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   

Helmert方差分量估计在GPS/GLONASS/BDS组合定位权比确定中的应用     

刘金海  涂锐  张睿  张鹏飞  卢晓春 《大地测量与地球动力学》2018,38(6):568-570

因GNSS系统间观测噪声、轨道精度的差异，采用经验权比进行组合定位难以得到最优结果。基于此，在GPS/GLONASS/BDS组合定位中引入Helmert方差分量估计，对GPS/GLONASS/BDS组合单点定位和基线解算中各系统观测值进行合理定权。实验表明，采用该方法确定的伪距观测值最佳权比为5∶1∶1，相位观测值最佳权比为1∶1∶1，有效提高了GPS/GLONASS/BDS组合定位的精度和可靠性。  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   

重庆地面最高气温与最大风速年极值的渐近分布   总被引：3，自引：0，他引：3  

孟庆珍  王增武  冯新  梁秋枫 《成都信息工程学院学报》2004,19(3):436-441

利用重庆1951-1990年间地面最高气温和1956-1990年间地面最大风速年极值的记录,采用韦伯分布和耿贝尔分布分别对其渐近分布进行拟合.通过统计推断,找出重庆地面最高气温和地面最大风速年极值遵循的最佳渐近分布--韦伯分布.  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   

AR（P）参数估计协方差方法与其改进型方法的对比研究     

楚岩  祝轩 《地球科学与环境学报》1997,(Z1)

定性分析协方差方法及其改进型在ＡＲ（Ｐ）参数估计中的应用，提供了一种估计参数的计算机上机流程图，比较了协方差方法及其改进型谱估计结果。  相似文献   

抗差估计的初值选择     

王振杰  欧吉坤  曲国庆 《大地测量与地球动力学》2001,21(3):32-35

对L1 范估计的平差值和LS估计的平差值作为抗差估计的初值进行了比较 ,指出在 ρ函数是严凸函数时 ,二者无明显的区别。因为LS估计简单且易于计算 ,因此建议用LS估计的平差值作为抗差估计的初值。  相似文献   

STUDY ON GIS FOR YIELD ESTIMATION BY REMOTE SENSING IN JILIN MAIZE BELT     

Liu Xiangnan  Huang Fang  Zhou Zhanao 《中国地理科学(英文版)》1996,6(4):351-358

ＳＴＵＤＹ　ＯＮ　ＧＩＳ　ＦＯＲ　ＹＩＥＬＤ　ＥＳＴＩＭＡＴＩＯＮ　ＢＹ　ＲＥＭＯＴＥ　ＳＥＮＳＩＮＧ　ＩＮ　ＪＩＬＩＮ　ＭＡＩＺＥ　ＢＥＬＴＳＴＵＤＹＯＮＧＩＳＦＯＲＹＩＥＬＤＥＳＴＩＭＡＴＩＯＮＢＹＲＥＭＯＴＥＳＥＮＳＩＮＧＩＮＪＩＬＩＮＭＡＩＺ...  相似文献   

REMOTE SENSING FOREST BIOMASS: AN EVALUATION USING HIGH RESOLUTION REMOTE SENSOR DATA AND LOBLOLLY PINE PLOTS     

John R. Jensen  Michael E. Hodgson 《The Professional geographer》1985,37(1):46-56

Eight-year-old Loblolly pine (Pinus taeda) plots located in South Carolina were evaluated using high resolution aircraft multispectral scanner data to determine if biomass could be accurately measured. Sixteen pine plots located on both sandy and clay soils were treated with 0, 180, or 360 kg. (approximately 0, 400, or 800 lb.) of nitrogen per plot. Indices of biomass from remote sensing data were significantly correlated with in situ biomass measurements made in each plot. A ratio of infrared (.9–1.1 μm) and red (.65–.70 μm) channels yielded the best correlation. The indices were not sensitive to differences in soil type (sandy or clay).  相似文献