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   

Target-strength measurements of Pacific hake (Merluccius productus) in Canadian waters using quasi-ideal and conventional beam transducers     

Hamano  Akira; Sasakura  Toyoki; Kieser  Robert; Cooke  Ken; Kubota  Katsuhiko; Clay  Allen 《ICES Journal of Marine Science》1996,53(2):273-279

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陀螺经纬仪的读数方法比较研究   总被引：2，自引：0，他引：2  

万朋  李宗春  李广云  张冠宇  牟爱国 《海洋测绘》2005,25(5):75-78

介绍了陀螺定向测量中三种不同的数据采集方法，分析了各种方法的优缺点。作者认为传感器采集数据自动化程度高，精度高，特别是运用位置敏感探测器（PSD）采样数据量大，具有一定的抗干扰能力，但在运用传感器采样时必须注意克服非线性误差。  相似文献   

Variations of the Kuroshio Axis South of Kyushu in Relation to the Large Meander of the Kuroshio   总被引：1，自引：0，他引：1  

Toru Yamashiro  Masaki Kawabe 《Journal of Oceanography》2002,58(3):487-503

The characteristics of the Kuroshio axis south of Kyushu, which meanders almost sinusoidally, are clarified in relation to the large meander of the Kuroshio by analyzing water temperature data during 1961–95 and sea level during 1984–95. The shape of the Kuroshio axis south of Kyushu is classified into three categories of small, medium, and large amplitude of meander. The small amplitude category occupies more than a half of the large-meander (LM) period, while the medium amplitude category takes up more than a half of the non-large-meander (NLM) period. Therefore, the amplitude and, in turn, the curvature of the Kuroshio axis is smaller on average during the LM period than the NLM period. The mean Kuroshio axis during the LM period is located farther north at every longitude south of Kyushu than during the NLM period, with a slight difference west of the Tokara Islands and a large difference to the east. A northward shift of the Kuroshio axis in particular east of the Tokara Islands induces small amplitude and curvature of the meandering shape during the LM period. During the NLM period, the meandering shape and position south of Kyushu change little with Kuroshio volume transport. In the LM formation stage, the variation of the Kuroshio axis is small west of the Tokara Islands but large to the east due to a small meander of the Kuroshio. In the LM decay stage, the Kuroshio meanders greatly south of Kyushu and is located stably near the coast southeast of Kyushu. This revised version was published online in July 2006 with corrections to the Cover Date.  相似文献   

双船中层拖网网位控制的静力学解析   总被引：1，自引：0，他引：1  

万荣  朱文斌  何鑫  崔勇  刘莉莉 《中国海洋大学学报(自然科学版)》2007,37(1):61-64,6

中层拖网是开发利用中上层鱼类资源的重要工具之一,能否有效实施对拖网作业水层的控制,是实现瞄准捕捞和提高捕捞生产效率的关键。本文提出了1种基于有限元原理的拖网曳纲形状与张力的理论计算方法,以期依据中层拖网拖曳过程中不同拖速、曳纲长度和重锤配备条件下曳纲响应的计算机模拟结果,预测拖网可能的作业水层,以实现中层拖网网位控制,为中层拖网曳纲设计和网位调整提供理论依据。  相似文献   

Twelve years of tracking 52-Hz whale calls from a unique source in the North Pacific     

William A. Watkins  Mary Ann Daher  Joseph E. George  David Rodriguez 《Deep Sea Research Part I: Oceanographic Research Papers》2004,51(12):1889-1901

A unique whale call with 50–52 Hz emphasis from a single source has been tracked over 12 years in the central and eastern North Pacific. These calls, referred to as 52-Hz calls, were monitored and analyzed from acoustic data recorded by hydrophones of the US Navy Sound Surveillance System (SOSUS) and other arrays. The calls were noticed first in 1989, and have been detected and tracked since 1992. No other calls with similar characteristics have been identified in the acoustic data from any hydrophone system in the North Pacific basin. Only one series of these 52-Hz calls has been recorded at a time, with no call overlap, suggesting that a single whale produced the calls. The calls were recorded from August to February with most in December and January. The species producing these calls is unknown. The tracks of the 52-Hz whale were different each year, and varied in length from 708 to 11,062 km with travel speeds ranging from 0.7 to 3.8 km/h. Tracks included (A) meandering over short ranges, (B) predominantly west-to-east movement, and (C) mostly north-to-south travel. These tracks consistently appeared to be unrelated to the presence or movement of other whale species (blue, fin and humpback) monitored year-round with the same hydrophones.  相似文献   

洋浦近岸海域污染控制规划方案优化——Ⅰ.排污口位置优选     

孙英兰  孙长青  赵可胜  王学昌  张阁卿 《中国海洋大学学报(自然科学版)》1994,(Z1)

在洋浦近岸海域计算潮流场基础上,计算预选排污口附近海水质点运动轨迹及预测污染物浓度分布,最后,从环保角度出发,推荐了洋浦地区各开发区的排污口位置,为洋浦近岸海域污染控制规划方案的制定及其优化提供了依据。  相似文献   

石斑鱼虹彩病毒SGIV在宿主细胞内依赖微管运动的行为特征     

王立群  王劭雯  王宏达  秦启伟 《热带海洋学报》2020,39(1):66-73

病毒是非常微小的简单生物, 不能独立生存, 必须借助宿主细胞完成自身的繁衍。病毒侵染进入细胞后, 通常借助于微管通过黏稠的细胞质运动到特定的复制位点。然而, 有关病毒依赖微管运动行为的精细动态研究还比较少。石斑鱼虹彩病毒(Singapore grouper iridovirus, SGIV)为虹彩病毒科蛙病毒属的一个新种, 是海水养殖鱼类的重要病毒性病原, 对海水养殖业造成重大经济损失。利用单粒子示踪技术实时追踪了SGIV病毒粒子沿微管运动的行为, 观察到SGIV在细胞边缘至微管中心之间的双向运动, 最高瞬时速度约0.2μm·s^-1, 均表现为主动运输。病毒粒子运动至微管交叉位置会减速迂回, 而后或受限于此, 平均运动速率约0.008μm·s^-1, 或通过交叉处继续快速运动, 最高瞬时速度为0.2μm·s^-1。同时, SGIV感染会影响微管的形态结构, 随着SGIV感染, 微管逐渐围绕细胞核和病毒加工厂形成环状结构。研究结果初步揭示了SGIV病毒和细胞微管之间相互作用的复杂过程, 丰富了我们对虹彩病毒胞内生命活动的认识, 有助于深入地理解海水鱼类虹彩病毒感染致病机理。  相似文献   

基于强跟踪性能的QEKF组合导航自适应滤波研究     

夏琳琳  赵琳  程建华 《测绘学报》2008,37(4):410-417

以低成本陆用航姿参考系统（AHRS）/GPS紧耦合系统为研究对象,建立了基于伪距、伪距率、航向角的组合观测数学模型。引入强跟踪滤波（STF）算法,利用渐消因子的作用,增强滤波器对状态快速变化的跟踪能力。同时,针对微惯性器件漂移过大的缺点,采用二阶EKF（QEKF）方法,通过对Hessian矩阵的求解,补偿系统观测方程线性化的二阶截断误差。仿真表明：STQEKF方法可高速准确地逼近系统非线性模型,实现陆地载体导航控制,在传感器精度有限的情况下,使姿态和位置的控制效果较标准EKF分别提高了约8.9%-38.2%和48.7%-54.4%  相似文献   

对提高导航型GPS定位精度之工作方法的探讨     

周新力  范志勇  羊春华 《测绘科学》2008,33(3):87-89

论文主要介绍了导航型GPS坐标转换参数的计算方法和测量误差的改正方法。该方法的要点是通过实测多个公共点来计算坐标转换参数,以此获得较好的转换精度;并进一步对观测结果加以误差改正,从而提高其定位精度。  相似文献