共查询到20条相似文献，搜索用时 15 毫秒
1.
Adaptive optimal control of an autonomous underwater vehicle in the dive plane using dorsal fins 总被引：1，自引：0，他引：1
In this paper, adaptive control of low speed bio-robotic autonomous underwater vehicles (BAUVs) in the dive plane using dorsal fins is considered. It is assumed that the model parameters are completely unknown and only the depth of the vehicle is measured for feedback. Two dorsal fins are mounted in the horizontal plane on either side of the BAUV. The normal force produced by the fins, when cambered, is used for the maneuvering. The BAUV model considered here is non-minimum phase. An indirect adaptive control system is designed for the depth control using the dorsal fins. The control system consists of a gradient based identifier for online parameter estimation, an observer for state estimation, and an optimal controller. Simulation results are presented which show that the adaptive control system accomplishes precise depth control of the BAUV using dorsal fins in spite of large uncertainties in the system parameters. 相似文献
2.
A new control scheme for robust trajectory control based on direct estimation of system dynamics is proposed for underwater vehicles. The proposed controller can work satisfactorily under heavy uncertainty that is commonly encountered in the case of underwater vehicle control. The dynamics of the plant are approximately canceled through the feedback of delayed accelerations and control inputs. Knowledge of the bounds on uncertain terms is not required. It is shown that only the rigid body inertia matrix is sufficient to design the controller. The control law is conceptually simple and computationally easy to implement. The effectiveness of the controller is demonstrated through simulations and implementation issues are discussed. 相似文献
3.
互花米草的快速入侵及扩散将导致入侵地的生态系统失衡。我国大陆从北到南的沿海地区分布着大面积的互花米草,严重降低了海岸带的生物多样性及生态屏障功能。我国各地防控互花米草入侵的主要方法包括物理、化学和生物防治三大类。目前各地采用的刈割、碾埋、围堰水淹等单一的防治方法可有效治理小面积的互花米草入侵,对大面积或成片互花米草的治理效果欠佳。文章通过分析比较现有的治理方法,结合科研实践经验,提出了将物理防治法、化学防治法和生物演替法有机结合起来,适宜中国不同地区互花米草的综合整治方法。 相似文献
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工程项目中文件和资料以及质量记录的控制和管理是技术管理工作的重要环节,采用控制点管理对工程项目中文件和资料以及质量记录进行控制是必要的方法和手段。本文介绍了在工程项目中文件和资料以及质量记录控制的重要性和控制范围。提出了文件和资料以及质量记录控制管理的控制点的设置以及设置控制点的关键问题和控制方法。 相似文献
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随着渔业资源的衰退,为保护渔业资源,我国制定出台了多项渔业资源管理政策,但实际应用中出现了诸多问题,导致政策未完全实现预期效果。为提高我国渔业资源管理政策成效,促进我国渔业经济高质量发展,文章利用案例分析法、定性分析与定量分析结合的方法,从投入控制、技术控制和产出控制角度,梳理我国三类渔业资源管理政策,系统分析我国各类渔业资源管理政策演进与应用及应用过程中存在的问题,有针对性地提出我国渔业资源管理政策优化方案。研究发现,我国渔业资源管理政策存在政府监管成本过高、政策执行不到位、渔业从业人员保护渔业资源的责任不清晰、渔业从业人员转业困难以及立法不完善的问题。未来可从发展渔业合作组织、增强渔业从业人员渔业资源保护意识、明确渔业从业人员保护渔业资源的具体责任、组织渔业从业人员职业培训和完善渔业资源管理政策立法方面着手,改进渔业资源管理政策。 相似文献
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水泥混凝土路面施工探讨 总被引：6，自引：0，他引：6
结合宁连一级公路连云港段10km水泥混凝土路面和连云港市新牛线及连云港市玉凤路水泥混凝土路面施工经验,对水泥路面常见病害进行了分析,以期找到一套完整可行的水泥混凝土路面的施工方法。 相似文献
7.
Pradeep R. Nambisan 《Ocean Engineering》2009,36(2):158-167
A multi-variable adaptive autopilot for the dive-plane control of submarines is designed. The vehicle is equipped with bow and stern hydroplanes for maneuvering. It is assumed that the system parameters are not known, and the disturbance force is acting on the vehicle. Based on a back-stepping design approach, an adaptive control law is derived for the trajectory control of the depth and the pitch angle. To prevent singularity in the control law, the SDU decomposition of the high-frequency gain matrix is used for the design. In the closed-loop system, asymptotic tracking of the reference depth and pitch angle trajectories is accomplished. Simulation results are presented which show that the submarine performs dive-plane maneuvers in spite of the uncertainties in the system parameters and disturbance forces. 相似文献
8.
水下机器人运动的S面控制方法 总被引：32，自引：4，他引：32
由于水下机器人的强非线性以及系统存在不确定性，同时考虑到港湾环境下水声的噪声大，因此，水下机器人进行精确作业时的运动控制一直是其实用化过程中困扰人们的问题，通常水下机器人的控制方式有PID控制器，神经网络控制器和模糊逻辑控制器三种，但是，由于这三种方法在实际应用中都存在一些参数难以确定的缺陷，为了解决这一问题，本文从模糊逻辑控制方式出发，借鉴PID控制的结构形式，推导出一种全新而简单有效的控制方法，定义为S面控制法，从水下机器人的水池试验和海上实验来看，不论是定点的控制精度还是运动过程中的控制效果都较令人满意，尤其是在风浪，潮流都比较大的海上实验中得到验证，鲁帮性很好。 相似文献
9.
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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This paper presents a complex control system of the ship motions in confined waters. The general structure of this system is based on the two different controllers connected in parallel. They are dedicated to the different tasks and operate in different conditions. One of them is based on the robust control technology while another is based on the fuzzy logic technique. To decide which controller to use depends on the velocity of the vessel. The control system was implemented at the first stage on a nonlinear multi-variable simulation model and at the second stage on a real-time object—floating, autonomous model of the very large crude carrier (VLCC tanker). The whole system was developed in the MATLAB/Simulink platform. 相似文献
12.
Multiple-Step Predictive Control for Offshore Structures 总被引：13，自引：0，他引：13
—Ocean wave propagation is slow,visible and measurable,so a wave theory can be used to approxi-mately predict the imminnent wave force on an offshore structure based on measured,real-time wave elevation nearthe structure.This predictability suggests the development of a more efficient algorithm,than those that have beendeveloped for structures under wind and seismic loads,for the active vibration control of offshore structures.Thepresent study delveops a mutiple-step predictive optimal control(MPOC)algorithm that accounts for multiple-step external loading in the determibation of optimal control forces.The control efficiency of the newly developedMPOC algorithm has been investigated under both regular(single-frequency)and irregular(multiple-frequency)wave loads,and compared with that of two other well-known optimal control algorithms:classical linear optimalcontrol(CLOC)and instantaneou optimal control(IOC). 相似文献
13.
This paper addresses the Archimedes Wave Swing (an offshore wave energy converter, which produces electricity from sea waves). It compares the performances of latching control (a discrete, highly non-linear, intrinsically sub-optimum control strategy), of reactive control, of phase and amplitude control (two optimum control strategies that involve non-causal transfer functions, which have to be implemented with approximations, thus rending the control sub-optimum), and of feedback linearisation control (a non-linear control strategy). From extensive simulations it is concluded that the latter performs clearly better irrespective of the sea state, and leads to a significant increase of absorbed wave power. 相似文献
14.
Robust diving control of an AUV 总被引：1，自引：0，他引：1
Lionel Lapierre 《Ocean Engineering》2009,36(1):92-104
Mobile systems traveling through a complex environment present major difficulties in determining accurate dynamic models. Autonomous underwater vehicle motion in ocean conditions requires investigation of new control solutions that guarantee robustness against external parameter uncertainty. A diving-control design, based on Lyapunov theory and back-stepping techniques, is proposed and verified. Using adaptive and switching schemes, the control system is able to meet the required robustness. The results of the control system are theoretically proven and simulations are developed to demonstrate the performance of the solutions proposed. 相似文献
15.
Depth-trim mapping control of underwater vehicle with fins 总被引：1，自引：1，他引：0
Underwater vehicle plays an important role in ocean engineering.Depth control by fin is one of the difficulties for underwater vehicle in motion control.Depth control is indirect due to the freedom coupling between trim and axial motion.It includes the method of dynamic analysis and lift-resistance-coefficient experiment and theory algorithm.By considering the current speed and depth deviation,comprehensive interpretation is used in object-planning instruction.Expected depth is transformed into expected trim.Dynamic output fluctuation can be avoided,which is caused by linear mapping of deviation.It is steady and accurate for the motion of controlled underwater vehicles.The feasibility and efficiency of the control method are testified in the pool and natural area for experiments. 相似文献
16.
Design of a sliding mode fuzzy controller for the guidance and control of an autonomous underwater vehicle 总被引：1，自引：0，他引：1
This work demonstrates the feasibility of applying a sliding mode fuzzy controller to motion control and line of sight guidance of an autonomous underwater vehicle. The design method of the sliding mode fuzzy controller offers a systematical means of constructing a set of shrinking-span and dilating-span membership functions for the controller. Stability and robustness of the control system are guaranteed by properly selecting the shrinking and dilating factors of the fuzzy membership functions. Control parameters selected for a testbed vehicle, AUV-HM1, are evaluated through tank and field experiments. Experimental results indicate the effectiveness of the proposed controller in dealing with model uncertainties, non-linearities of the vehicle dynamics, and environmental disturbances caused by ocean currents and waves. 相似文献
17.
船舶机动定位技术及其实现方法 总被引：1，自引：0，他引：1
为改善动力定位船舶在高海情下的定位能力,研究了机动定位的控制方式,并设计了一种机动定位模糊控制系统。其特点是模仿人类的航海技巧,通过充分利用环境力,实现船舶的定位与机动。仿真结果表明,在高海情下,机动定位方式可以实现较高精度的定位控制,并且其辅推功率消耗较小。 相似文献
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一类非线性系统次优控制的灵敏度法 总被引：1，自引：0，他引：1
本文研究一类非线性定常系统的次优控制问题。通过在系统中引入 1个灵敏度参数并将系统变量关于灵敏度参数展开 Maclaurin级数 ,使求解最优控制的非线性两点边值问题化为一族线性两点边值问题。利用截取最优控制级数的有限项求得系统的次优控制律。仿真实例表明 ,该方法对非线性系统次优控制律的设计是有效的 相似文献