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   

邮轮属性评价与品牌定位     

孙晓东  徐美华 《地理科学》2020,40(10):1688-1697

以全球最大的邮轮点评网站——邮轮评论家为数据来源渠道，以编辑（Editor/Expert）的文本点评以及对167艘邮轮10大属性的打分数据为样本，利用词频分析、回归分析、聚类分析和方差分析等方法，对全球21个邮轮品牌的产品属性、总体评价以及品牌定位问题进行了系统研究。结果表明，对于专业型游客来说，餐饮、客房和娱乐是关注度最高的船上属性，服务、性价比和公共空间是满意度最高的船上属性，客房、餐饮、公共空间、性价比和娱乐属性对邮轮总评具有显著影响。方差分析表明，与行业界定下的品牌行为相比，基于专业型游客感知的品牌划分更有效。  相似文献   

跟类星体红移宇宙学解释相符合的证据     

梁恩维  覃一平等 《云南天文台台刊》2002,(2):16-21

分析类星体吸收线红移和发射线红移的特征。我们从Hewitt和Burbidge（1993）的星表中选择了吸收线红称和发射线红移都同时提供的类星体，得到了包含401个对象的样本。这是至今对类星体红移研究的最大样本。我们从吸收线红移和发射线红移之间的关系图发现绝大多数（93．6％）对象的吸收线红移都小于相应的发射线红移。这个结论人们在20世纪70年代已经从很小的类星体样本（样本大小50左右）中得到。本文进一步支持了这个结论。它表明类星体红移确实是距离的指示器。这跟宇宙学对类星体红移的解释是一致的。  相似文献   

转变职能看变化—江都市国土资源局抓窗口建设促行风转变的做法     

周光荣  刘扬生等 《江苏国土资源》2002,(3):44-44

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PRELIMINARY STUDY ON THE FLOODING AND DROUGHT CLAMITY DURING PAST 1500 YEARS IN THE HAI′AN REGION，JIANGSU PROVINCE   总被引：1，自引：0，他引：1  

ZHANGQiang  CHENGJi 《中国地理科学(英文版)》2002,12(2):146-151

Collection and arrangement of the historical records of climatic changes and environment evolution,espectial-lyin the aspect of calamities,are made on the history documents of past 1500 years about Haiˊan region,Jiangsu Province.There existed two obvious flooding-drought frequently-occurring periods:one was from 1550 AD to 1850 AD and another was 100 AD to 1200AD.The period of 1550 AD to1850 AD is interrupted by two relatively arid and cold climatic periods:one was from 1630 AD to 1700 AD and another was 1750 AD to 1820 AD.The main characteristic of the calamity periods is that they occurred by turns,and sometimes,both drought and flooding occurred in the same year.The instability of the climatic changes in the Little Ice Age may be the main reason of the frequently-occurring flooding and drought in Haiˊan region.Research results also show that the frequently-occurring periods of flooding and drought is in close relationship with the solar activity,and therefore,occurrence of the flooding and drought may be in relation with the intensity of the solar activity.This hypothesis may need further study in the future.  相似文献   

A STUDY ON LAND SYSTEM INNOVATIONS IN THE CONSTRUCTION OF SMALL TOWNS IN CHINA     

LIANGLin－ke  CHANGJiang 《中国地理科学(英文版)》2002,12(1):80-85

The economic development in China and the rising of the living standard need to speed up the urbanisa-tion.The development of small towns is an important way to Chinese urbanization.Land use plays a very important role in the development of small towns.However there are many problems in the development of small towns,esp.in land use.The paper first discusses the land problems in the development of small towns.Such as much cultivated land lies idle,under-utilization and waste of land,increasing illegal use of land,unstable contractural relationship for land use.The relationship between the development of small towns and land use is also studied.Then the guidelines for the land system innovations of small towns are put forward.Namely the sustainability of social and economic development,the bal-ance between land reservation and land utilization,the provision of service to village ,agriculture and farmer,the manage-ment of land resource and land assets,the parsimonious andlegal use of land.The basic framework of land system innova-tions of small towns is put forward finally.It include the land replacement policy for small towns and the permanent tenan-cy of farmland,the overall plan for land uses and other plans in harmony,the establishment of a flexible system of land supplies,using land with payments ,the transfer of agricultural land and refining the land law related to the construction of small towns.  相似文献   

A CASE STUDY ON CONCENTRATION AND DECENTRALIZATION：BEHAVIOR AND DYNAMIC MECHANISM OF SPATIAL EVOLUTION IN METROPOLITAN AREA，NANJING，CHINA   总被引：1，自引：1，他引：0  

ZHUXi－gang  ZHANGJing－xiang 《中国地理科学(英文版)》2002,12(3):212-217

In rapid socio-economic development,the process of concentration and dispersal of various elements tends to be more dramatic,tremendously influencing the shaping and transformation of the space in metropolitan area.Survey of spatial concentration and decentralization has thus become a basic method in examining metropolitan spatial evolution.In this research,three elements were selected as the essential indicators of the process:demographic density distribu-tion,employment density distribution and business office location.Performance of these elements in Nanjing City was exam-ined historically.As Nanjing City could be regarded as a representative of metropolitan areas in China,its situation large-ly suggestes the general characteristics in similar areas of China.Hence based on the investigation of Nanjing City,four general implications were highlighted.First ,metropolitan areas in China are in a violent process and shift of spatial concentra-tion and decentralization.Second,from now to at least the near future,concentration will continue to be the central fea-ture.Third,the landscape of metropolitan areas basically exhibits a dual structure character.The gap in environmental and ecological qualities among different districts will continue for a long time.Fourth,Central Business District (CBD) is playing an important role in helping to convert the traditionally single-centered city structure into a polycentric one.  相似文献   

Variability of Soft X—ray Spectral Shape in Blazars Observed by ROSAT     

Lin－PengCheng  Yong－HengZhao 《中国天文和天体物理学报》2002,2(2):117-126

1 INTRODUCTION Blazars, including BL Lac objects, highly polarized and optically violently variable quasars,and flat-spectrum radio quasars (FSRQs), are characterized by highly variable non-thermalemission which dominates their characteristics from radio to y-ray bands. The mechanismbelieved to be responsible for their broadband emission is synchrotron radiation followed by in-verse Compton (IC) scattering at higher energies (e.g. Blandford & Konigl 1979). Relativisticbeaming of a jet…  相似文献   

SPATIAL—TEMPORAL VARIATION OF HEAVY METAL ELEMENTS CONTENT IN COVERING SPIL OF RECLAMATION AREA IN FUSHUN COAL MINE     

YUJun－bao  LIUJing－shuang 《中国地理科学(英文版)》2002,12(3):268-272

Grid method is employed for sampling covering soil at the test field,which is reclamation area filled by coal mining wastes for cropland in the Fushun coal mine,Liaoning Province,the Northeast China.The soil samples are taken at different locations,including three kinds of covering soil,three different depths of soil layers and four different covering ages of covering soil.The spatial-temporal variation of heavy metal element content in reclamation soil is stud-ied.The results indicate that the content of heavy metal elements is decreasing year after year,the determinant reason why the content of heavy metal elements at 60cm depth layer is higher than that at 30cm depth layer and surface is fertiliz-er and manure application;the metal elements mainly come from external environment;there is no metal pollution coming from mother material (coal mining wastes)in plough layer of covering soil.  相似文献   

上海天文台激光测距站的时频系统     

张忠平  蔡见祥等 《中国科学院上海天文台年刊》1996,(17):314-319

本叙述了上海天台人卫激光测距站的时频系统。随着测距精度的提高，时频系统也要不断地加以改进，包括频率标准和时间同步技术。  相似文献