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   

冷空气强风在大型城市中的精细结构和形成机制     

向杰勋  陈桂兴  姜平  吴乃庚  温之平 《大气科学》2019,43(3):577-597

地面强风可直接造成人员伤亡和经济损失,严重影响出行安全、工农业生产等社会秩序。强风的发生与天气系统和复杂下垫面的共同作用密切相关,在城市区域尤为明显。受数值模拟技术和计算资源的限制,对实际天气条件下大范围城区的强风现象进行建筑物分辨率的大规模数值模拟研究仍是一个挑战。本研究利用中尺度气象模式嵌套流体计算动力模式的超高分辨率局地气象预报系统,对强冷空气过程造成广州市区的一次强风事件进行数值模拟,深入探讨强风的精细结构和形成机制。结果表明,伴随着强冷空气入侵,广州市区的平均风速和风场高频扰动均明显增强,且在城市冠层顶尤为明显,呈现区域不均匀的三维结构,数值模拟与地面观测相一致。较大范围的强风速和阵风主要出现在建筑物较为低矮的老城区上空,并持续影响下游河道等开阔区域。在高层建筑密集的新城区,虽然整体风速明显减弱,但能在平行风向的街道狭管和下游区域形成局地强风。特别是,超高层建筑群引起显著的垂直环流,导致强风扰动向下传播,造成最大风速达8 m s?1的地面局地强风,阵风指数接近2。上游建筑群引起的风场扰动呈现大尺度湍流结构,能沿着平均气流传播影响数公里之远的下游地区。当风场扰动经过广州塔等单体超高层建筑时,可在其两侧绕流区再次加强,形成局地强风。局地强风和阵风还出现在垂直于风向排列的沿江高层建筑群的侧边,与建筑屏风的阻挡效应和缺口溢出有关。研究结果促进认识城市强风的时空特征和物理机制,有助于提升城市气象的精细化预报水平。  相似文献   

Robust control based on feedback linearization for roll stabilizing of autonomous underwater vehicle under wave disturbances   总被引：1，自引：0，他引：1  

潘立鑫  金鸿章  王琳琳 《中国海洋工程》2011,25(2):251-263

In the case of Autonomous Underwater Vehicle(AUV) navigating with low speed near water surface,a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance.Robust control is applied,which is based on uncertain nonlinear horizontal motion model of AUV and the principle of zero speed fin stabilizer.Feedback linearization approach is used to transform the complex nonlinear system into a comparatively simple linear system.For parameter uncertainty of motion model,the controller is designed with mixed-sensitivity method based on H-infinity robust control theory.Simulation results show better robustness improved by this control method for roll stabilizing of AUV navigating near water surface.  相似文献   

基于内模原理的汽车主动悬挂系统的减振控制     

窦同水  唐功友 《中国海洋大学学报(自然科学版)》2011,(Z1):165-168,174

研究路面粗糙度扰动作用下的汽车主动悬挂系统的减振控制问题。首先简化单自由度四分之一悬挂系统模型,建立路面粗糙度扰动模型。然后基于内模原理设计汽车主动悬挂系统的减振控制结构,并利用线性系统的极点配置方法设计系统的减振控制律。最后利用数字仿真验证了减振控制律的有效性。  相似文献   

Isotopic analysis to quantify the role of the Indian monsoon on water resources of selected river basins in the Himalayas     

Ghulam Jeelani  Rouf Ahmad Shah  Rajendrakumar D. Deshpande  Ashok P. Dimri  Suraj Mal  Anupam Sharma 《水文研究》2021,35(11):e14406

Western disturbances (WDs) and Indian summer monsoon (ISM) led precipitation play a central role in the Himalayan water budget. Estimating their contributions to water resource is although a challenging but essential for hydrologic understanding and effective water resource management. In this study, we used stable water isotope data of precipitation and surface waters to estimate the contribution of ISM and WDs to the water resources in three mountainous river basins - Indus, Bhagirathi and Teesta river basins of western, central and Eastern Himalayas. The study reveals distinct seasonality in isotope characteristics of precipitation and surface waters in each river basin is due to changes in moisture source, hydrometeorology and relief. Despite steady spatial variance in the slope and intercept of regression lines from the Teesta to Indus and the Bhagirathi river basins, the slope and intercept are close to the global meteoric water line and reported local meteoric water line of other regions in the Himalayas and the Tibetan Plateau. The two-component end-member mixing method using d-excess as tracer were used to estimate the contribution from ISM and WD led precipitation to surface water in aforementioned river basins. The results suggest that the influence of the ISM on the water resources is high (>72% to annual river flow) in Teesta river basin (eastern Himalayas), while as the WDs led precipitation is dominantly contributing (>70% average annual river flow) to the surface waters in the Indus river basin (western Himalayas). The contribution of ISM and WD led precipitation in Bhagirathi river basin is 60% and 40%, respectively. The findings demonstrate that the unusual changes in the ISM and WD moisture dynamics have the potential to affect the economy and food security of the region, which is dependent on the availability of water resources. The obtained results are of assistance to policy makers/mangers to make use of the information for better understanding hydrologic response amid unusual behaviour of the dual monsoon system over the region.  相似文献   

The impact of extreme turbidity events on the nursery function of a temperate European estuary with regulated freshwater inflow     

E. González-Ortegón  M.D. Subida  J.A. Cuesta  A.M. Arias  C. Fernández-Delgado  P. Drake 《Estuarine, Coastal and Shelf Science》2010

Estuaries are used as nursery grounds by numerous marine species despite being usually subject to strong anthropogenic disturbances. Abundances of marine recruits (fish and crustacean decapods) and their main prey (mysids) were monitored by monthly sampling, from June 1997 to February 2009, in the lower reaches of the Guadalquivir estuary (SW Spain). During that period, unusually high and persistent turbidity events (HPTEs) were observed twice. Both HPTEs started with strong and sudden freshwater discharges after relatively long periods of very low freshwater inflow. Data from this time-series were used to test the hypothesis that HPTEs may negatively impact the nursery function of estuaries either by decreasing prey availability or by decreasing survival/arrival of marine recruits. During HPTEs, the commonest mysid (Mesopodopsis slabberi), a key species in the estuarine food web, showed a significant decrease in abundance. Likewise, some marine recruits that prey on M. slabberi and whose peaks of abundance within the estuary occur in summer–autumn (Engraulis encrasicolus and Pomadasys incisus) were less abundant during HPTEs. It is also suggested that HPTEs might have triggered a shift in the distribution of the most euryhaline prey (Neomysis integer) and predator (Dicentrarchus punctatus and Crangon crangon) species, towards more saline waters. This could have contributed to an increase in the inter-specific competition (for food/habitat) within the estuarine nursery area. The results discussed in this study call attention to the need to reduce as much as possible the anthropogenic pressures that may stimulate the occurrence of high and persistent turbidity events (HPTEs) in order to preserve the nursery function of temperate estuaries.  相似文献   

Ecohydrology-a challenging multidisciplinary research perspective / Ecohydrologie: une perspective stimulante de recherche multidisciplinaire     

AMILCARE PORPORATO  IGNACIO RODRIGUEZ-ITURBE 《水文科学杂志》2013,58(5):811-821

Abstract

Ecohydrology is the science that studies the mutual interaction between the hydrological cycle and ecosystems. Such an interaction is especially intense in water-controlled ecosystems, where water may be a limiting factor, not only because of its scarcity, but also because of its intermittent and unpredictable appearance. Soil moisture is the key variable modulating the complex dynamics of the climate-soil-vegetation system and controlling the spatial and temporal patterns of vegetation. In this note the authors' perspective to the field is discussed and some open questions are outlined.  相似文献   

利用日本GPS网探测2011年Tohoku海啸引发的电离层扰动   总被引：2，自引：1，他引：1       下载免费PDF全文

唐龙  郭博峰  李哲 《地球物理学报》2017,60(2):507-513

海平面的海啸波会产生大气重力波进而引发电离层扰动.本文利用日本GPS总电子含量数据来探测2011年3月11日Tohoku海啸引发的电离层扰动.观测结果表明，在日本上空的电离层中存在两种重力波信号，分别由海平面的海啸波以及地震破裂过程产生.地震产生的电离层重力波分布在震中周围（包括海洋上空以及远离海洋的区域），而海啸引发的电离层重力波主要分布在海洋上空.地震产生的电离层重力波具有不同的水平速度，包括约210 m·s^-1以及170 m·s^-1，其频率为1.5 mHz；而海啸引发的电离层重力波水平速度快于前者，约为280 m·s^-1，其频率为1.0 mHz.此外，海啸引发电离层重力波与海平面上的海啸波有相似的水平速度、方向、运行时间、波形以及频率等传播特征.本文的研究将电离层中的海啸信号与地震信号区分开来，进一步确认电离层对海啸波的敏感性.  相似文献   

Simulation of Formation and Spreading of Salinity Minimum Associated with NPIW Using a High-Resolution Model   总被引：1，自引：2，他引：1  

Hiroshi Ishizaki  Ichiro Ishikawa 《Journal of Oceanography》2004,60(2):463-485

A series of numerical experiments were conducted with a high-resolution (eddy-permitting) North Pacific model to simulate the formation and spreading of the salinity minimum associated with the North Pacific Intermediate Water (NPIW). It was found that two factors are required to simulate a realistic configuration of the salinity minimum: a realistic wind stress field and small-scale disturbances. The NCEP reanalyzed wind stress data lead to better results than the Hellerman and Rosenstein wind stress data, due to the closer location of the simulated Oyashio and Kuroshio at the western boundary. Small-scale disturbances formed by relaxing computational diffusivity included in the advection scheme promote the large-scale isopycnal mixing between the Oyashio and Kuroshio waters, simulating a realistic configuration of the salinity minimum. A detailed analysis of the Oyashio water transport was carried out on the final three-year data of the experiment with reduced computational diffusivity. Simulated transport of the Kuroshio Extension in the intermediate layer is generally smaller than the observed value, while those of the Oyashio and the flow at the subarctic front are comparable to the observed levels. In the Oyashio-Kuroshio interfrontal zone the zonally integrated southward transport of the Oyashio water (140–155°E) is borne by the eddy activity, though the time-mean flow reveals the existence of a coastal Oyashio intrusion. In the eastern part (155°E–180°) the zonally integrated transport of the Oyashio water indicates a southward peak at the southern edge of the Kuroshio Extension, which corresponds to the branching of the recirculating flow from the Kuroshio Extension. This revised version was published online in July 2006 with corrections to the Cover Date.  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