带乘性噪声的一类非线性系统的滤波算法     

褚东升  张征 《中国海洋大学学报(自然科学版)》2006,36(4):569-572

针对带乘性噪声的一类非线性系统,给出了1种带单重渐消因子的强跟踪状态滤波算法。该算法将非线性系统线性化后,采用了线性最小方差估计方法来进行状态估计,通过运用正交原理和引入渐消因子,使得滤波效果具有强跟踪的优良性能。该算法扩展了卡尔曼滤波在带乘性噪声非线性系统状态估计中的应用范围。仿真结果表明了该算法的有效性。  相似文献   

北黄海北部海域潮余流的模拟研究          下载免费PDF全文

黄炳智  胡泽建  金永德  迟万清  刘鑫仓  刘豪 《海岸工程》2019,38(2):134-143

基于二维水动力模型,在仅考虑潮流作用条件下,通过计算欧拉余流和拉格朗日余流并结合粒子追踪方法研究了辽宁大连—朝鲜龙渊郡连线北侧的北黄海北部海域的潮余流结构和粒子运移的趋势。结果表明:欧拉余流和拉格朗日余流流速整体较小,呈现由南向北的流向,但在獐子岛及长山群岛的附近岛屿和朝鲜半岛沿岸的海域欧拉余流和拉格朗日余流流速较大。对比粒子追踪计算的结果与欧拉余流和拉格朗日余流的结果表明,流向与粒子运移路径基本一致。该海湾的余流及粒子运动规律特点对辽东半岛东岸及朝鲜半岛西侧海域的排污及污染控制有重要的借鉴意义。  相似文献   

基于SPE与SPATT的水体中麻痹性贝类毒素检测方法构建与应用   总被引：1，自引：0，他引：1  

张亚亚  闫国旺  吴海燕  谭志军  张志华  江涛  李玉 《海洋与湖沼》2020,51(2):298-306

为实现麻痹性贝类毒素(paralytic shellfish poisoning,PSP)的实时监控与提前预警,本研究构建了基于固相萃取技术(solid phase extraction,SPE)与固相吸附毒素跟踪技术(solid phase adsorption toxin tracking,SPATT)的水体中PSP检测方法,重点优化了吸附材料及前处理方法,评价了回收率、检出限等指标,并将方法应用于2019年春季秦皇岛山海关海域PSP消长过程的监测中,比较评估了两种方法的监控预警效果。结果表明:SPE方法选用ENVI-Carb 500mg/6mL固相萃取柱,过样体积为50mL,13种PSP组分的平均回收率为82.2%±10.0%、检出限为4.0-20.0ng/L;SPATT方法选用SP207大孔吸附树脂,洗脱时间为静置Id最佳,整体回收率约为9.2%;在实际应用中,结合产毒藻密度及贻贝富集毒素含量的变化,发现SPE方法的检测结果可实时表征海域PSP风险状况,对于贻贝中PSP的预警效果也显著优于SAPTT方法,后者不仅因监控方式相对滞后一个监测周期,且灵敏度及准确性均较差。对于秦皇岛海域,当SPE方法检测结果达到100ng STX eq/L时,该海域贻贝中PSP残留将具有潜在的食用安全风险,跟踪过程表明这一阈值可提前两周预警贻贝富集毒素含量超出我国限量标准(800μg STX eq/kg),这对于强化风险警示并制定防范措施具有积极作用。  相似文献   

多层砂土地基扩底桩单桩抗压模型试验及颗粒流模拟研究     

李飞  杨俊杰  宋琦  孙涛 《中国海洋大学学报(自然科学版)》2020,(2):116-125

利用室内半模试验和颗粒流数值模拟,揭示多层砂土地基扩底桩单桩抗压承载特性及变形特征。结果表明,通过对比分析极限承载力与H_h/D(持力层厚度与扩大头直径之比)的关系可以看出,单桩的抗压极限承载力随H_h/D逐渐增加,当H_h/D超过2.0时,极限承载力基本不再增加,此时的单桩抗压极限承载力稳定在300.01~303.25 N,是H_h/D=0.5时极限承载力(183.83 N)的1.65倍。扩大头下部土体发生局部压缩-剪切破坏,破坏面从扩大头底面边缘向斜下方扩展,在水平方向影响范围达到最大后逐渐向桩内侧收缩;荷载作用越大,地基破坏区域越大,相应的极限抗压承载力也越大;持力层厚度增加,扩大头分担的荷载比例增大,分担的荷载达到稳定需要的桩顶位移也越大,H_h=0.5 D试验扩大头分担的荷载比例稳定时为60%,对应的桩顶位移约为29 mm;桩顶位移达到33 mm后,H_h=1.0~3.0 D试验稳定在63%~65%之间;通过细观颗粒流理论对砂土移动特性的研究发现,持力层厚度从0.5 D增大至2.0 D,破坏面的起始扩展角度从31°增大至42°。数值模拟研究结果与模型试验数据吻合效果良好,证明该方法分析多层砂土地基扩底桩单桩抗压荷载传递机理是可行的。  相似文献   

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   

Nonlinear adaptive control of an underwater towed vehicle     

Francisco Curado Teixeira  António Pedro Aguiar 《Ocean Engineering》2010,37(13):1193-1220

This paper addresses the problem of simultaneous depth tracking and attitude control of an underwater towed vehicle. The system proposed uses a two-stage towing arrangement that includes a long primary cable, a gravitic depressor, and a secondary cable. The towfish motion induced by wave driven disturbances in both the vertical and horizontal planes is described using an empirical model of the depressor motion and a spring-damper model of the secondary cable. A nonlinear, Lyapunov-based, adaptive output feedback control law is designed and shown to regulate pitch, yaw, and depth tracking errors to zero. The controller is designed to operate in the presence of plant parameter uncertainty. When subjected to bounded external disturbances, the tracking errors converge to a neighbourhood of the origin that can be made arbitrarily small. In the implementation proposed, a nonlinear observer is used to estimate the linear velocities used by the controller thus dispensing with the need for costly sensor suites. The results obtained with computer simulations show that the controlled system exhibits good performance about different operating conditions when subjected to sea-wave driven disturbances and in the presence of sensor noise. The system holds promise for application in oceanographic missions that require depth tracking or bottom-following combined with precise vehicle attitude control.  相似文献   

类钠Ni¹⁷⁺离子双电子复合过程理论研究     

李传莹  刘晓菊  孟广为  王建国 《海洋学报》2010,32(9):6044-6051

使用基于相对论多组态方法的FAC程序,研究了类钠Ni¹⁷⁺(3s)离子通过双激发态Ni¹⁶⁺(3pnl,3dnl)(Δn=0激发)的双电子复合过程,得到了态选择的双电子复合截面和速率系数,并与文献中的实验和理论数据进行了对比.结果发现,计算通过3p_3/210l和3p_1/211l共振态的双电子复合积分截面在实验误差范围内与实验测量  相似文献   

Probabilistic Approach of Coastal Defense Against Typhoon Attacks for Nuclear Power Plant     

刘德辅  韩凤亭  庞亮  李华军  谢波涛  王风清 《中国海洋工程》2010,24(2):265-275

With the global wanning and sea level rising, it is widely recognized that there is an increasing tendency of typhoon occurrence frequency and intensity. The defenses code against typhoon attacks for nuclear power plant should be calibrated because of the increasing threat of typhoon disaster and severe consequences. This paper discusses the probabilistic approach of definitions about "probable maximum typhoon" and "probable maximum storm surge" in nuclear safety regulations of China and has made some design code calibrations by use of a newly proposed Double Layer Nested Multi-objective Probability Model (DLNMPM).  相似文献   

A Cascade Approach for Global Trajectory Tracking Control of Underactuated AUVs     

毕凤阳  魏英杰  张嘉钟  曹伟 《中国海洋工程》2010,24(2):369-380

A global trajectory tracking controller is presented for underactuated AUVs with only surge force and yaw moment in the horizontal plane. A transformation is introduced to represent the tracking error system into a cascade form. The global and uniform asymptotic stabilization problem of the resulting cascade system is reduced to the stabilization problem of two subsystems by use of the cascade approach. For the stabilization of the subsystem involving the yaw moment, a control law is proposed based on the feedback linearization method. Another subsystem is stabilized by designing a fuzzy sliding mode controller which can offer a systematical means of constructing a set of shrinking-span and dilating-span membership functions. In order to demonstrate the practicability of the proposed controller, control constraints, parameter uncertainties, and external disturbances are considered according to practical situation of AUVs. Simulation results show very good tracking performance and robustness of the proposed control schemes.  相似文献   

GNSS多天线基线网单历元模糊度同步解算法     

汤佳明  柴艳菊  闻德保  欧吉坤 《大地测量与地球动力学》2019,39(3):262-268

提出多天线基线网单历元模糊度同步解算法,其具体实现步骤为:1)根据宽巷组合模糊度易于固定的优点,采用附加已知基线长度约束法同步解算各基线的宽巷模糊度,得到dm～cm级精度的近似基线分量;2)将解算得到的各近似基线分量作为约束,同步解算各基线的基频模糊度,以获取mm级精度的基线矢量。该方法的关键在于检验各历元宽巷模糊度解算的正确性,以获取可靠的近似基线分量,为解算各基线的基频模糊度提供准确的基线先验信息。由于动态情况下各历元观测信息比较少,单纯依赖ratio检验不可靠,提出结合基线误差、单位权中误差、基线网模糊度闭合环及ratio值等对多组宽巷模糊度进行检验,避免ratio值设置不当导致模糊度检验中发生纳伪和弃真问题。实测数据结果证明,该处理方法使得模糊度解算的成功率提高1%～2%,可以获取移动平台更丰富的导航信息,提高其服务能力。  相似文献