基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制   总被引：2，自引：0，他引：2  

黄道敏  徐瑞昆  唐国元  冯雷  刘智  徐国华 《海洋工程》2018,36(6):69-76

基于控制力矩陀螺群(CMGs)的水下航行器具有低速或零速机动的能力。采用基于分布式CMGs的水下航行器方案,并研究其水平面的轨迹跟踪控制问题。通过全局微分同胚变换将非完全对称的动力学模型解耦成标准欠驱动控制模型,并根据简化的模型构建其轨迹跟踪的误差动力学模型,将轨迹跟踪控制问题转化为误差模型镇定问题。基于一种分流神经元模型和反步法设计了系统的轨迹跟踪控制律,该控制器不需要对任何虚拟控制输入进行求导计算,且能确保跟踪误差的最终一致有界性。仿真结果表明该控制器能够实现在不依赖动力学参数先验知识的情况下对光滑轨迹的有效跟踪。  相似文献   

Drift angle compensation-based adaptive line-of-sight path following for autonomous underwater vehicle     

《Applied Ocean Research》2019

The aim of this study is to solve the problem of poor tracking in autonomous underwater vehicle (AUVs) that are operating based on traditional line-of-sight (LOS) method when tracking different paths in a complex marine environment. An adaptive-LOS (ALOS) guidance law with drift angle compensation is proposed, and is employed to calculate the AUV’s desired course (direction of velocity) and heading. First, an appropriate look-ahead distance is derived by the ALOS guidance law in consideration of the predefined path curvature, real-time tracking error and speed of the AUV. Subsequently, proper compensation is provided with respect to the actual drift angle. Compared with traditional LOS operation, this method flexibly adjusts to a suitable look-ahead distance while considering many related factors, providing a better path following performance. Both simulation and experimental results are presented to validate the effectiveness of this method.  相似文献   

地壳对海洋潮汐的响应   总被引：2，自引：2，他引：0  

郑文衡  王乘  何振  牛安福 《大地测量与地球动力学》2002,22(2):41-46

应用三维动态有限元方法研究了中国北部地区的地壳对邻近的渤海与黄海海平面变化的响应。虽然此应力场过于微弱不足以引发地震，但发现应力集中的位置及应力场变化较大的位置恰好与某些现代地震的震中一致。这一结果表明研究地壳对广泛分布的载荷的响应对研究区域地震构造是有帮助的。  相似文献   

AGGLOMERATION AND RADIATION EFFECT OF THE PULL OF URBANIZATION   总被引：2，自引：1，他引：1  

QIJin-li 《中国地理科学(英文版)》2003,13(3):224-227

In order to explore the train of thought for China‘s urbanizing development and coordinated rural eco-nomic development, and to find good ways of solving rural problems through urbanization, this paper absorbs the push-and-pull forces theory and the systematic dynamic theory in the traditional population migration theories, views urbanization as a dynamic system, makes research on the push-and-pull mechanism of urbanization. The pulling power of urbanization is analyzed according to two aspects, the agglomeration effect and the radiation effect of cities. The agglomeration effect provides continuous propelling force for urbanization, and the radiation effect further accelerates the urbanization process by pushing forward the development of rural economy. Of course, the slow de-velopment of urbanization can result in the hindrance to rural economic development.  相似文献   

Energy flow in Branchiura sowerbyi (Oligochaeta: tubificidae) in a shallow macrophyte-dominated lake, Biandantang Lake     

Yan Yunjun  Liang Yanling 《中国海洋湖沼学报》2004,22(4):403-407

The energy flow ofBranchiura sowerbyi was studied for the first time in China in a shallow macrophytic lake, Biandantang Lake, Hubei Province. The energy flow was calculated from the measurement of flesh production (12.5241kJ/m²a), egestion (517.7302kJ/m²a), metabolism (38.3273 kJ/m²a), and excretion (4.3798kJ/m²a). The net growth efficiency of the species is about 22.7%, which accords well with the generally reported value for oligochaetes. In addition, the relationship between starvation respiration (R, mgO₂/ind·d), wet weight (Ww, mg) and temperature (T, °C) were also measured, with the regression function beingR=0.008Ww^0.736 e^0.050T. Project supported by NSFC (30270278, 3960019), the foundation of the government of Hubei Province (No. 2000J109), and the foundation of Ecological Station, CAS in the Institute of Hydrobiology.  相似文献   

ENERGY FLOW OF BELIAMYA AERUGINOSA IN A SHALLOW ALGAL LAKE, HOUHU LAKE （WUHAN, CHINA）     

Yan Yun-jun  Liang Yan-ling  Wang Hong-zhu 《中国海洋湖沼学报》2001,19(3):243-248

The energy budget ofBellamya earuginosa in a shallow algal lake, Houhu Lake (Wuhan, China) was investigated by the measurement of flesh production (32.8 kJ/(m²·a)), egestion (337.7 kJ/(m²·a)), metabolism (246.7 kJ/(m²·a)), and estimation of excretion (21.4kJ/(m²·a)). The net growth efficiency of the species is about 10.9%, which accords with the generally reported value for gastropods. In addition, the relationships between starvation respiration (R, mgO₂/(Ind·d)), body weight (Wd, mg in dry wt) and temperature (T, °C) were also determined. The regression equationR=0.044Wd ^0.537 e ^0.061T was obtained by the least square method, The measured SDA of the species is 26.51% of its gross metabolism. Project No. 3960019 and 39430101 supported by NSFC and also a granted for the East Lake Ecological Experimental Station, CAS, Wuhan.  相似文献   

X射线衍射数据分析系统评价   总被引：4，自引：1，他引：3  

李建欣  宋党育  张军营  郑楚光 《岩矿测试》2008,27(3):189-193

以贵州省高灰、高污染组分煤中矿物质的分析为例,应用Bruker AXS D8 Advance衍射仪测得煤中矿物相的X射线衍射图谱,分别应用数据分析系统EVA 12.0、X’Pert HighScore 2.0和MDI Jade 5.0对矿物物相组成的原始测试数据进行定性分析,通过对比分析过程和结果的差异比较了三款软件系统之间的异同和优劣。  相似文献   

A practical approach to grain shape quantification     

Melissa R. Cox  Muniram Budhu 《Engineering Geology》2008,96(1-2):1-16

Grain shape is a key factor affecting the mechanical properties of granular materials. However, grain shape quantification techniques to distinguish one granular material from another have not reached a stage of development for inclusion in modeling the behavior of granular materials. Part of the problem is the equipment of choice for grain shape measurement is the scanning electron microscopes. This is a relatively expensive and complex device. In this paper, we investigate a practical approach using light microscopy to quantify grain shape and to identify the key shape parameters that can distinguish grains. A light microscope was found to produce grain images with sufficient quality for the purpose of observing the grain shape profile. Several grain shape parameters were determined for eight different sands. We found Circularity, Roundness, Compactness, Sphericity, Aspect Ratio and ModRatio to be the key shape parameters that differentiate these sand grains.  相似文献   

深海资料浮标体及系泊系统的阻力试验研究   总被引：1，自引：0，他引：1  

张子俊  张祖枢 《海洋技术学报》1993,12(3):7-15

本文结合国家“七五”重点科技攻关项目“深海资料浮标”研制而进行浮标体和系泊系统的各种阻力试验研究，试验成果已直接应用于深海资料浮标系泊系统设计。实践表明本文介绍的各种阻力试验结果是可靠的。  相似文献   

海水液压驱动的水下作业工具系统   总被引：1，自引：0，他引：1  

刘银水  郭占军  朱碧海  贺小峰  李壮云 《海洋技术学报》2006,25(4):65-69

论文介绍了海水液压作业工具系统的工作原理、关键技术问题及样机和试验结果。该系统同电动、气动或油压工具相比,具有诸多独特的优势,在海洋开发、船舶工程等领域均有广阔的应用前景。  相似文献