Experimental Study of a Command Governor Adaptive Depth Controller for an Unmanned Underwater Vehicle     

《Applied Ocean Research》2019

Unmanned Underwater Vehicles (UUVs) are increasingly being used in advanced applications that require them to operate in tandem with human divers and around underwater infrastructure and other vehicles. These applications require precise control of the UUVs which is challenging due to the non-linear and time varying nature of the hydrodynamic forces, presence of external disturbances, uncertainties and unexpected changes that can occur within the UUV’s operating environment. Adaptive control has been identified as a promising solution to achieve desired control within such dynamic environments. Nevertheless, adaptive control in its basic form, such as Model Reference Adaptive Control (MRAC) has a trade-off between the adaptation rate and transient performance. Even though, higher adaptation rates produce better performance they can lead to instabilities and actuator fatigue due to high frequency oscillations in the control signal. Command Governor Adaptive Control (CGAC) is a possible solution to achieve better transient performance at low adaptation rates. In this study CGAC has been experimentally validated for depth control of a UUV, which is a unique challenge due to the unavailability of full state measurement and a greater thrust requirement. These in turn leads to additional noise from state estimation, time-delays from input noise filters, higher energy expenditure and susceptibility to saturation. Experimental results show that CGAC is more robust against noise and time-delays and has lower energy expenditure and thruster saturation. In addition, CGAC offers better tracking, disturbance rejection and tolerance to partial thruster failure compared to the MRAC.  相似文献   

Analytical study of ground motion caused by seismic wave propagation across faulted rock masses          下载免费PDF全文

J.C. Li  N.N. Li  S.B. Chai  H.B. Li 《国际地质力学数值与分析法杂志》2018,42(1):95-109

Studying seismic wave propagation across rock masses and the induced ground motion is an important topic, which receives considerable attention in design and construction of underground cavern/tunnel constructions and mining activities. The current study investigates wave propagation across a rock mass with one fault and the induced ground motion using a recursive approach. The rocks beside the fault are assumed as viscoelastic media with seismic quality factors, Q_p and Q_s. Two kinds of interactions between stress waves and a discontinuity and between stress waves and a free surface are analyzed, respectively. As the result of the wave superposition, the mathematical expressions for induced ground vibration are deduced. The proposed approach is then compared with the existing analysis for special cases. Finally, parametric studies are carried out, which includes the influences of fault stiffness, incident angle, and frequency of incident waves on the peak particle velocities of the ground motions.  相似文献   

基于深度域地震成像的中沙海槽盆地东北部结构构造研究     

赵斌  高红芳  张衡  李丽青 《热带海洋学报》2019,38(2):95-102

文章基于叠前深度偏移地震成像分析, 结合前人重磁反演等地球物理资料成果, 对中沙海槽盆地东北部结构构造进行探索研究。研究表明: 中沙海槽盆地东北部发育新生代地层, 厚度在1500~2500m之间, 地层层速度为1500~ 3500m·s^-1, 不存在中生界沉积层, 盆地基底为海山或前寒武系基岩及岩浆岩隆起。中沙海槽盆地新生代陆源海相烃源岩丰富, 盆地新生界地层厚度大, 盆地凹陷、断裂发育, 具有一定的油气勘探潜力。  相似文献   

基于噪声谱比法的内蒙古西部地区台站场地响应研究     

张珂  王鑫  王树波  张红才  宋晓燕 《大地测量与地球动力学》2020,40(6):646-651

利用内蒙古西部12个台站的地脉动噪声数据，采用噪声谱比法研究台站的场地响应情况。分析表明，台站场地响应按曲线形态可分为3类，且可能受地形地貌、局部构造和台基状况等条件影响。对比分析噪声谱比法与Moya方法的场地响应结果发现，场地响应曲线形态基本一致，只有极少数台站存在明显差异。结果表明，内蒙古西部区域大部分台站的台基状况总体较好，场地响应曲线较为平坦，无明显频率放大点。  相似文献   

亚毫米波射电天文用超导SIS接收机的研制(英文)     

史生才 《紫金山天文台台刊》2003,(1)

为了研制亚毫米波射电天文用超导SIS(超导 -绝缘体 -超导 )接收机 ,我们重点开展了如下研究 ,1 )Nb超导SIS结在其能隙频率附近的量子混频特性 ,及其结合高能隙超导薄膜 (NbTiN)和高电导率金属薄膜 (Al)分布结阵在 780 - 950GHz频率区间的量子混频特性 ;2 )亚毫米波超导混频器嵌入阻抗的数值和实验表征 ;3)高电流密度小面积Nb超导SIS结的制备和特性表征 ;4)一个 60 0 - 72 0GHz超导SIS混频器的研制和特性表征。本文详细介绍了相关的数值分析和实验测量结果。  相似文献   

Optimal Filtering Algorithm for Stochastic 2-D FMM Ⅱ with Multiplicative Noise     

CHUDongsheng LIANGMeng SHIXin ZHANGLing 《中国海洋大学学报(英文版)》2004,3(1):106-110

1　Introduction　Inrecentyearstherehasbeengrowingresearchin terestinthetwo dimensional (2 D )systemtheory .The 2 Dsystemsmayfindapplicationsinareassuchasmarineseismicdataprocessingandimageprocessing .Althoughmoreandmorevaluableresultshavebeengained ,mos…  相似文献   

Synthetic SH seismograms in a laterally varying medium by the discrete wavenumber method   总被引：1，自引：0，他引：1  

Michel Campillo  Michel Bouchon 《Geophysical Journal International》1985,83(1):307-317

Summary. We present a new method to calculate the SH wavefield produced by a seismic source in a half-space with an irregular buried interface. The diffracting interface is represented by a distribution of body forces. The Green's functions needed to solve the boundary conditions are evaluated using the discrete wavenumber method. Our approach relies on the introduction of a periodicity in the source-medium configuration and on the discretization of the interface at regular spacing. The technique developed is applicable to boundaries of arbitrary shapes and is valid at all frequencies. Some examples of calculation in simple configurations are presented showing the capabilities of the method.  相似文献   

中国大陆科学钻探先导孔零偏VSP资料解释   总被引：3，自引：3，他引：0  

姜修道  朱光明  朱龙生  张文波  李桂花 《地球科学与环境学报》2004,26(1):55-60

用六级三分量检波器在中国大陆科学钻探先导孔中实施了零偏VSP测量.数据处理结果表明,中国大陆科学钻探孔区超高压变质岩石的地震波速度主要介于4500～7000m/s之间,显著高于一般的沉积岩地区,而且随深度变化不明显.声波测井速度系统地稍低于VSP层速度,可能是由于井壁处岩石的完整性受到破坏而造成的.地震波速度与岩石密度和岩性存在明确的对应关系,榴辉岩的密度和地震波速度均显著高于片麻岩类岩石;由榴辉岩退变生成的斜长角闪岩类岩石,其密度和地震波速度均呈现出较大的变化,主要与其退变质程度有关;超基性岩中的裂隙系统导致其密度和地震波速度大幅度下降.由于榴辉岩与其他岩石类型之间存在较大的波阻抗差异,因此用零偏VSP资料标定该区地震波的地质层位是有效的.关于地震波反射的原因,通过综合研究地震波(包括反射纵波、上行转换横波、井筒波)的特征、岩石速度和密度分布以及井径变化,认为主要是岩性分界面、韧性剪切带和断裂(带),但还有一些因素尚待进一步研究.  相似文献   

Viscosity of the upper mantle from laboratory creep and anelasticity measurements in peridotite at high pressure and temperature     

Hiroki Sato 《Geophysical Journal International》1991,105(3):587-599

  相似文献   

Prediction of lateral variability in fracture intensity using multicomponent shear-wave surface seismic as a precursor to horizontal drilling in the Austin Chalk   总被引：1，自引：0，他引：1  

Michael C. Mueller 《Geophysical Journal International》1991,107(3):409-415

  相似文献