Wave effects on ascending and descending motions of the autonomous underwater vehicle   总被引：1，自引：0，他引：1  

Ming-Chung Fang  Pei-En Chang  Jhih-Hong Luo 《Ocean Engineering》2006,33(14-15):1972-1999

In the paper, a hydrodynamic model including the characteristics of maneuvering and seakeeping is developed to simulate the six-degree of freedom motions of the underwater vehicle steering near the sea surface. The corresponding wave exciting forces on the underwater vehicle moving in waves are calculated by the strip theory, which is based on the source distribution method. With the hydrodynamic coefficients relevant to the maneuvering and seakeeping, the fourth-order Runge–Kutta numerical method is adopted to solve the equations of motions and six-degrees of freedom of the motions for the underwater vehicle steering near the free surface can be obtained. The wave effect on the corresponding motions of the underwater vehicle is investigated and some interesting phenomena with respect to different wave frequencies and headings are observed. The hydrodynamic numerical model developed here can be served as a valuable tool for analyzing the ascending and descending behaviors of the underwater vehicle near the sea surface.  相似文献   

On the motions of the underwater remotely operated vehicle with the umbilical cable effect   总被引：1，自引：0，他引：1  

Ming-Chung Fang  Chang-Shang Hou  Jhih-Hong Luo 《Ocean Engineering》2007,34(8-9):1275-1289

In this paper, a hydrodynamic model is developed to simulate the six degrees of freedom motions of the underwater remotely operated vehicle (ROV) including the umbilical cable effect. The corresponding hydrodynamic forces on the underwater vehicle are obtained by the planar motion mechanism test technique. With the relevant hydrodynamic coefficients, the 4th-order Runge–Kutta numerical method is then adopted to solve the equations of motions of the ROV and the configuration of the umbilical cable. The multi-step shooting method is also suggested to solve the two-end boundary-value problem on the umbilical cable with respect to a set of first-order ordinary differential equation system. All operation simulations for the ROV including forward moving, ascending, descending, sideward moving and turning motions can be analyzed, either with or without umbilical cable effect. The current effect is also taken into consideration. The present results reveal that the umbilical cable indeed significantly affects the motion of the ROV and should not be neglected in the simulation.  相似文献   

水下机器人主动升沉补偿系统研究   总被引：2，自引：1，他引：2  

杨文林  张竺英  张艾群 《海洋工程》2007,25(3):68-72

介绍一种基于水下机器人常规液压收放绞车的主动升沉补偿系统,利用加速度传感器获得母船的升沉运动信号,控制绞车的运转来降低母船的升沉运动对水下机器人的影响。通过理论计算建立主动升沉补偿系统的数学模型,仿真分析绞车运动对水下机器人升沉运动的补偿效果,并利用主动升沉补偿系统实验台验证基于常规液压收放绞车的主动升沉补偿方案的可行性。  相似文献   

Development of an ROV operated both as towed and self-propulsive vehicle   总被引：1，自引：0，他引：1  

Masahiko Nakamura  Hiroyuki Kajiwara  Wataru Koterayama 《Ocean Engineering》2001,28(1):406

  相似文献   

成都市城市道路塌陷成因及快速探测方法     

谢小国  张伟  罗兵  孙东  王强  刘伟祖  杨涛 《中国地质调查》2022,9(4):112-120

城市道路塌陷严重危害城市公共安全,对城市道路塌陷隐患进行快速、准确、绿色的探测,有助于减少城市地下病害发育,提升城市安全运营能力。通过调查分析,成都市城市道路塌陷的主要成因包括地质结构复杂、地下水丰富、人类工程活动频繁等。采用车载三维探地雷达对城市道路进行快速探测,建立了以探测、解译、验证、评估、成果及信息化管理为系统的探测体系。实践表明,车载三维探地雷达是快速探测城市道路塌陷隐患的有效方法。  相似文献   

Neural adaptive robust control of underactuated marine surface vehicles with input saturation     

《Applied Ocean Research》2015

This paper proposes a saturated tracking controller for underactuated autonomous marine surface vehicles with limited torque. First, a second-order open-loop error dynamic model is developed in the actuated degrees of freedom to simplify the design procedure. Then, a saturated tracking controller is designed by utilizing generalized saturation functions to reduce the risk of actuator saturation. This, in turn, improves the transient performance of the control system. A multi-layer neural network and adaptive robust control techniques are also employed to preserve the controller robustness against unmodeled dynamics and environmental disturbances induced by waves and ocean currents. A Lyapunov stability analysis shows that all signals of the closed-loop system are bounded and tracking errors are semi-globally uniformly ultimately bounded. Finally, simulation results are provided for a hovercraft vehicle to illustrate the effectiveness of the proposed controller as a qualified candidate for real implementations in offshore applications.  相似文献   

立式翼型主体拖曳式水下潜器的设计及操纵性能     

陈健  吴家鸣  徐灜  何新英 《海洋技术学报》2015,34(4):1-6

针对现有拖曳式水下潜器控制机构复杂、航向与姿态不容易稳定的缺陷,提出和设计了一种具有航向与姿态稳定的多自由度可控制拖曳式水下潜器样机。该样机主要由鱼雷状浮体、固定水平主翼、转角可控制襟翼、立式翼型主体等部分组成,潜器的深度控制通过控制襟翼的偏转来诱导固定水平主翼攻角的改变来实现;潜器的横荡运动操纵以通过控制两个作为转艏控制器的导管螺旋桨的转向与转速、诱导立式翼型主体产生诱导力矩使其产生横向偏转来进行。文中所提出和设计的样机具有运动过程中自我稳定能力强、航向稳定性好、控制机构简单并具有较高实用价值的特点。  相似文献   

以卫星影像为底图的无人机图像自动拼接方法     

侯天怡  尤红建  孙显 《测绘科学》2015,40(6)

针对无人机影像受成像角度倾斜、光照不均匀等影响,导致常规匹配方法拼接效果较差的问题,该文提出一种基于现有卫星影像的由粗到精无人机图像自动拼接方法。首先,在对图像进行粗匹配阶段,提出了一种基于环状描述子的尺度不变特征变换,用于解决图像间旋转和尺度的差异,较好地克服了SIFT算法描述子维度较高且计算量大的不足。其次,引入分块互信息进行精匹配,减少拼接过程中的累计误差。最后,采用该文提出算法对无人机图像进行拼接,实验结果表明,该文提出的无人机图像拼接算法在满足实时性要求的同时可以达到较高精度。  相似文献   

高精度组合导航及其测绘车应用技术     

马国驹  蔚保国  智奇楠 《测绘科学》2015,(12)

针对在城市复杂环境下弱信号定位测姿精度低的问题,该文将实时动态差分技术与惯性导航系统/全球导航卫星系统深耦合接收机定位测姿系统进行结合,提出了一种基于惯性导航系统/全球导航卫星系统/实时动态差分技术三组合的高精度定位测姿的方法。该文对惯性导航系统/全球导航卫星系统/实时动态差分技术三组合高精度定位定姿方法涉及到的核心技术进行介绍,详细分析了影响定位测姿精度误差因素,并将该方法应用于新一代测绘车上,通过理论分析和实际跑车实验证明了该方法具有较高的精度和适用性。  相似文献   

小型无人机航线编制研究   总被引：1，自引：0，他引：1  

敖杰刚  吴启文 《测绘科学》2012,37(2):88-90

小型无人机飞行技术目前在国内处于初步但迅速发展时期,对无人机的控制不仅体现在本身的硬件性能上,更体现在对其的操纵控制技术上。本文概述基于Google Earth COM API和KML的无人机飞行控制:在Google的三维数据基础上,实现"世界范围"内的飞行控制,具体描述航线航点的编码绘制方法与显示,提供便利的航线添加编辑修改删除等功能。  相似文献