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基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制 总被引:2,自引:0,他引:2
基于控制力矩陀螺群(CMGs)的水下航行器具有低速或零速机动的能力。采用基于分布式CMGs的水下航行器方案,并研究其水平面的轨迹跟踪控制问题。通过全局微分同胚变换将非完全对称的动力学模型解耦成标准欠驱动控制模型,并根据简化的模型构建其轨迹跟踪的误差动力学模型,将轨迹跟踪控制问题转化为误差模型镇定问题。基于一种分流神经元模型和反步法设计了系统的轨迹跟踪控制律,该控制器不需要对任何虚拟控制输入进行求导计算,且能确保跟踪误差的最终一致有界性。仿真结果表明该控制器能够实现在不依赖动力学参数先验知识的情况下对光滑轨迹的有效跟踪。 相似文献
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传统的农村公路核查需要人工实地抽查或通过GNSS设备进行信息采集验核,存在成本高、效率低等问题。遥感影像具有成像范围广、时效性高、成本低、能客观反映现实情况等优点。相比于传统方法,将遥感影像引入农村公路核查,能客观、准确、高效地对农村公路相关信息进行核查。本文基于国产高分辨率遥感影像,结合农村公路遥感核查业务,采用遥感影像道路提取算法,设计并实现了一种农村公路核查方法。将本方法应用于某中部省份农村公路遥感核查业务,实际应用表明该方法能有效提高现有农村公路遥感核查的工作效率。 相似文献
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应用给定换热器结构材料而使换热量最大的两侧换热表面的最佳匹配准则和使可用能损失率最小的最佳运行参数准则。利用两个准则间的关系 ,采用迭代的方式完成换热器的优化设计 ,使换热器的设计达到材料省、换热效果好及运行费用低的目的 ,且能在设计阶段实现。 相似文献
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The ordinary kriging method, a geostatistical interpolation technique, was applied for developing contour maps of design storm depth in northern Taiwan using intensity–duration–frequency (IDF) data. Results of variogram modelling on design storm depths indicate that the design storms can be categorized into two distinct storm types: (i) storms of short duration and high spatial variation and (ii) storms of long duration and less spatial variation. For storms of the first category, the influence range of rainfall depth decreases when the recurrence interval increases, owing to the increasing degree of their spatial independence. However, for storms of the second category, the influence range of rainfall depth does not change significantly and has an average of approximately 72 km. For very extreme events, such as events of short duration and long recurrence interval, we do not recommend usage of the established design storm contours, because most of the interstation distances exceed the influence ranges. Our study concludes that the influence range of the design storm depth is dependent on the design duration and recurrence interval and is a key factor in developing design storm contours. Copyright © 2003 John Wiley & Sons, Ltd. 相似文献
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介绍了车载流动型人卫激光测距仪光学系统(包括激光发射系统、接收系统及微光电视监视系统)的设计思想和方法,着重叙述了光学系统的结构设计、关键部件几何尺寸的确定及重要元器件的选取。设计基于流动型仪器应满足的防振、体积小、调校方便、抗环境干扰能力强等特点。多年的实测证明,这种光学系统不仅能满足流动型人卫激光测距仪总体设计要求,而且经济实用。 相似文献
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Abstract Eclogites are distributed for more than 500 km along a major tectonic boundary between the Sino-Korean and Yangtze cratons in central and eastern China. These eclogites usually have high-P assemblages including omphacite + kyanite and/or coesite (or its pseudomorph), and form a high-P eclogite terrane. They occur as isolated lenses or blocks 10 cm to 300 m long in gneisses (Type I), serpentinized garnet peridotites (Type II) and marbles (Type III). Type I eclogites were formed by prograde metamorphism, and their primary metamorphic mineral assemblage consists mainly of garnet [pyrope (Prp) = 15–40 mol%], omphacite [jadeite (Jd) = 34–64 mol%], pargasitic amphibole, kyanite, phengitic muscovite, zoisite, an SiO2 phase, apatite, rutile and zircon. Type II eclogites characteristically contain no SiO2 phase, and are divided into prograde eclogites and mantle-derived eclogites. The prograde eclogites of Type II are petrographically similar to Type I eclogites. The mantle-derived eclogites have high MgO/(FeO + Fe2O3) and Cr2O3 compositions in bulk rock and minerals, and consist mainly of pyrope-rich garnet (Prp = 48–60 mol%), sodic augite (Jd = 10–27 mol%) and rutile. Type III eclogites have an unusual mineral assemblage of grossular-rich (Grs = 57 mol%) garnet + omphacite (Jd = 30–34 mol%) + pargasite + rutile. Pargasitic and taramitic amphiboles, calcic plagioclase (An68), epidote, zoisite, K-feldspar and paragonite occur as inclusions in garnet and omphacite in the prograde eclogites. This suggests that the prograde eclogites were formed by recrystallization of epidote amphibolite and/or amphibolite facies rocks with near-isothermal compression reflecting crustal thickening during continent–continent collision of late Proterozoic age. Equilibrium conditions of the prograde eclogites range from P > 26 kbar and T= 500–750°C in the western part to P > 28 kbar and T= 810–880°C in the eastern part of the high-P eclogite terrane. The prograde eclogites in the eastern part are considered to have been derived from a deeper position than those in the western part. Subsequent reactions, manifested by (1) narrow rims of sodic plagioclase or paragonite on kyanite and (2) symplectites between omphacite and quartz are interpreted as an effect of near-isothermal decompression during the retrograde stage. The conditions at which symplectites re-equilibrated tend to increase from west (P < 10 kbar and T < 580°C) to east (P > 9 kbar and T > 680°C). Equilibrium temperatures of Type II mantle-derived eclogites and Type III eclogite are 730–750°C and 680°C, respectively. 相似文献
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介绍了广州地区基坑支护近年来的主要类型及其适用范围,并在分析选型各影响因素的基础上,总结出设计选型的要点。 相似文献