Robust adaptive control of underactuated ships on a linear course with comfort     

K. D. Do  J. Pan  Z. P. Jiang   《Ocean Engineering》2003,30(17):2201-2225

This paper addresses an important problem in ship control application—the robust stabilization of underactuated ships on a linear course with comfort. Specifically, we develop a multivariable controller to stabilize ocean surface ships without a sway actuator on a linear course and to reduce roll and pitch simultaneously. The controller adapts to unknown parameters of the ship and constant environmental disturbances induced by wave, ocean current and wind. It is also robust to time-varying environmental disturbances, time-varying change in ship parameters and other motions of the ship such as surge and heave. The roll and pitch can be made arbitrarily small while the heading angle and sway are kept to be in reasonably small bounds. The controller development is based on Lyapunov’s direct method and backstepping technique. A Lipschitz continuous projection algorithm is used to update the estimate of the unknown parameters to avoid the parameters’ drift due to time-varying environmental disturbances. Simulations on a full-scale catamaran illustrate the effectiveness of our proposed controller.  相似文献   

A nitrate and silicate budget in the equatorial Pacific Ocean: a coupled physical–biological model study     

M. -S. Jiang  F. Chai  R. C. Dugdale  F. P. Wilkerson  T. -H. Peng  R. T. Barber   《Deep Sea Research Part II: Topical Studies in Oceanography》2003,50(22-26):2971

A coupled physical–biological model was developed to simulate the low-silicate, high-nitrate, and low-chlorophyll (LSHNLC) conditions in the equatorial Pacific Ocean and used to compute a detailed budget in the Wyrtki box (5°N–5°S, 180–90°W) for the major sources and cycling of nitrogen and silicon in the equatorial Pacific. With the incorporation of biogenic silicon dissolution, NH₄ regeneration from organic nitrogen and nitrification of ammonia in the model, we show that silicon recycling in the upper ocean is less efficient than nitrogen. As the major source of nutrients to the equatorial Pacific, the Equatorial Undercurrent provides slightly less Si(OH)₄ than NO₃ to the upwelling zone, which is defined as 2.5°N–2.5°S. As a result, the equatorial upwelling supplies less Si(OH)₄ than NO₃ into the euphotic zone in the Wyrtki box, having a Si/N supply ratio of about 0.85 (2.5 vs. 2.96 mmolm⁻² day⁻¹). More Si(OH)₄ than NO₃ is taken up with a Si/N ratio of 1.17 (2.72 vs. 2.33 mmolm⁻² day⁻¹) within the euphotic zone. The difference between upwelling supply and biological uptake is balanced by nutrient regeneration and horizontal advection. Excluding regeneration, the net silicate and nitrate uptakes are nearly equal (1.76 vs. 1.84 mmolm⁻² day⁻¹). However, biogenic silica export production is slightly higher than organic nitrogen (1.74 vs. 1.59 mmolm⁻² day⁻¹) following a 1.1 Si/N ratio. In the central equatorial Pacific, low silicate concentrations limit diatom growth; therefore non-diatom new production accounts for most of the new production. Higher silicate supply in the east maintains elevated diatom growth rates and new production associated with diatoms dominate upwelling zone. In contrast, the new production associated with small phytoplankton is nearly constant or decreases eastward along the equator. The total new production has a higher rate in the east than in the west, following the pattern of surface silicate. This suggests that silicate regulates the diatom production, total new production, and thereby carbon cycle in this area. The modeled mean primary production is 48.4 mmolCm⁻² day⁻¹, representing the lower end of direct field measurements, while new production is 15.0 mmolCm⁻² day⁻¹, which compares well with previous estimates.  相似文献   

Evidence of NW extension of the North Anatolian Fault Zone in the Marmara Sea: a new interpretation of the Marmara Sea (Izmit) earthquake on 17 August 1999     

Erkan G?ka?an  Cem Gazio?lu  Bedri Alpar  Zeki Yücel  ?ükrü Ersoy  O?uz Gündo?du  Cenk Yalt?rak  Buser Tok 《Geo-Marine Letters》2002,21(4):183-199

Active faults aligning in NW–SE direction and forming flower structures of strike-slip faults were observed in shallow seismic data from the shelf offshore of Avcılar in the northern Marmara Sea. By following the parallel drainage pattern and scarps, these faults were traced as NW–SE-directed lineaments in the morphology of the northern onshore sector of the Marmara Sea (eastern Thrace Peninsula). Right-lateral displacements in two watersheds of drainage and on the coast of the Marmara Sea and Black Sea are associated with these lineaments. This right-lateral displacement along the course of these faults suggests a new, active strike-slip fault zone located at the NW extension of the northern boundary fault of the ?ınarcık Basin in the Marmara Sea. This new fault zone is interpreted as the NW extension of the northern branch of the North Anatolian Fault Zone (NAFZ), extending from the ?ınarcık Basin of the Marmara Sea to the Black Sea coast of the Thrace Peninsula, and passing through B üy ük ?ekmece and K ü ? ük ?ekmece lagoons. These data suggest that the rupture of the 17 August 1999 earthquake in the NAFZ may have extended through Avcılar. Indeed, Avcılar and İzmit, both located on the Marmara Sea coast along the rupture route, were strongly struck by the earthquake whereas the settlements between Avcılar and İzmit were much less affected. Therefore, this interpretation can explain the extraordinary damage in Avcılar, based on the newly discovered rupture of the NAFZ in the Marmara Sea. However, this suggestion needs to be confirmed by further seismological studies.  相似文献   

红色无硫细菌处理高浓度鱼品废水的研究   总被引：1，自引：0，他引：1  

姜秀萍  陈世阳 《中国海洋大学学报(自然科学版)》1989,(Z2)

本文从城市生活污水的沉降污泥中分离出三株红色无硫细菌,经鉴定R1为胶质红假单胞菌(Rhodopscudomonas gelatinosa),R2为沼泽红假单胞菌(R palustris)、RS-1为红螺属(Rhodosprillum)的一种。R1与R2均为兼性需氧和兼性光能利用菌,RS-1为专性厌氧光合菌。作者提出了它们的主要生理、生化特性和最适生长条件,最后确定R1、R2是较有利用前途的优势种类。作者利用上述分离的菌株对高浓度的鱼品废水进行了净化处理试验,得出R1对CODcr的去除率约为65％,R2的去除率为74％以上。二者混合使用可提高至87％。作者还发现废水中的非光合性杂生菌有助于提高光合细菌的净化力。  相似文献   

洪泽湖风生流数值模拟   总被引：2，自引：0，他引：2  

姜加虎  黄群 《海洋湖沼通报》1996,(3):7-12

湖流是湖泊中污染物质扩散，悬浮物沉降及输移等的主要水动力学要素，造成湖水运动的成因机制很复杂，其中风生流是重要形式，本文通过构造一个二维闭边界数值模拟，对不同风情下的洪泽湖湖流流态进行模拟研究，探讨其入流较小，沿岩各闸关闭的枯季情况下的风生流特征。  相似文献   

胶州湾大沽河口洪水期三维水沙数值模拟研究     

韩树宗  赵瑾  魏福宝  林俊 《中国海洋大学学报(自然科学版)》2007,37(5):689-694

大沽河是胶州湾最大的入海河流,每年都会给胶州湾带来大量泥沙。本文利用三维的ECOMSED水动力-泥沙数值模型对洪水期的大沽河进行了数值模拟,得到了洪水存在期间以及洪水结束后胶州湾的余流分布、大沽河河道上中下游各层盐度、泥沙浓度随时间变化的趋势以及入海冲淡水和泥沙对胶州湾的影响。  相似文献   

黄、东海环流的数值研究Ⅲ——正压环流的数值模拟     

刘桂梅  孙文心  雷坤  江文胜 《中国海洋大学学报(自然科学版)》2002,32(1):1-8

依据黄、东海环流的的动力学模型 ,运用“流速分解法”对黄、东海正压环流进行了数值模拟。计算结果表明冬季黄海正压环流主要受风应力影响 ,基本形态为黄海暖流由济州岛西南进入南黄海中部 ,其东西两侧分别为两支向南流动的沿岸流 ;夏季主要受到潮致体力的影响 ,为一逆时针涡旋。东海环流主要是边界力作用驱动的结果 ,东海黑潮、台湾暖流和对马暖流较稳定。冬季风应力对东海环流表层流场有消弱作用 ,在夏季则有一定增强作用。  相似文献   

长江口中肋骨条藻赤潮发生过程环境要素分析──营养盐状况   总被引：34，自引：6，他引：34  

洪君超  黄秀清  蒋晓山  王桂兰 《海洋与湖沼》1994,25(2):179-184

从长江口１９９０年６月的一次中肋骨条藻赤潮发生过程中营养盐含量变化可见，由于潮汐的作用，观测水域各营养盐要素都在不同程度上存在周日波动特征，其中，ＮＯ３－Ｎ在一个潮周期内变化幅度可达１倍以上。赤潮发生时表层水体ＮＯ３－Ｎ，ＰＯ４－Ｐ和ＳｉＯ３－Ｓｉ值都呈下降趋势，降幅最大的ＰＯ４－Ｐ达３倍上；Ｎ／Ｐ值则急剧上升，峰值为４５０。随着赤潮肖亡，ＮＯ３－Ｎ，ＮＯ２－Ｎ和ＳｉＯ３－Ｓｉ浓度很快恢复正常，Ｎ  相似文献   

中华半管藻繁殖生物学研究──Ⅱ.营养细胞和休眼孢子的形态结构     

郑磊  林均民  金德祥 《台湾海峡》1994,(3)

通过扫描电镜观察中华半管藻的营养细胞和休眠孢子的形态结构显示：营养细胞上下壳各具一个线性裂口而不外突的唇形突,壳壁上的眠纹放射状,爪状连接刺上有零散的单孔,从单孔分泌胶质与相邻细胞连接;休眠孢子双凸透镜形或近球形,壳厚,表面平滑无纹饰,上壳面边缘具8～16根分叉长刺,下壳面具微刺,外围有一裙状物,其上有微孔。两类细胞不同的形态特征反映其不同的生态适应。  相似文献   

Three-dimensional numerical prediction of vertical temperature structure of the Huanghai and the Bohai Seas     

Jin Meibing  Wang Zongshan  Xu Bochang 《海洋学报(英文版)》1993,12(4):511-520

In the paper, the sea is divided into two layers with density jumping, assuming that the physical parameters in each layer are independent of depth. Two-layer flow field with tide and wind currents is calculated with extended ADI method, after the calculation for flow field is stable , coupled with temperature diffusion equations and thermohaline depth prediction equation, a four-day time prediction of the surface, bottom temperature and thermohaline depth of the Huanghai and the Bohai Seas. At the same time, three dimensional temperature field of sea water is predicted through vertical temperature distribution function. The result indicates that the prediction quality of the whole model and the fitting degree between the predicted result and the measured values are satisfactory.  相似文献