Adaptive optimal control of an autonomous underwater vehicle in the dive plane using dorsal fins   总被引：1，自引：0，他引：1  

Mukund Narasimhan  Sahjendra N. Singh   《Ocean Engineering》2006,33(3-4):404-416

In this paper, adaptive control of low speed bio-robotic autonomous underwater vehicles (BAUVs) in the dive plane using dorsal fins is considered. It is assumed that the model parameters are completely unknown and only the depth of the vehicle is measured for feedback. Two dorsal fins are mounted in the horizontal plane on either side of the BAUV. The normal force produced by the fins, when cambered, is used for the maneuvering. The BAUV model considered here is non-minimum phase. An indirect adaptive control system is designed for the depth control using the dorsal fins. The control system consists of a gradient based identifier for online parameter estimation, an observer for state estimation, and an optimal controller. Simulation results are presented which show that the adaptive control system accomplishes precise depth control of the BAUV using dorsal fins in spite of large uncertainties in the system parameters.  相似文献   

The Effect of Internal Fluid on the Response of Vortex-Induced Vibration of Marine Risers   总被引：5，自引：1，他引：5  

郭海燕  王元斌傅强 《中国海洋工程》2004,18(1):11-20

Based on Iwan‘s wake oseillator model developed with the classical van der Pol equalion, the differential equation for the response of the vortex-induced vihration (VIV) of the riser considering the effect of the internal flowing fluid and the external marine environmental condition is derived. The effect of the intermal flowing fluid on the response of VIV of the riser is studied by means of the Finite Element Method. The results show that the effect of the internal fluid velocity on the VIV of the riser is strong when the natural frequency of the riser is close to the vortex shedding frequency. In addition, the increase of the top tension can decrease the sensitivity of the riser to the internal fluid velocity.  相似文献   

受扰线性系统的前馈-反馈最优控制     

唐功友  张颖璐 《中国海洋大学学报(自然科学版)》2005,35(1):121-124,48

针对具有外部持续扰动的线性系统，研究前馈-反馈最优控制律的设计问题。给出了最优控制律的存在唯一性条件。并提出了最优控制律的设计算法。利用滤波器解决了前馈控制的物理不可实现问题。仿真结果表明，此算法易于实现，与传统的反馈最优控制相比对抑制外部扰动具有较强的鲁棒性。  相似文献   

南四湖湖内浅槽工程施工对水环境的影响及控制措施   总被引：1，自引：0，他引：1  

王茜  王素芳  彭波  邱红  战慧卿 《海洋湖沼通报》2007,(2):80-85

南四湖湖内工程是沂沭泗河洪水东调南下续建工程的单项工程,工程区位于山东省省级自然保护区内;挖泥船施工将对湖内水环境产生一定影响。本文从排泥场回水污染物、生产废水和生活污水三个方面阐述了工程施工对水环境的影响程度,并且提出了相应的控制措施。  相似文献   

黄茅海河口湾现代动力地貌体系和冲淤过程分析     

杨雪舞  于红兵  孙宗勋  梁添明 《热带海洋学报》1997,(1)

1980—1993年对黄茅海河口湾进行沉积物采样和水流测定及水深测量。根据水动力和地形条件，冲淤分析及Mclaren模型研究河口湾的动力地貌体系、冲淤特征和现代沉积物运移。结果表明：（1）水下地形主要为下泄流或上溯流控制的“深槽－槽沟－浅滩－湾口”的动力地貌体系，反映了河口湾“东进西出”的水流格局；（2）整个河口湾以淤积为主，只有崖门深槽有较明显的优势冲刷特征，并随着崖门深槽向海推移和河口湾“东进西出”水动力作用，黄茅海落潮三角洲相应向西南进积；（3）应用Mclaren模型揭示了黄茅海河口湾现代沉积物运移规律，同样反映了河口湾具有“东进西出”的运移趋势。  相似文献   

赤潮的监测和防治简介     

张朝贤  邹淑美 《海洋科学进展》1991,(2)

近海水域有机物污染,引起海水富营养化,是形成赤潮的主要原因。赤潮不仅给渔业生产、海水养殖业带来重大损失,而且破坏了海洋环境,危及人民的健康。近年来,我国沿海赤潮时有发生,应加强对有发生赤潮潜在危险海区的经常性观测和监测;切实控制沿海工业和生活污水的任意排放;科学、合理地开发利用海洋资源;推广科学养殖技术,防止海水养殖自身污染;大力开展有关赤潮科学的研究,特别是赤潮的防治方法和技术研究,避免或减少赤潮造成的危害  相似文献   

Natural expansion and experimental manipulation of seagrass (Zostera spp.) abundance and the response of infaunal invertebrates     

Paul G. Harrison 《Estuarine, Coastal and Shelf Science》1987,24(6)

A study of an expanding seagrass bed on the south-west coast of British Columbia, Canada involved documentation and explanation of the pattern of expansion of the vegetation as well as documentation and experimental investigation of the accompanying changes in the distribution of infaunal invertebrates. Expansion followed a major environmental change, improved water clarity initiated in 1969 when a causeway blocked access to the site for silty Fraser River water. The original eelgrass (Zostera marina) bed expanded landward over 30 m year⁻¹, probably causing more and more water to be retained in the bed at low tide and thus improving its own habitat. More rapid expansion occurred from 1979–1983 after Z.japonica colonized at the landward edge of the eelgrass bed and in a separate intertidal area. Expansion ceased around 1983 coincident with, but probably independent of, further construction.Burrowing shrimp (Callianassa californiensis) decreased in abundance between 1977 and 1984 in areas where the two seagrasses colonized. Short-term experiment over one summer and fall showed that removal of all shoots allowed adult shrimp and tube worms to colonize the sediment while addition of shoots of Z. japonica by transplanting caused temporary decreases in shrimp abundance. After a few weeks an established shrimp population destroyed the transplants. Among reasonable alternate hypotheses for the decline in Callianassa, the effect of sediment texture can be eliminated, but either direct negative effects of seagrass, i.e. inhibition of the burrowing of adult shrimp or of settlement of juveniles, or indirect effects, i.e. the harboring of more predators of shrimp in seagrass beds, deserve further study.  相似文献   

软土海岸地区测量控制点标志的设立     

苏衍坤  李新国  朱绪伟  苏衍国 《海洋测绘》2007,27(3):43-47

分析了软土、湿地、滩涂地区特殊地理环境对测量控制点的影响;主要探讨了此类地区控制点标志的设计、施工。借助于建筑桩基技术和道桥施工方法,首次成功实现了某三角洲湿地滩涂地区统一布网。几年来,结合滩涂湿地测量、海岸防护和滩涂开发工程对部分控制点进行了初步检测,给出了部分检测数据。应用和检测均表明:桩基标石可较好地解决软土、湿地、滩涂地区控制点布设难题,显著提高软土海岸地区测量控制点标志的稳固性,从而延长控制网的可使用期。  相似文献   

动力定位系统发展状况及研究方法   总被引：21，自引：2，他引：21  

赵志高  杨建民等 《海洋工程》2002,20(1):91-97

动力定位系统（Dynamic Positioning System)是一种闭环的控制系统，其采用推力器来提供抵抗风、浪、流等作用在船上的环境力，从而使船尽可能地保持在海平面上要求的位置上，其定位成本不会随着水深增加而增加，并且操作也比较方便。本文对动力定位系统发展及各组成部分进行了介绍，以期对动力定位系统有个比较完整的认识。  相似文献   

Dynamic Response Behaviors of Upright Breakwaters Under Breaking Wave Impact   总被引：10，自引：0，他引：10  

Wang Yuanzhan  Chi Lihua  Pan Houzhi Associate Professor 《中国海洋工程》1996,(3)

- The dynamic response behaviors of upright breakwaters under broken wave impact are analysed based on the mass-damper-spring dynamic system model. The effects of the mass, damping, stiffness, natural period, and impulse duration (or oscillation period) on the translation, rotation, sliding force, overturning moment, and corresponding dynamic amplifying factors are studied. It is concluded that the ampli-ying factors only depend on the ratio of the system natural period to impulse duration (or oscillation period) under a certain damping ratio. Moreover, the equivalent static approach to breakwater design is also discussed.  相似文献