共查询到20条相似文献，搜索用时 406 毫秒
1.
高宁波 《东北石油大学学报》2013,37(3):117-122,130
针对一类多变量非线性控制对象的轨迹跟踪问题,设计一种模糊迭代学习控制器,利用模糊控制器动态调节迭代学习律增益矩阵参数,通过反馈线性化算法和信息融合技术降低模糊控制器输入变量维数,实现多变量非线性系统轨迹跟踪控制.结果表明:与固定增益型迭代学习控制器相比,采用模糊迭代学习控制器学习速度提高,控制稳定性改善,两自由度机械臂的轨迹跟踪控制仿真结果也验证模糊迭代学习控制器的优越性. 相似文献
2.
Prestack elastic reverse time migration ( RTM) requires multicomponent seismic data .But for multi-component elastic Kirchhoff migration , there is a limitation that ray theory no longer applies if thegeology be-comes complicated .In this paper, the authors have created a new 2D migration context for isotropic , elastic RTM, which included decomposition of the elastic source and receiver wavefields into P and S wave vectors by decoupled elastodynamic extrapolation , which retained the same stress and particle velocity components as the input data .Then we appliedsource-normalized crosscorrelation imaging condition in elastic reverse time migra-tion to compensate the energy of deep strata .We found that the resulting images were nearly identical to the ve-locity model , and the resolution has been improved .Our method is a wavefielddecomposition based on vector , and we can alsoavoid the problem of polarity reversal of converted shear wave imaging .It proved the applicabili-ty of the method proposed in our paper . 相似文献
3.
MA Ruijie LI Xin. College of Mathematics Jilin University Changchun China . College of Construction Engineering China 《东北亚地学研究》2009,(3):164-167
The underground water quality model with non-linear inversion problem is ill-posed, and boils down to solving the minimum of nonlinear function. Genetic algorithms are adopted in a number of individuals of groups by iterative search to find the optimal solution of the problem, the encoding strings as its operational objective, and achieving the iterative calculations by the genetic operators. It is an effective method of inverse problems of groundwater, with incomparable advantages and practical significances. 相似文献
4.
《中国海洋大学学报(英文版)》2020,(5)
In this paper, a fuzzy sliding mode active disturbance rejection control(FSMADRC) scheme is proposed for an autonomous underwater vehicle-manipulator system(AUVMS) with a two-link and three-joint manipulator. First, the AUVMS is separated into nine subsystems, and the combined effects of dynamic uncertainties, hydrodynamic force, unknown disturbances, and nonlinear coupling terms on each subsystem are lumped into a single total disturbance. Next, a linear extended state observer(LESO) is presented to estimate the total disturbance. Then, a sliding mode active disturbance rejection control(SMADRC) scheme is proposed to enhance the robustness of the control system. The stability of the SMADRC and the estimation errors of the LESO are analyzed. Because it is difficult to simultaneously adjust several parameters for a LESO-based SMADRC scheme, a fuzzy logic control(FLC) scheme is used to formulate the FSMADRC to determine the appropriate parameters adaptively for practical applications. Finally, two AUVMS tasks are illustrated to test the trajectory tracking performance of the closed-loop system and its ability to reject and attenuate the total disturbance. The simulation results show that the proposed FSMADRC scheme achieves better performance and consume less energy than conventional PID and FLC techniques. 相似文献
5.
伺服系统大多是非线性系统,难以对其建立准确的控制模型,其位置、和速度检测信号易受干扰,而小波网络具有多分辨率特性和任意逼近能力。利用其非线性映射能力对系统的输入输出关系进行模拟,将小波网络和模糊规则结合对系统的位置和速度进行辨识,动态调整网络的权值W和模糊规则,将非线性映射的问题转化为求解系统最优解,从而产生一种新的系统辨识方法,并以永磁伺服系统为例,设计了辨识的结构模型和策略,实验表明该算法可以达到较高的系统控制要求。 相似文献
6.
In order to solve the problems of multi-parameter,multi-extreme and multi-solution in the nonlinear iterative optimization process of Rayleigh wave inversion,the artificial bee colony(ABC)algorithm is selected for global nonlinear inversion.The global nonlinear inversion method does not rely on a strict initial model and does not need to calculate the derivative of the objective function.The ABC algorithm uses the local optimization behavior of each individual artificial bee to finally highlight the global optimal value in the colony,and the convergence speed is faster.While searching for the global optimal solution,an effective local search can also be performed to ensure the reliability of the inversion results.This paper uses the ABC algorithm to perform Rayleigh wave dispersion inversion on the actual seismic data to obtain a clear undergrounding of shear wave velocity profile and accurately identify the location of the high-velocity interlayer.It is verified that the ABC algorithm used in the inversion of the Rayleigh wave dispersion curve is stable and converges quickly. 相似文献
7.
A fully coupled 6-degree-of-freedom nonlinear dynamic model is presented to analyze the dynamic response of a semi-submersible platform which is equipped with the dynamic positioning （DP） system. In the control force design, a dynamic model of reference linear drift frequency in the horizontal plane is introduced. The dynamic surface control （DSC） is used to design a control strategy for the DP. Compared with the traditional back-stepping methods, the dynamic surface control combined with radial basis function （RBF） neural networks （NNs） can avoid differentiating intermediate variables repeatedly in every design step due to the introduction of a first order filter. Low frequency motions obtained from total motions by a low pass filter are chosen to be the inputs for the RBF NNs which are used to approximate the low frequency wave force. Considering the propellers’ wear and tear, the effect of filtering frequencies for the control force is discussed. Based on power consumptions and positioning requirements, the NN cen-ters are determined. Moreover, the RBF NNs used to approximate the total wave force are built to monitor the disturbances. With the DP assistance, the results of fully coupled dynamic response simulations are given to illustrate the effectiveness of the proposed con-trol strategy. 相似文献
8.
针对在未知环境中行人轨迹跟踪问题,提出一种基于行人航位推算的改进航迹跟踪算法,有效实现了在磁场干扰环境下行人轨迹的高精确跟踪。在步数估计中,利用双重阈值二值化算法对加速度数据进行分析,进而获得行人的运动步数;在航向估计中,利用自适应融合算法来获取航向。该融合过程首先根据姿态更新微分方程,将角速度与加速度融合获取一次航向角,再通过磁感应强度阈值确定一次航向角与磁力计测算航向角融合的权重,最后通过实验验证算法的有效性和优越性。结果表明,在未知环境中行走32 m的距离,获得的轨迹跟踪误差小于1.1%,定位误差小于0.75 m和1 m的概率分别为59%和80%,显著优于对比算法。 相似文献
9.
The underground water qualitymodel with non-linear inversion problem is illposed, and boils down to solving the minimum of nonlinear function. Genetic algorithms are adopted in a number of individuals of groups by iterative search to find the optimal solution of the problem, the encoding strings as its operational objective, and achieving the iterative calculations by the genetic operators. It is an effective method of inverse problems of groundwater, with incomparable advantages and practical significances. 相似文献
10.
【目的】研究解决海洋大惯量浮式平台在复杂海况影响下所引起的振动冲击问题。【方法】采用逆运动学分析方法对平台回转位置进行优化研究,提出一种基于关节最小耗能的多目标轨迹优化算法。采用分段样条插值方法构造关节位置曲线,并建立关节能耗轨迹优化模型,采用粒子群算法实现对关节位置的优化搜索,从而得到基于平台转动最小耗能的位置优化轨迹。【结果与结论】所采用的轨迹优化方法能有效改善系统运行的平滑性,降低回转机构振动与冲击的影响程度,可为平台的振动与冲击主动控制提供必要的理论依据。 相似文献
11.
《中国海洋大学学报(英文版)》2021,(5)
In ocean explorations, side-scan sonar(SSS) plays a very important role and can quickly depict seabed topography. Assembling the SSS to an autonomous underwater vehicle(AUV) and performing semantic segmentation of an SSS image in real time can realize online submarine geomorphology or target recognition, which is conducive to submarine detection. However, because of the complexity of the marine environment, various noises in the ocean pollute the sonar image, which also encounters the intensity inhomogeneity problem. In this paper, we propose a novel neural network architecture named dilated convolutional neural network(DcNet) that can run in real time while addressing the above-mentioned issues and providing accurate semantic segmentation. The proposed architecture presents an encoder-decoder network to gradually reduce the spatial dimension of the input image and recover the details of the target, respectively. The core of our network is a novel block connection named DCblock, which mainly uses dilated convolution and depthwise separable convolution between the encoder and decoder to attain more context while still retaining high accuracy. Furthermore, our proposed method performs a super-resolution reconstruction to enlarge the dataset with high-quality images. We compared our network to other common semantic segmentation networks performed on an NVIDIA Jetson TX2 using our sonar image datasets. Experimental results show that while the inference speed of the proposed network significantly outperforms state-of-the-art architectures, the accuracy of our method is still comparable, which indicates its potential applications not only in AUVs equipped with SSS but also in marine exploration. 相似文献
12.
Full waveform inversion is a fitting process based on full seismic wave field simulation data using the full waveform information in seismic records and theoretically it is the ultimate goal of seismic inversion.Howev-er, there are many problems to be solved in practical application.Firstly, it is the strong nonlinear problem be-tween the seismic wave field and inversion parameters;secondly, the lack of low-frequency information in seis-mic records.In this study, the envelope is used as objective function inversion to provide the inversion result for the multi-scale full waveform inversion as the initial model, solving the lack of low-frequency information in seismic records.Taking the envelope of seismic records as the objective function in combination of multi-scale full waveform inversion became a new inversion strategy, which naturally achieved the compensation of shortage of low-frequency information and inversion from low frequency to high frequency, reducing the non-linearity in the inversion process.The comparison of the result of full waveform inversion of the initial model built through envelope inversion with the result of the conventional multi-scale full waveform inversion indicates the effective-ness of envelope inversion for the recovery of low-frequency information in seismic records. 相似文献
13.
随着无人机(UAV)在民用各个行业应用领域的推广,对精准遥感的需求越来越强烈。旋翼飞行器作为无人机的一种,近年来发展迅速,已成为小范围精准遥感测绘的首选,然而其本身飞行的稳定性与遥感成像效果有着直接联系,因此姿态控制器也成为无人机稳定性能研究的基础问题。针对四旋翼飞行器运动的欠驱动、强耦合和非线性特性,本文提出一种基于滑模和扩张状态观测器（ESO）的姿态控制器,设计了可一系列实验方法来获取模型参数（转动惯量、升力系数、扭矩系数和电机时间常数）,并建立四旋翼各个模块的数学模型。在此模型基础上,采用滑模控制器实现四旋翼飞行器姿态解耦鲁棒控制,通过sat函数替换符号函数改进滑模控制器结构,减缓颤振现象。同时,结合ESO实现对四旋翼姿态回路的系统干扰总和进行实时估计,其中干扰总和包括建模状态间耦合项、未建模动态以及外部干扰,从而对滑模控制器的输出进行实时干扰补偿,实现高品质的四旋翼姿态控制。本文设计2组实验：实际操纵指令跟踪实验;外界实际挂载重物干扰实验。通过实验对这2种四旋翼无人机姿态控制器（基于滑模和ESO的控制器、单独滑模控制器）进行仿真和实际试飞对比。实验结果表明,同等情况下,基于滑模和ESO的控制器能够实现姿态稳定且跟踪误差减少约20%,同时该控制方法增强了四旋翼的抗干扰能力,悬停时姿态角度波动幅度减少约50%,具有实际应用的价值。 相似文献
14.
����-֧���������ڴ�Ӱ�ȫ���Ԥ���е�Ӧ�� 总被引：5，自引：3，他引：2
????????????????????г?????????????????μ?????????-??????????????????????????????????????????????????????????????????????????????????????????????????????????С????????????????н???????г????????????????????Ч????á? 相似文献
15.
����Landweber�������ȿ���������С���������㷨�о� 总被引：2，自引：0，他引：2
???????Landweber???????x ?? k+1=x ?? k-f??(x ?? k) *(f(x ?? k)-y ??) ???з??????????????????????????????????????????????????1/????? |(B??(x k)B(x k))|???????????μ???????????????С?????????Landweber???????, x ?? k+1=x ?? k-??(B??(x ?? k)B(x ?? k)) *B??(x ?? k)(f(x ?? k)-y ??) ??????????????????????????????????????????????????????????????????ó?????[WTBZ]Landweber??????????????????????????????????????????С???????????? 相似文献
16.
????????????????????????????????????????????????????????????36???360???2 160????????????????????????????????????36???360???EGM96??EGM2008??????????????????????????????????????????????????????????????????????????????????????????????????????????EGM96??EGM2008???????????????????????????????????????????EGM2008????????????EGM96???? 相似文献
17.
在对卫星跟踪经纬仪转动轨迹建模基础上,提出一种基于预报轨迹及历史轨迹的经纬仪转向自决策算法。此算法具有事先规划经纬仪旋转轨迹的特点,从而在保护硬件设备的同时避免了卫星跟踪经纬仪目前普遍采用的“断电制动/限位反转”策略所引起的观测弧段的损失。该算法可以应用于其他类似的依赖于卫星预报的卫星跟踪经纬仪。 相似文献
18.
提出一种基于Levenberg-Marquarat算法的非线性三维直角坐标转换方法,在法矩阵病态或者奇异时依然有效,并通过修正旋转角参数的方法,有效解决了平移量与旋转角量纲不同造成的迭代发散问题。设计出简洁有效的迭代求解模式,获得了稳定的参数解。最后通过模拟数据对比分析,证明该方法的有效性和正确性。 相似文献
19.
???????????γ?????????????????????????????????????????γ??????????????????????????滮??γ????????????????????????豸??????????????????γ???????????“??????/??λ???”??????????????ε???????????????????????????????????????????????????γ??? 相似文献
20.
The wave crest is an important factor for the design of both fixed and floating marine structures. Wave crest height is a
dominant parameter in assessing the likelihood of wave-in-deck impact and resultant severe damage. Many empirical and theoretical
distribution functions for wave crest heights have been proposed, but there is a lack of agreement between them. It is of
significance to develop a better new nonlinear wave crest height distribution model. The progress in the research of wave
crest heights is reviewed in this paper. Based on Stokes’ wave theory, an approximate nonlinear wave crest-height distribution
formula with simple parameters is derived. Two sets of measured data are presented and compared with various theoretical distributions
of wave crests obtained from nonlinear wave models and analysis of the comparison is given in detail. The new crest-height
distribution model agrees well with observations. Also, the new theoretical distribution is more accurate than the other methods
cited in this paper and has a greater range of applications. 相似文献