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   

Time–space fractional governing equations of transient groundwater flow in confined aquifers: Numerical investigation          下载免费PDF全文

Tongbi Tu  Ali Ercan  M. Levent Kavvas 《水文研究》2018,32(10):1406-1419

In order to model non‐Fickian transport behaviour in groundwater aquifers, various forms of the time–space fractional advection–dispersion equation have been developed and used by several researchers in the last decade. The solute transport in groundwater aquifers in fractional time–space takes place by means of an underlying groundwater flow field. However, the governing equations for such groundwater flow in fractional time–space are yet to be developed in a comprehensive framework. In this study, a finite difference numerical scheme based on Caputo fractional derivative is proposed to investigate the properties of a newly developed time–space fractional governing equations of transient groundwater flow in confined aquifers in terms of the time–space fractional mass conservation equation and the time–space fractional water flux equation. Here, we apply these time–space fractional governing equations numerically to transient groundwater flow in a confined aquifer for different boundary conditions to explore their behaviour in modelling groundwater flow in fractional time–space. The numerical results demonstrate that the proposed time–space fractional governing equation for groundwater flow in confined aquifers may provide a new perspective on modelling groundwater flow and on interpreting the dynamics of groundwater level fluctuations. Additionally, the numerical results may imply that the newly derived fractional groundwater governing equation may help explain the observed heavy‐tailed solute transport behaviour in groundwater flow by incorporating nonlocal or long‐range dependence of the underlying groundwater flow field.  相似文献   

Dynamic modelling of retrogressive landslides with emphasis on the role of clay sensitivity          下载免费PDF全文

Xue Zhang  Scott W. Sloan  Eugenio Oñate 《国际地质力学数值与分析法杂志》2018,42(15):1806-1822

This paper presents a detailed numerical study of the retrogressive failure of landslides in sensitive clays. The dynamic modelling of the landslides is carried out using a novel continuum approach, the particle finite element method, complemented with an elastoviscoplastic constitutive model. The multiwedge failure mode in the collapse is captured successfully, and the multiple retrogressive failures that have been widely observed in landslides in sensitive clays are reproduced with the failure mechanism, the kinematics, and the deposition being discussed in detail. Special attention has been paid to the role of the clay sensitivity on each retrogressive failure as well as on the final retrogression distance and the final run‐out distance via parametric studies. Moreover, the effects of the viscosity of sensitive clays on the failure are also investigated for different clay sensitivities.  相似文献   

A multiscale work-analysis approach for geotechnical structures     

Hao Xiong  Zhen-Yu Yin  François Nicot 《国际地质力学数值与分析法杂志》2019,43(6):1230-1250

This paper presents a second-order work analysis in application to geotechnical problems by using a novel effective multiscale approach. To abandon complicated equations involved in conventional phenomenological models, this multiscale approach employs a micromechanically-based formulation, in which only four parameters are involved. The multiscale approach makes it possible a coupling of the finite element method (FEM) and the micromechanically-based model. The FEM is used to solve the boundary value problem (BVP) while the micromechanically-based model is utilized at the Gauss point of the FEM. Then, the multiscale approach is used to simulate a three-dimensional triaxial test and a plain-strain footing. On the basis of the simulations, material instabilities are analyzed at both mesoscale and global scale. The second-order work criterion is then used to analyze the numerical results. It opens a road to interpret and understand the micromechanisms hiding behind the occurrence of failure in geotechnical issues.  相似文献   

Application of micropolar plasticity to post failure analysis in geomechanics     

Majid T. Manzari 《国际地质力学数值与分析法杂志》2004,28(10):1011-1032

A micropolar elastoplastic model for soils is formulated and a series of finite element analyses are employed to demonstrate the use of a micropolar continuum in overcoming the numerical difficulties encountered in application of finite element method in standard Cauchy–Boltzmann continuum. Three examples of failure analysis involving a deep excavation, shallow foundation, and a retaining wall are presented. In all these cases, it is observed that the length scale introduced in the polar continuum regularizes the incremental boundary value problem and allows the numerical simulation to be continued until a clear collapse mechanism is achieved. The issue of grain size effect is also discussed. Copyright © 2004 John Wiley & Sons, Ltd.  相似文献   

有关边界层问题中一类奇异积分方程新的存在性结果     

石丽莉  张高勋 《成都信息工程学院学报》2006,21(6):891-896

对边界层理论新结果中出现的一类奇异积分方程w（t）=∫1 t（1-s）（λ＋λs＋s）/w（s）ds＋（1-t）∫t 0s/w（s）ds,t∈（0,1）进行讨论，并得出了上述方程在λ∈（-1/2,0）上正解存在性的新结果。  相似文献   

关于Diophantine方程的解     

乐茂华 《广东海洋大学学报》2004,24(4):47-48

对于正整数a ,设S(a)是Smarandache函数。证明了 :方程S(1·2 ) +S(2·3) +… +S(x(x +1) ) =S(x(x +1) (x +2 ) /3)仅有正整数解x =1。  相似文献   

浅谈项目投资失败的原因及对策     

梁宗念 《南方国土资源》2002,15(2):69-72

地勘单位在向企业化经营转变的过程中 ,投资兴办了许多企业 ,但不少项目以失败告终。文章分析探讨了失败的原因 ,并提出相应的对策  相似文献   

用比电导法研究活性炭的吸附特性     

陈以良 《广东海洋大学学报》1992,(1)

用比电导法研究两种活性炭自稀水溶液中吸附强电解质硫酸铬和硫酸铜的吸附平衡特性。结果表明,在本文的研究条件下,两种活性炭对硫酸铬和硫酸铜都有吸附作用。同时,活性炭吸附硫酸铜的吸附平衡特性可以用 Freundlich 方程式来描述。研究的结果对固体在溶液中的吸附基础理论以及处理工业废水具有一定的意义。  相似文献   

The similitude equation in magnetotelluric inversion     

S. E. Dosso  D. W. Oldenburg 《Geophysical Journal International》1991,106(2):507-509

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