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  

黄道敏  徐瑞昆  唐国元  冯雷  刘智  徐国华 《海洋工程》2018,36(6):69-76

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   

Long-Period Variations of the Eccentricity Vector Valid also for Near Circular Orbits around a Non-Spherical Body     

Florent Deleflie  Gilles Métris  Pierre Exertier 《Celestial Mechanics and Dynamical Astronomy》2006,94(1):83-104

This paper studies the long period variations of the eccentricity vector of the orbit of an artificial satellite, under the influence of the gravity field of a central body. We use modified orbital elements which are non-singular at zero eccentricity. We expand the long periodic part of the corresponding Lagrange equations as power series of the eccentricity. The coefficients characterizing the differential system depend on the zonal coefficients of the geopotential, and on initial semi-major axis, inclination, and eccentricity. The differential equations for the components of the eccentricity vector are then integrated analytically, with a definition of the period of the perigee based on the notion of “free eccentricity”, and which is also valid for circular orbits. The analytical solution is compared to a numerical integration. This study is a generalization of (Cook, Planet. Space Sci., 14, 1966): first, the coefficients involved in the differential equations depend on all zonal coefficients (and not only on the very first ones); second, our method applies to nearly circular orbits as well as to not too eccentric orbits. Except for the critical inclination, our solution is valid for all kinds of long period motions of the perigee, i.e., circulations or librations around an equilibrium point.  相似文献   

Seasonal variations in prey selection by estuarine black-headed gulls (Larus ridibundus)     

D.J. Curtis  C.G. Galbraith  J.C. Smyth  D.B.A. Thompson 《Estuarine, Coastal and Shelf Science》1985,21(1):75-90

The number of black-headed gulls (Larus ridibundus) in the Clyde Estuary is large. In summer the average density has reached 1350 gulls km^?2 and in winter 180 gulls km^?2. This paper compares prey selection and feeding efficiency in gulls during summer and winter on tidal flats, and considers how seasonal differences may be adaptations to cope with seasonal changes in prey availability.Gross and net rates of energy intake were highest in summer because gulls captured more of the polychaete N. diversicolor than the amphipod C. volutator. In winter, gulls selected for C. volutator and therefore an energetically less profitable diet. Throughout the year gulls selected more C. volutator relative to N. diversicolor than expected on energetic grounds and so apparently did not maximize potential net rate of energy intake.Gulls used three techniques to capture prey and made most intensive use of the ‘crouch’ technique. Crouching gulls attained a much higher net rate of energy intake than ‘upright’ or ‘paddling’ gulls.A log-linear model showed that (a) season, water depth and gull density determined feeding technique and (b) feeding technique and season independently determined foraging success and prey selection. Thus gull density and water depth acted on prey selection through imposed variations in feeding technique.Reasons for gulls selecting energetically unprofitable C. volutator and for the use of several distinct feeding techniques are discussed.  相似文献   

Particulate organic matter in the coastal and estuarine waters of Goa and its relationship with phytoplankton production     

X.N. Verlencar  S.Z. Qasim 《Estuarine, Coastal and Shelf Science》1985,21(2):235-243

In the coastal and estuarine waters of Goa, particulate organic carbon (POC) varied from 0.52 to 2.51 mg l^?1 and from 0.28 to 5.24 mg l^?1 and particulate phosphorus (PP) varied from 0.71 to 5.18 μg l^?1 and from 0.78 to 20.34 μg l^?1, respectively. The mean values of chlorophyll and primary productivity were 1.94 mg m^?3 and 938.1 mg C m^?2 day^?1 in the coastal waters and 4.3 mg m^?3 and 636.5 mg C m^?1 day^?1 in the estuarine waters, respectively.$\text{POC}\text{chl}$ ratios were low in June and October even when POC values were quite high. The POC in surface waters was linearly correlated with the chlorophyll content. Also PP increased when chlorophyll and primary productivity remained high. The results suggest that the phytoplankton was sharply increasing and contributed to POC and PP content. The percentage of detritus calculated from the intercept values of chlorophyll on POC varied from 46 to 76% depending on season. Results indicate that the major portion of POC and PP during postmonsoon (October–January) is derived from phytoplankton production while the allochthonous matter predominate during monsoon (June–September).  相似文献   

A note on turbulent perturbations of salinity in a partially mixed estuary     

J.R. West  K. Shiono 《Estuarine, Coastal and Shelf Science》1985,20(1):55-78

Measurements of salinity perturbations in a partially mixed estuary have been used to evaluate the usefulness of an inductive salinometer and to determine some of the characteristics of the salinity perturbations. The salinometer performed satisfactorily under most conditions. Although internal wave like effects were present, the turbulence fluctuations were dominant. The salinity fluctuations and the turbulent fluxes $\text{sw}$ and $\text{su}$ were found to behave in a manner similar to the density fluctuations in a thermally stratified atmospheric boundary layer and a laboratory open channel flow. A quadrant analysis suggested that the contribution of each quadrant to the turbulent flux changed with Ri. The turbulence parameters ν and c_γ were found to decrease and increase respectively as Ri increases.  相似文献   

Statistical analysis of surface hydrography and circulation variations in northern South China Sea     

吴玲娟  崔茂常 《中国海洋湖沼学报》2005,23(4):383-392

1 INTRODUCTIONThe South China Sea (SCS) is a semi-enclosedmarginal sea in western North Pacific Ocean withvery complex topography and is the important pas-sage connecting the Pacific and Indian Oceans. Ithas great impact to the global climate and a greatinterest of many oceanography researchers. Twodominant surface hydrographic and circulation fea-tures in the northern SCS are a strong fresh waterexpansion and a warm and high-salinity seawaterintrusion such as the SCS Diluted Water…  相似文献   

The Dependence of Water Exchanges between the Kuroshio Water and Its Surroundings on the Characteristics of the Kuroshio‘s Meanders     

姜华  吴德星  万修全 《中国海洋湖沼学报》2003,21(4):335-344

Observation of fluid parcel pathways in the Kuroshio Stream revealed a striking crossstream pattern associated with the Kuroshio‘‘ s meanders. In order to understand the observed pattern, a two-dimensional kinematic model of a meandering jet was developed which could be used to examine the relationship between streamfunction patterns and fluid parcel trajectories. The experiments designed to investigate the dependence of the water exchanges between the Kuroshio water and its surroundings on the characteristics of the Kuroshio‘‘s meanders involved the downstream speed,phase speed and the amplitude of other propagating waves. The results suggested that fluid parcels could cross the meandering jet to and fro; and that the water exchanges between the Kuroshio and its surroundings increased with a) increasing meander amplitude, b) decreasing downstream speed, and c) increasing wave phase speed. The results also showed that when the meandering jet was disturbed by other propagating waves, more effective water exchanges could be induced.  相似文献   

Subtidal sea level and current variations in the northern reach of San Francisco Bay     

Roy A. Walters  Jeffrey W. Gartner 《Estuarine, Coastal and Shelf Science》1985,21(1):17-32

Analyses of sea level and current-meter data using digital filters and a variety of statistical methods show a variety of phenomena related to non-local coastal forcing and local tidal forcing in the northern reach of San Francisco Bay, a partially mixed estuary. Low-frequency variations in sea level are dominated by non-local variations in coastal sea level and also show a smaller influence from tidally induced fortnightly sea level variations. Low-frequency currents demonstrate a gravitational circulation which is modified by changes in tidal-current speed over the spring-neap tidal cycle. Transients in gravitational circulation induce internal oscillations with periods of two to four days.  相似文献   

中国东部第四纪自然环境演化及庐山“冰碛层”堆积时期的自然环境研究   总被引：10，自引：2，他引：8  

黄培华  陆仲家  任振纪  朱凤冠 《地理学报》1987,(4)

根据第四纪地层内孢粉组合和动物群等新资料恢复了我国东部各大区域第四纪各个时期的自然环境特征,其温暖期与干冷期的交替与深海沉积O~(18)温度变化趋势大致对应。庐山三次“冰期冰碛层”内孢粉组合表明均为温暖湿润针阔叶混交林景观,而不是寒冷的冰川环境。  相似文献   

The double solid reactant method: II. An application to the shallow groundwaters of the Porto Plain,Vulcano Island (Italy)     

Matteo Lelli  Roberto Cioni  Luigi Marini 《Environmental Geology》2008,56(1):139-158

This paper presents an example of application of the double solid reactant method (DSRM) of Accornero and Marini (Environmental Geology, 2007a), an effective way for modeling the fate of several dissolved trace elements during water–rock interaction. The EQ3/6 software package was used for simulating the irreversible water–rock mass transfer accompanying the generation of the groundwaters of the Porto Plain shallow aquifer, starting from a degassed diluted crateric steam condensate. Reaction path modeling was performed in reaction progress mode and under closed-system conditions. The simulations assumed: (1) bulk dissolution (i.e., without any constraint on the kinetics of dissolution/precipitation reactions) of a single solid phase, a leucite-latitic glass, and (2) precipitation of amorphous silica, barite, alunite, jarosite, anhydrite, kaolinite, a solid mixture of smectites, fluorite, a solid mixture of hydroxides, illite-K, a solid mixture of saponites, a solid mixture of trigonal carbonates and a solid mixture of orthorhombic carbonates. Analytical concentrations of major chemical elements and several trace elements (Cr, Mn, Fe, Ni, Cu, Zn, As, Sr and Ba) in groundwaters were satisfactorily reproduced. In addition to these simulations, similar runs for a rhyolite, a latite and a trachyte permitted to calculate major oxide contents for the authigenic paragenesis which are comparable, to a first approximation, with the corresponding data measured for local altered rocks belonging to the silicic, advanced argillic and intermediate argillic alteration facies. The important role played by both the solid mixture of trigonal carbonates as sequestrator of Mn, Zn, Cu and Ni and the solid mixture of orthorhombic carbonates as scavenger of Sr and Ba is emphasized.

Luigi Marini (Corresponding author)Email:

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