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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
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A Computational Model for Velocity Separation in Shallow Sea 总被引:1,自引:0,他引:1
Based on the hydrodynamical feature and the theoretical velocity profiles of tidal flow and vvind-induced flow in shal-low sea, a computational model is established for the first time, which can separate observed velocity into tidal velocity and wind-induced velocity by use of the least square method. With the model, not only the surface velocities of tidal flow and vvind-induced flow are obtained, but also the bed roughness height is determined and the wind velocity above the wa-ter surface is estimated. For verification of the model, the observed velocity in the Yellow River Estuary and the laborato-ry test is separated, then it is applied to the Yangtze River Estuary. All the results are satisfactory. The research results show that the model is simple in method, feasible in process and reasonable in result. The model is a valid approach to analysis and computation of field dala, and can be applied to separate the observed velocity in shallow sea; at the same time, reasonable boundary conditions of th 相似文献
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应用理论推导及数值计算方法,对Stokes随机波的谱特性进行了分析。首先将波面方程,海水质点水平速度用一阶波面分量的非线性组合表示,应用平稳随机高阶短的降阶计算法则,得到了波面方程及海水质点水平速度与一阶波面分量的自相关函数之间的关系,从而确定了Stokes随机波浪的波浪谱密度及海水质点水平速度和加速度谱密度,进而求得有关波浪要素的均方根值。文章还应有数值计算方法,分析了波浪基本参数对均方根值的影响。 相似文献
15.
PLS-ANN分析血浆自体荧光光谱的二阶导数光谱识别胃癌 总被引:1,自引:0,他引:1
探讨偏最小二乘法结合神经网络法(简称PLS-ANN)分析血浆自体荧光光谱的二阶导数光谱识别胃癌的优势,对20例胃癌病人和23例健康人血浆进行以405nm为激发光的自体荧光光谱检测,采用PLS-ANN法分别对血浆自体荧光光谱和二阶导数光谱进行判别分析。PLS-ANN分析血浆的自体荧光光谱法诊断胃癌的灵敏度为75%,特异度为83%,准确率为79%,PLS-ANN分析血浆的二阶导数光谱法诊断胃癌的灵敏度为90%,特异度为96%,准确率为93%。结果表明PLS-ANN分析血浆的二阶导数光谱法识别胃癌,优于PLS-ANN分析血浆的自体荧光光谱法,有望成为快速识别胃癌的较理想方法。 相似文献
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This paper investigates the use of data assimilation in coastal area morphodynamic modelling using Morecambe Bay as a study site. A simple model of the bay has been enhanced with a data assimilation scheme to better predict large-scale changes in bathymetry observed in the bay over a 3-year period. The 2DH decoupled morphodynamic model developed for the work is described, as is the optimal interpolation scheme used to assimilate waterline observations into the model run. Each waterline was acquired from a SAR satellite image and is essentially a contour of the bathymetry at some level within the inter-tidal zone of the bay. For model parameters calibrated against validation observations, model performance is good, even without data assimilation. However the use of data assimilation successfully compensates for a particular failing of the model, and helps to keep the model bathymetry on track. It also improves the ability of the model to predict future bathymetry. Although the benefits of data assimilation are demonstrated using waterline observations, any observations of morphology could potentially be used. These results suggest that data assimilation should be considered for use in future coastal area morphodynamic models. 相似文献
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A Reconstruction of Observed Profiles in the Sea East of Japan Using Vertical Coupled Temperature-Salinity EOF Modes 总被引:4,自引:0,他引:4
It is important to estimate hard-to-observe parameters in the ocean interior from easy-to-observe parameters. This study therefore
demostrates a reconstruction of observed temperature and salinity profiles of the sea east of Japan (30°≈40°N, 140°≈150°E).
The reconstruction was done by estimating suboptimal state from several values of the observed profiles and/or sea surface
dynamic height (SDH) calculated from the profiles. The estimation used a variational method with vertical coupled temperature-salinity
empirical orthogonal function (EOF) modes. Profiles of temperature and salinity in the subtropical region are effectively
reconstructed from in situ temperature profile data, or sea surface temperature (SST) and SDH. For example, the analyzed temperature field from SST
and SDH has an accuracy to within 1°C in the subtropical region. Salinity in the sea north of Kuroshio, however, is difficult
to estimate because of its complex variability which is less correlated with temperature than in the subtropical region. Sea
surface salinity is useful to estimate the subsurface structure. We also show the possibility that the estimation is improved
by considering nonlinearity in the equation calculating SDH from temperature and salinity analysis values in order to examine
the misfit between analysis and observation. Analysis using TOPEX/POSEIDON altimetry data instead of SDH was also performed.
This revised version was published online in July 2006 with corrections to the Cover Date. 相似文献