。 相似文献
14.
温度、盐度对马氏珠母贝外套膜Hsp70基因表达量的联合影响 总被引：1，自引：0，他引：1
设定温度范围16～40°C,盐度范围10～50,采用复合设计和响应曲面分析法在实验室条件下研究不同温度、盐度对马氏珠母贝(P.fucata)外套膜Hsp70基因表达量的综合效应并建立模型。采用方差分析(ANOVA)、决定系数等对实验所得回归方程模型进行显著性及拟合度检验。结果表明,温度的一次、二次效应对马氏珠母贝外套膜Hsp70基因表达量影响显著(p值<0.05);盐度的一次效应对马氏珠母贝外套膜Hsp70基因表达量无显著影响(p值>0.05),二次效应对马氏珠母贝外套膜Hsp70基因表达量影响极显著(p值<0.05);温度、盐度之间的互作效应对马氏珠母贝外套膜Hsp70基因表达量无显著影响(p值>0.05)且温度的效应大于盐度的效应。经响应曲面分析法和优化,得到马氏珠母贝外套膜Hsp70基因表达量在适宜的温度、盐度范围内呈峰值变化,在温度26.85°C、盐度29.39时,马氏珠母贝外套膜Hsp70基因表达量达到最小值0.95,满意度达到99.36%。建立了马氏珠母贝外套膜Hsp70基因表达量模型方程,其决定系数98.69%,矫正决定系数97.38%,预测决定系数91.42%,模型的拟合度极高,可用于预测马氏珠母贝外套膜Hsp70基因表达量。 相似文献
15.
罗德海 《成都信息工程学院学报》1992,(4)
本文首先建立了中尺度对称运动的Hamihon函数,并用变分原理导出了对称运动稳定的充分条件,然后再用Lagrange变分导出了缓变介质中对称运动的波作用量方程,这种波作用量方程与用WKB方法所得到的结果是相同的。同时,本文进一步讨论了中尺度对称扰动渡包的演变规律,并获得了对称运动发展的判据。 相似文献
16.
CHUDongsheng LIANGMeng SHIXin ZHANGLing 《中国海洋大学学报(英文版)》2004,3(1):106-110
1 Introduction Inrecentyearstherehasbeengrowingresearchin terestinthetwo dimensional (2 D )systemtheory .The 2 Dsystemsmayfindapplicationsinareassuchasmarineseismicdataprocessingandimageprocessing .Althoughmoreandmorevaluableresultshavebeengained ,mos… 相似文献
17.
A stochastic two-dimensional Fornasini-Marchesini's Model Ⅱ (2-D FMM Ⅱ) with multiplicative noise is given,and a filtering algorithm for this model, which is optimal in the sense of linear minimum-variance, is developed. The stochastic 2-D FMM Ⅱ with multiplicative noise can be reduced to a 1-D model, and the proposed optimal filtering algorithm for the stochastic 2-D FMM Ⅱ with multiplicative noise is obtained by using the state estimation theory of 1-D systems. An example is given to illustrate the validity of this algorithm. 相似文献
18.
新型格网DEM等高线生成技术与方法 总被引：1，自引：0，他引：1
以格网DEM数据为基础,生成具有良好保凸性、光滑性、平顺性特征的高质量等高线,已逐渐成为制作等高线图的重点。鉴于现有技术方法在沟道、山脊等地形变化部位生成的等高线中存在生硬、相交、异常闭合等问题,本文以黄土丘陵1:5万不同格网分辨率DEM为例,采用对比分析方法,建立了基于DEM格网加密技术的高质量等高线生成方法。实验表明：（1）采用以4×4 DEM格网单元为搜索圆的完全规则样条函数插值法,以可视化时图面0.1 mm的实际距离为加密DEM的格网分辨率值,对DEM格网进行加密处理后生成的等高线具有更为理想的保凸性、光滑性和平顺性特征;（2）对于已知综合尺度的地形,存在最优DEM格网分辨率阈值,若要高质量地再现原始等高线,则实际DEM格网分辨率不得低于最优DEM格网分辨率阈值。 相似文献
19.
Franny G. Murillo-García Mauro Rossi Francesca Ardizzone Federica Fiorucci Irasema Alcántara-Ayala 《山地科学学报》2017,14(7):1241-1261
In this paper, an attempt to analyse landslide hazard and vulnerability in the municipality of Pahuatlán, Puebla, Mexico, is presented. In order to estimate landslide hazard, the susceptibility,magnitude(area-velocity ratio) and landslide frequency of the area of interest were produced based on information derived from a geomorphological landslide inventory; the latter was generated by using very high resolution satellite stereo pairs along with information derived from other sources(Google Earth,aerial photographs and historical information).Estimations of landslide susceptibility were determined by combining four statistical techniques:(i) logistic regression,(ii) quadratic discriminant analysis,(iii) linear discriminant analysis, and(iv)neuronal networks. A Digital Elevation Model(DEM)of 10 m spatial resolution was used to extract the slope angle, aspect, curvature, elevation and relief.These factors, in addition to land cover, lithology anddistance to faults, were used as explanatory variables for the susceptibility models. Additionally, a Poisson model was used to estimate landslide temporal frequency, at the same time as landslide magnitude was obtained by using the relationship between landslide area and the velocity of movements. Then,due to the complexity of evaluating it, vulnerability of population was analysed by applying the Spatial Approach to Vulnerability Assessment(SAVE) model which considered levels of exposure, sensitivity and lack of resilience. Results were expressed on maps on which different spatial patterns of levels of landslide hazard and vulnerability were found for the inhabited areas. It is noteworthy that the lack of optimal methodologies to estimate and quantify vulnerability is more notorious than that of hazard assessments.Consequently, levels of uncertainty linked to landslide risk assessment remain a challenge to be addressed. 相似文献
20.
以岩质边坡中常见的平面滑动为研究对象,研究其最优锚固方向角的计算方法。将锚索自由段单位长度能提供的最大抗滑增量作为目标控制变量,将坡面和滑动面特征参数与锚索设计参数作为优化控制自变量,通过坐标系转换得到的线性方程组对锚索的预拉力进行分解,并根据锚索支护时的三维模型建立了锚索自由段长度的优化公式,进而推导了用于锚固方向角三维优化的新计算方程。在该方程的基础上借助MATLAB软件中的fmincon函数对锚索加固方向不受限制时的锚固方向角进行了优化。最后通过锚固方向角敏感性分析与工程实例分析相结合,证明了推荐的最优锚固方向角计算方法的有效性与先进性。新方法有效地解决了边坡坡面与滑动面走向存在夹角时最优锚固方向角的求解问题,可进一步提高锚索的锚固效益,降低边坡的支护费用。 相似文献