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   

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   

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   

Origin and evolution of alkali basaltic magma in the Okinawa Trough     

Zhang Jiaqiang  Sun Yongfu  Jiang Xiaoli 《海洋学报(英文版)》2000,19(3):115-129

I~IOXThe Okinawa Trough is an extending back--arc basin between the East China Sea Shelf andthe Ry'Ukyu Island Arc of Japan. There are widespreadly distributing acid pumice in the troughand a little basalt just in some area of the extending center. There have been some detailed rePOrtsabout the mineralogy and petrochemical feature of the subalkali tholeiite and alkali trachyte in thetrough (Zhai and Gan, 1995; Li et al., 1997; Qin and Zhai, 1988). This paper mainly reportselectron mic…  相似文献   

人造海洋涌升流和海洋渔场   总被引：1，自引：0，他引：1  

李冠成  王秉坤  李明  范喆  王莉  卢佃清 《海洋技术学报》2003,22(2):74-78

针对渔业资源日趋减少和鱼产品需求不断增加的矛盾，探讨了建造海底山脉、人工制造海洋涌升流、从而人工制造优良海洋渔场的可行性，分析了我国建造海底山脉的水深、海底和海流条件。介绍了建造海底山脉的建筑方法和国际上建造海底山脉的最新动态。论述了我国在200n mile以内建造海底山脉的有利条件。  相似文献   

二(甲基环戊二烯)钐氯化物合成和晶体结构研究     

江涛  沈琪 《中国海洋大学学报(自然科学版)》2001,31(2):173-178

作者以 Sm Cl3 与 (CH3 Cp) Na反应分离得到了三价稀土有机配合物 [(CH3 Cp) 2 Sm Cl·THF]2 的单晶 ,X-射线四圆衍射测定 ,该配合物属正交晶系 ,Pbna空间群 ,晶胞参数 a=9.6 6 2 (2 ) ,b=16 .4 76 (9) ,c=2 0 .582 (9) ;α=β=γ=90°,Z=4。并分析比较 [(CH3 Cp) 2 Sm Cl· THF]2 与其他三价稀土一氯化物的结构特点  相似文献   

关于波浪Boussinesq方程的研究   总被引：2，自引：0，他引：2  

李孟国  王正林  蒋德才 《中国海洋大学学报(自然科学版)》2002,32(3):345-354

对有关波浪 Boussinesq方程的研究成果进行了系统的归纳总结和评述 ,以期对本学科的发展起到一定的引导和促进作用  相似文献   

舟山马岙峡道的水文泥沙特性和峡道效应   总被引：6，自引：2，他引：6  

蒋国俊  金如义  顾建明  沈炳舫 《海洋通报》2001,20(1):15-22

根据舟山本岛北部马岙峡道实测水文泥沙资料和沉积物采样分析结果以及对马岙岸段岸滩的现场踏勘结果，分析了马岙峡道的水文泥沙特性及其峡道效应。文章认为，受峡道地形限制，马岙岸段水流呈现显著的往复流特性，潮流流速较强，水体含沙量较低，泥沙淤积较弱，岸滩处于冲淤平衡状态；受峡道内涨落潮流分流和汇流的共同作用，马岙小泥糊礁附近发育水下沙嘴，该沙嘴是以落潮流作用为主形成的浅滩，受涨潮流改造而形成的，并将在涨落潮流作用下逐渐增长，形成连岛沙嘴，使小泥糊礁附近岸线发展成弧形岸线，并达成新的平衡。  相似文献   

东太平洋赤道海域茎柔鱼小型群体资源分布及其渔场环境特征     

玄文丹  崔国辰  李哲  魏裙倚  陶迎新  刘连为  陈峰  朱文斌 《海洋与湖沼》2022,53(5)

茎柔鱼(Dosidicus gigas)是我国远洋渔业的重要捕捞对象。当前针对茎柔鱼渔场分布及其与环境关系的研究多集中于秘鲁海域,针对赤道海域茎柔鱼特定种群小型群体资源分布及其渔场环境特征研究较少。根据2019年12月至2020年2月茎柔鱼生物学数据,2019年12月至2020年4月生产和环境数据,运用胴长-体重关系拟合、地统计插值、广义可加模型(GAM)探究其资源分布及渔场环境状况。结果表明：东太平洋赤道海域茎柔鱼胴长范围为136~407 mm,体重范围为117~1557 g；2019年12月至2020年4月各月渔获量呈先增加后减小趋势,2月渔获量最高；CPUE曲线除2月增加外,总体呈下降趋势；渔场集中分布于0°~3°S、105°W~114°W海域,不同月份渔场重心经向变化明显；渔场最适SST范围是24.5~25.5 °C,最适Chl-a范围是0.16~0.20 mg/m3,月份是影响茎柔鱼CPUE的主要因子。研究表明：该海域茎柔鱼渔获主要为小型群体；小型群体生长发育期(2–3月)对渔场分布有重要影响,生长发育期前茎柔鱼集群度高,生长发育期后逐渐分散活动；单一影响因子与茎柔鱼CPUE相关性不显著,综合考虑其他环境因素及其交互影响是今后的研究方向。  相似文献