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   

春季东海不同水域的表层叶绿素含量   总被引：5，自引：0，他引：5  

鲁北伟  王荣  王文琪 《海洋科学》1997,21(5):53-55

利用１９９４年春季在东海及台湾海峡首次获得的表层水中绿素含量大面走航连续观测资料，结合温盐分布及以往的有关东海及台湾海峡的海流和上升流的结论，分析了春季东海表层叶绿素含量在不同水域的分布特征。结果表明，叶绿素含量分布与水文结构关系密切。叶绿素含量值随不同海流流域而变，但在各海流流域内基本不变，黑潮表层水的叶绿素含量最低，其次是台湾暖流表层水，长江冲淡水与江浙沿岸流域的叶绿素含量较高；黑潮西侧弱流剧  相似文献   

分潮波模型多资料数值计算方法研究　Ⅱ.有限差分最小二乘方法     

潘文波  孙文心  王骥 《中国海洋大学学报(自然科学版)》1996,(2)

对含多资料的分潮波模型的超定问题进行探讨，建立一种有限差分—最小二乘方法，该方法使得岸边资料直接进入了计算方程，并保证岸界法向流速为零条件。通过对渤海的四大分潮的试算，证实本方法可行。  相似文献   

春季东海表层水叶绿素a含量分布特征   总被引：2，自引：0，他引：2  

鲁北伟  王荣 《海洋与湖沼》1996,27(5):487-492

依据“科学一号”调查船１９９４年４月在东海１０个断面上所进行的表层水连续走航观测资料，研究东海表层水叶绿素α含量在不同空间尺度上的分布特征和变化规律。结果表明，叶绿素α含量在陆架区高，在外海低；测区南部海域的含量一般高于北部海域。叶绿素α含量的分布形态变化很大，在某些外海深水区，叶绿素α含量连续百科公里没有显著变化，变化幅度小于０．２ｍｇ‘ｍ＾３；而在某些近海浅水区，叶绿素α含量在不到１公里范围内  相似文献   

Optimal Design for Main Dimensions of a 75000t Floating Production and Storage Vessel     

Tan Jiahua  Ma Wei  Pan Bin Associate Professor  Shanghai Jiao Tong University  Shanghai Lecturer  shanghai Jiao Tong University  Shanghai 《中国海洋工程》1992,(1)

The basis, process and results of the demonstration of the main dimensions of a 75000t floating production and storage vessel are discussed in this paper. A simple but reliable orthogonal design method is applied in the main dimension optimization. The ideas of gradual approximation and feedback from various aspects are put into effect. During the demonstration, in order to make the model tally with the actual situation, the draft design is closely related to the computational analysis, so that the demonstration model can be verified at any time; the handling of the overall system is closely related to the research of each item, which is beneficial not only to the mastery of various regularities, but also to the balance of decisions. Finally, according to the computational results and the regularities obtained from analysis, the main dimensions are determined.  相似文献   

冲绳海槽北部表层沉积物中底栖有孔虫分布及其与海洋环境的关系          下载免费PDF全文

向荣  李铁刚  杨作升  阎军 《海洋与湖沼》2003,34(6):671-682

对1999年6月采自冲绳海槽北部的62个表层沉积物样品进行了底栖有孔虫分析。研究表明，该区属种多为中外陆架和上部陆坡常见底栖有孔虫，其中Cibicides pseudoungerianus在研究区域内广泛分布。底栖有孔虫群落明显受研究区水团的制约，该区底栖有孔虫Q型因子分析反映的4个组合分别对应不同的水团影响：组合1以Cibicides pseudoungerianus、Uvigerina sp.、Ammonia ketienziensis、Textularia pseudocarinata为主，代表陆架混合水团影响环境；组合2以Uvigerina peregrina、Beregrina、Bulimina mexicana、Bulimina submarginata、Globocassidulina subglobosa为主，代表黑潮暖流中层水影响下的环境；组合3以喜营养分子Bulimina marginata和Bolivina robusta为主，代表冷涡沉积和上升流沉积区的环境；组合4以Cibicides pseudoungerianus、Globocassidulina subglobosa为主，代表了对马暖流水团影响下的环境，其中水团的氧含量水平和营养状况是影响底栖有孔虫组合变化的主要因素。底栖有孔虫的丰度从西往东依次出现两个丰度高值带，一个位于研究区西部100—140m水深的陆架区，另一个位于400—600m水深的上陆坡，后者可能反映了冲绳海槽大陆坡普遍发育的陆坡上升流现象。  相似文献   

南海东北部表层沉积中生源和矿物碎屑组分分析及其古环境意义   总被引：9，自引：3，他引：9  

孟翊  严肃庄  陈荣华  张富元 《海洋地质与第四纪地质》2001,21(3):17-22

通过对南海东北部128个表层沉积样品的定量研究，揭示隆源和矿物碎屑各组分的分布，也显示了组分分析作为一种简单、快速的研究方法在海洋古环境研究中的潜力，研究区生源碎屑的分布明显受与水深相关的深海溶解作用所控制，水深3500-4000m的现代南海CCD以下，钙质生物的含量急剧减少，而硅质生物的含量急剧增加，研究区表层沉积中的碎屑矿物主要来源于亚洲大陆，吕宋镐的风化产物只起次要作用，且其分布主要受与离岸距离远近和海流相关的搬运作用所控制。  相似文献   

桶形基础平台三维有限元稳定性分析     

钱荣  周锡礽  孙克俐  张伟 《海洋技术学报》2003,22(4):49-53

以我国第一座桶形基础采油平台工程实例为原型，采用三维有限元计算方法对桶形基础稳定性分析。平台在波浪、风等荷载作用下，其稳定性不仅与平台的整体结构有关，而且与桶形基础及其周围土体相互作用相关。在计算中，利用薄层摩擦单元模拟土与结构间的相互作用，取得了很好的效果。分析结果表明桶形基础采油平台在设计条件下运行是较为稳定的。  相似文献   

Dissipation source function and an improvement to LAGFD-WAM model   总被引：1，自引：0，他引：1  

Yuan Yeli  Hua Feng  Pan Zengdi  Sun Letao 《海洋学报(英文版)》1992,11(4):471-481

In this paper, a new theoretical expression of dissipation term is presented on the basis of statistical model of breaking wave, which is an improvement to LAGFD-WAM wave model. The computational results in three typical wind fields show a good improvement to LAGFD-WAM model and a better accuracy in comparison with the observed data in the South China Sea.  相似文献   

A study on remote sensing models of sea ice thickness by microwave radiometry     

Zheng Quan''an  Zhang Dong  Pan Jiayi 《海洋学报(英文版)》1993,12(2):197-206

Extrapolating from the propagation theories of electromagnetic waves in a layered medium, a three-layer medium model is deduced in this paper by using microwave radiometric remote sensing technology which is suitable to first-year sea ice condition of the northern part of China seas. Comparison with in situ data indicates that for microwave wavelength of 10 cm, the coherent model gives a quite good fit result for the thickness of sea ice less than 20 cm, and the incoherent model also works well for thickness within 20 to 40 cm. Based on three theoretical models, the inversion soft ware from microwave remote sensing data for calculating the thickness of sea ice can be set up. The relative complex dielectrical constants of different types of sea ice in the Liaodong Gulf calculated by using these theoretical models and measurement data are given in this paper. The extent of their values is (0. 5-4. 0)-j(0. 07~0. 19).  相似文献