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A two-dimensional path following control system for autonomous marine surface vessels is presented. The guidance system is obtained through a way-point guidance scheme based on line-of-sight projection algorithm and the speed controller is achieved through state feedback linearization. A new approach concerning the calculation of a dynamic line-of-sight vector norm is presented which main idea is to improve the speed of the convergence of the vehicle to the desired path. The results obtained are compared with the traditional line-of-sight scheme. It is intended that the complete system will be tested and implemented in a model of the “Esso Osaka” tanker. The results of simulations are presented here showing the effectiveness of the system aiming in to be robust enough to perform tests either in tanks or lakes. 相似文献
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Accurate propeller shaft speed controllers can be designed by using nonlinear control theory and feedback from the axial water velocity in the propeller disc. In this paper, an output feedback controller is derived, reconstructing the axial flow velocity from vehicle speed measurements, using a three-state model of propeller shaft speed, forward (surge) speed of the vehicle, and the axial flow velocity. Lyapunov stability theory is used to prove that a nonlinear observer combined with an output feedback integral controller provide exponential stability. The output feedback controller compensates for variations in thrust due to time variations in advance speed. This is a major problem when applying conventional vehicle-propeller control systems. The proposed controller is simulated for an underwater vehicle equipped with a single propeller. The simulations demonstrate that the axial water velocity can be estimated with good accuracy. In addition, the output feedback integral controller shows superior performance and robustness compared to a conventional shaft speed controller 相似文献
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Thilo Wrona Alexander C. Whittaker Rebecca E. Bell Robert L. Gawthorpe Haakon Fossen Christopher A.-L. Jackson Marit Stokke Bauck 《Basin Research》2023,35(2):744-761
Our understanding of continental rifting is, in large parts, derived from the stratigraphic record. This record is, however, incomplete as it does not often capture the geomorphic and erosional signal of rifting. New 3D seismic reflection data reveal a Late Permian-Early Triassic landscape incised into the pre-rift basement of the northern North Sea. This landscape, which covers at least 542 km2, preserves a drainage system bound by two major tectonic faults. A quantitative geomorphic analysis of the drainage system reveals 68 catchments, with channel steepness and knickpoint analysis of catchment-hosted palaeo-rivers showing that the landscape preserved a >2 Myr long period of transient tectonics. We interpret that this landscape records a punctuated uplift of the footwall of a major rift-related normal fault (Vette Fault) at the onset of rifting. The landscape was preserved by a combination of relatively rapid subsidence in the hangingwall of a younger fault (Øygarden Fault) and burial by post-incision sediments. As such, we show how and why erosional landscapes are preserved in the stratigraphic record, and how they can help us understand the tectono-stratigraphic evolution of ancient continental rifts. 相似文献
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In this paper a nonlinear dynamic PDE formulation for a pipe string suspended from a pipelay vessel to the seabed in a pipelay operation is developed. This model extends a three-dimensional beam model capable of undergoing finite extension, shearing, twist and bending, to apply for marine applications by adding the effects of restoring forces, hydrodynamic drag and seabed interaction. The model is validated against the natural catenary equation and the FEM code RIFLEX. The model is extended to include the pipelay vessel dynamics by applying a potential theory formulation of a surface vessel, suited for dynamic positioning and low speed maneuvering, as a boundary condition for the PDE. This system is found to be input-output passive and stable. Pipeline installation applications where the presented model is suited are e.g., analysis and simulation of the installation operation, operability analysis, hardware-in-the-loop (HIL) testing for vessel control systems, and automation of the pipelay operation. 相似文献
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Displacement, length and linkage of deformation bands have been studied in Jurassic sandstones in southeastern Utah. Isolated deformation bands with lengths (L) that span more than three orders of magnitude show similar displacement (D) profiles with more or less centrally located maxima and gently increasing gradient toward the tips. Soft- and hard-linked examples exhibit steeper displacement gradients near overlap zones and immature hard links, similar to previously described fault populations. The deformation band population shows power-law length and displacement distributions, but with lower exponents than commonly observed for populations of larger faults or small faults with distinct slip surfaces. Similarly, the Dmax-L relationship of the deformation bands shows a well-defined exponent of ca 0.5, whereas the general disagreement for other fault populations is whether the exponent is 1 or 1.5. We suggest that this important difference in scaling law between deformation bands and other faults has to do with the lack of well-developed slip surfaces in deformation bands. During growth, deformation bands link to form zones of densely spaced bands, and a slip surface is eventually formed (when 100 m < L < 1 km). The growth and scaling relationship for the resulting populations of faults (slip surfaces) is expected to be similar to ‘ordinary’ fault populations. A change in the Dmax-L scaling relationship at the point when zones of deformation bands develop slip surfaces is expected to be a general feature in porous sandstones where faults with slip surfaces develop from deformation bands. Down-scaling of ordinary fault populations into the size domain of deformation bands in porous sandstones is therefore potentially dangerous. 相似文献
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Shear zones in porous sand: Insights from ring-shear experiments and naturally deformed sandstones 总被引：2，自引：1，他引：2
In a high-resolution small-scale seismic experiment we investigated the shallow structure of the Wadi Araba fault (WAF), the principal fault strand of the Dead Sea Transform System between the Gulf of Aqaba/Eilat and the Dead Sea. The experiment consisted of 8 sub-parallel 1 km long seismic lines crossing the WAF. The recording station spacing was 5 m and the source point distance was 20 m. The first break tomography yields insight into the fault structure down to a depth of about 200 m. The velocity structure varies from one section to the other which were 1 to 2 km apart, but destinct velocity variations along the fault are visible between several profiles. The reflection seismic images show positive flower structures and indications for different sedimentary layers at the two sides of the main fault. Often the superficial sedimentary layers are bent upward close to the WAF. Our results indicate that this section of the fault (at shallow depths) is characterized by a transpressional regime. We detected a 100 to 300 m wide heterogeneous zone of deformed and displaced material which, however, is not characterized by low seismic velocities at a larger scale. At greater depth the geophysical images indicate a blocked cross-fault structure. The structure revealed, fault cores not wider than 10 m, are consistent with scaling from wear mechanics and with the low loading to healing ratio anticipated for the fault. 相似文献
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A position and attitude tracking control law for autonomous underwater vehicles (AUV's) in 6 degrees of freedom (DOF) is derived. The 4-parameter unit quaternion (Euler parameters) is used in a singularity-free representation of attitude. Global convergence of the closed-loop system is proven. In addition, several 3-parameter representations in terms of the Euler parameters are discussed with application to the same control law. These schemes contain singularities, and only local convergence can therefore be proven. The proposed control scheme is simulated with Euler parameters and Euler angles 相似文献
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Ivar-Andr F. Ihle Jrme Jouffroy Thor I. Fossen 《Oceanic Engineering, IEEE Journal of》2006,31(4):922-934
This paper presents a method for formation control of marine surface craft inspired by Lagrangian mechanics. The desired formation configuration and response of the marine surface craft are given as a set of constraint functions. The functions are treated according to constraints in analytical mechanics. Thus, constraint forces arise and feedback from the constraint functions keeps the formation assembled. Since the constraint functions are designed for a desired effect, the forces can be interpreted as control laws. Examples of constraint functions that maintain a formation are presented. Furthermore, the same approach has been applied with no major modification to position control purposes for a single vessel. An extension to underactuated vessels is given. Simulations with nonlinear models of tugboats illustrate the proposed method versatility and its robustness with respect to environmental disturbances and time delays 相似文献