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   

Effects of chemical ecological adjustment and control experiment on phytoplankton community in the Aoshan Bay     

Chen Bijuan  Zhao Jun  Xin Fuyan  Cui Yi  Guo Feng 《海洋学报(英文版)》2002,21(1):115-123

There is a low nutrient level in the Aoshan Bay. In June 1999, the chemical adjustmentand control experiment was made in the Aoshan Bay. Following tracts investigation was carried out before the experiment and on the 1st, 2nd, 4th, 5th, 6th and 45th day/after the experiment. While the variance of amount of phytoplankton, the replacement of superior species and the species composition of phytoplankton were researched. The results show that the amount of phytoplankton in the Aoshan Bay rises gradually after the experiment. Ceratium macroceros Cleve of pyrophyta was the dominant species before the experiment, its dominant index was 37.7％. Six days after the experiment, its dominant index dropped to 17.6％ . Meanwhile the dominant index of Asterionella japanics Cleve rose from 7.1％ to 39.2％ , it became the first dominant species. Forty-five days after the experiment, the amount of phytoplankton in the Aoshan Bay was 5.15 to 137.32 times more than that in 1997.  相似文献   

Historical record of heavy metals in a highly contaminated Mediterranean deposit: The Besòs prodelta     

A. Palanques  J. A. Sanchez-Cabeza  P. Masqu  L. Len 《Marine Chemistry》1998,61(3-4)

The Besòs prodelta, located around a highly populated area, receives the discharge of the Besòs River, one of the most contaminated rivers discharging into the Mediterranean sea. The record of heavy metals accumulated in this prodelta is studied to assess the sedimentary behaviour and the history of the anthropogenic heavy metals in the area. dated sediments have allowed the identification of the sedimentation patterns and the elaboration of dated heavy metals and cenospheres profiles, which reflected the evolution of the anthropogenic impact in this marine environment. Sediments accumulated during the 18th and 19th centuries were already affected by a moderate heavy metal contamination. This contamination increased drastically in the sediments accumulated during the last decades. This data is well correlated with the increase in industrialisation, population and energy consumption in the Besòs drainage basin during the last century.  相似文献   

音响驯化技术在鲤养殖中的实验研究     

田涛  张国胜  张旭光  张秀梅 《中国海洋大学学报(自然科学版)》2007,37(1):83-88

探讨淡水养殖尤其是大水域网箱养鱼中由于投饵方式的不当和投饵量过多导致过剩饵料沉积引起水域环境污染的解决方法。本研究利用鱼类的听觉生物学特性,参考音响驯化技术的有关参数,结合投饵用400 Hz正弦波连续音对鲤(Cyprinus carpioLinnaeus)进行了音响驯化实验。结果表明,最初放声时,实验鱼产生惊愕反应,迅速离声源而去;但驯化6 d后,实验鱼在放声后迅速游向声源,摄食时间由最初的150 s缩短到实验后期的60 s。整个实验阶段放声组与对照组摄食时间差异极显著(P<0.01),摄食率和特定生长率无显著差异(P>0.05)。根据实验鱼的生长参数,求得了参考投饵量曲线和方程。本实验结果为音响驯化技术在淡水鱼养殖中的推广应用提供了基础数据。  相似文献   

EDM高程导线测量中的效率和精度问题探讨     

杨晋强  李辉  李建文 《海洋测绘》2007,27(3):31-33

随着全站仪测角测距精度的提高,在高程联测中,用EDM高程导线测量代替三四等水准测量,成为外业高程测量的重要方法之一。分析了影响EDM高程导线测量精度的因素,讨论了提高EDM高程导线测量精度的办法,提出了效率函数的概念,并以某测区三级GPS大地控制网高程联测数据为例,从精度和效率方面进行了计算对比分析。  相似文献   

潮汐性质相似性判断的两个指标及其应用   总被引：1，自引：0，他引：1  

黄辰虎  马福诚  吕良  许家琨  孙雪杰 《海洋测绘》2007,27(6):12-15

提出采用时差法的相关系数和最小二乘潮位拟合法的推算中误差,作为潮汐性质相似性强弱判断的两个量化指标。根据实测潮汐数据进行了有关计算,结果表明这两个指标可以用于潮汐性质相似性强弱的快速判断,另外推算中误差还可以用于验潮站潮位数据缺测时推算精度的检验,建议在沿岸海道测量水位改正作业中综合使用。  相似文献   

温差能驱动的水下滑翔器设计与实验研究   总被引：10，自引：1，他引：10  

王树新  王延辉  张大涛  何漫丽  朱光文  任炜 《海洋技术学报》2006,25(1):1-5

论文设计开发了一种新型的温差能驱动的水下滑翔器,并对它做了水域实验研究。文章讨论了温差能驱动的滑翔器运动机理及其在垂直剖面的运动分析,得到稳态运动的参数解。结合能够把水域温差能转变为机械能的热机设计以及滑翔器的主要机械结构和控制硬件系统设计,完成了滑翔器的初步设计与开发。滑翔器在千岛湖进行了水域实验,实验结果表明,此水下滑翔器完全能够利用温差能实现预定的滑翔运动。  相似文献   

水下智能潜器的神经网络运动控制   总被引：10，自引：4，他引：10  

彭良  卢迎春  万磊  孙俊岭 《海洋工程》1995,(2)

本文介绍一种基于神经网络的水下智能潜器的运动控制方法，该方法通过在线学习，融控制与滤波为一体。计算机仿真与水池实验验证表明，该方法的控制与滤波性能良好，对环境的学习与适应能力强。该方法事实上可用于一般动力系统的控制。  相似文献   

基于规则波波形的超声波非接触测量有关问题探讨     

叶家玮  孙晓梅 《海洋工程》1996,(3)

波浪波形的非接触测量近年来获得广泛的应用。本文以规则波为讨论对象，针对介质为空气的超声波测量方式进行波形测量误差分析，并结合实验室和实船试验进行对比分析。理论分析表明：在规则波取为坦谷波和ＳＴＯＫＥＳ波的前提下，超声波技术几乎产生相同的最大误差。定量分析表明，在对测量精度限制的条件下，对文中提及的各项参数应作有效的控制  相似文献   

两类双结构矩阵的标准型及其应用     

余多  刘新国 《中国海洋大学学报(自然科学版)》2007,37(1):47-52

给出2类双结构矩阵的标准型。作为应用,还利用新得出的标准型对这2类双结构矩阵特征值问题发展了结构算法,其中对第一类双结构矩阵特征值问题发展了只用实运算的结构算法。  相似文献