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   

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   

Gamma-Hadron Separation using Čerenkov Photon Density Fluctuations     

V. R. Chitnis  P. N. Bhat 《Experimental Astronomy》2002,13(2):77-100

In the atmospheric Čerenkov technique γ-rays are detected against the abundant background produced by hadronic showers. In order to improve the signal to noise ratio of theexperiment, it is necessary to reject a significant fraction of hadronic showers. Traditional background rejection methods based on image shape parameters have been extensively used for the data from imaging telescopes. However, non-imaging Čerenkov telescopes have to develop very different means of statistically identifying and removing cosmic ray events. Some of the parameters, which could be potentially important for non-imaging arrays, are the temporal and spectral differences, the lateral distributions and density fluctuations of Čerenkov photons generated by γ-ray and hadron primaries. Here we study the differences in fluctuations of Čerenkov photon density in the light pool at the observation level from showers initiated by photons and those initiated by protons or heavier nuclei. The database of simulated events for the PACT array has been used to evaluate the efficiency of the new technique. Various types of density fluctuations like the short range and medium range fluctuations as well as flatness parameter are studied. The estimated quality factors reflect the efficiencies with which the hadrons can be rejected from the data. Since some of these parameters are independent, the cuts may be applied in tandem and we demonstrate that the proton rejection efficiency of ∼90% can be achieved. Use of density fluctuations is particularly suited for wavefront sampling observations and it seems to be a good technique to improve the signal to noise ratio. This revised version was published online in July 2006 with corrections to the Cover Date.  相似文献   

关于高速滑坡的几个问题     

冯希杰  张骏 《地球科学与环境学报》1987,(4)

高速滑坡问题是当前工程地质和环境地质学界极为关注的问题。本文对诸如滑体高速滑动所对应的时空界限、滑体滑动过程所产生的热效应以及空气浮托力等高速滑坡产生机制问题进行了初步探讨。  相似文献   

Characteristics of Spatial and Temporal Variations of Monthly Mean Surface Air Temperature over Qinghai-Tibet Plateau   总被引：1，自引：0，他引：1  

ZHANG Qianggong KANG Shichang YAN Yuping 《中国地理科学(英文版)》2006,16(4):351-358

1 Introduction The Qinghai-Tibet Plateau, known as the highest plateau with the most complex topography in the world, covers an area of more than 200km2, with a mean elevation of more than 4000m a.s.l. (Ye and Gao, 1979). Surrounded by the Earth’s highest mountains, such as the Himalayas, Pamir, Kunlun Mountains, the plateau plays a significant role in climate change in China even in the world, thus attracted great attention of researchers. Up to now, many achievements have been gained by…  相似文献   

一种基于特征信息的车牌识别方法   总被引：3，自引：0，他引：3  

胡强  楼新远  段国兵 《成都信息工程学院学报》2004,19(3):345-348

根据中国车辆牌照本身的现有特征信息,提出一种车牌识别方法.采用全局动态阈值法进行二值化处理图像,牌照定位算法简单迅速,字符分割参考垂直投影间隔和字符的纵横比.实验结果表明,这种方法具有良好的环境适应性和鲁棒性.  相似文献   

Evidence of climatic warming in the southern Urals region derived from borehole temperatures and meteorological data     

Inessa V. Golovanova  Robert N. Harris  Galina V. Selezniova  Petr Stulc 《Global and Planetary Change》2001,29(3-4)

Thirty borehole temperature–depth profiles in the central and southern Urals, Russia were scrutinized for evidence of ground surface temperature histories. We explored two inversion schemes: a simple ramp inversion in which solutions are parameterized in terms of an onset time and magnitude of change and a more sophisticated functional space inverse algorithm in which the functional form of the solution is left unspecified. To enhance and potentially identify latitudinal differences in the ground surface temperature signal, we subdivided the data into three groups based on geographic proximity and simultaneously inverted the borehole temperature–depth logs. The simultaneous inversions highlighted 13 temperature–depth logs that could not both fit a common ground surface temperature history and a priori models within reasonable bounds. Our results confirm that this is an effective way to reduce site-specific noise from an ensemble of boreholes. Each inversion scheme gives comparable results indicating locally variable warming on the order of 1°C starting between 1800 and 1900 AD. Similarly surface air temperature records from 12 nearby meteorological stations exhibit locally variable warming also on the order of 1°C of warming during the 20th century. To explore the degree to which borehole temperatures and surface air temperature (SAT) time series are responding to the same signal, we average the SAT data into the same three groups and used these averages as a forcing function at the Earth's surface to generate synthetic transient temperature profiles. Root mean square (RMS) misfits between these synthetic temperature profiles and averaged temperature–depth profiles are low, suggesting that first-order curvature in borehole temperatures and variations in SAT records are correlated.  相似文献   

AN INTEGRATED APPROACH TO AIR MASS CLASSIFICATION IN THE NORTH CENTRAL UNITED STATES     

Mark D. Schwartz 《The Professional geographer》1991,43(1):77-91

Both subjective and objective schemes for air mass classification offer advantages to climatological studies. An integrated approach is developed and applied to 850 mb level data in the north central United States. Each air mass type was initially delimited by a subjective analysis. Final limits were then determined with an objective technique that separates temperature curves into normal components based on interpretation from the subjective method. Continental air was most frequent in all seasons except summer. The methodology also allows estimation of classification error.  相似文献   

Contribution of storms to groundwater recharge in the semi‐arid region of Karnataka,India     

K. Shivanna  U. P. Kulkarni  T. B. Joseph  S. V. Navada 《水文研究》2004,18(3):473-485

This paper describes the application of environmental isotopes and injected tracer techniques in estimating the contribution of storms as well as annual precipitation to groundwater recharge and its circulation, in the semi‐arid region of Bagepalli, Kolar district, Karnataka. Environmental isotopes ²H, ¹⁸O and ³H were used to study the effect of storms on the hydrological system, and an isotope balance was used to compute the contribution of a storm component to the groundwater. Some of the groundwater samples collected during the post‐storm periods were highly depleted in stable isotope content with higher deuterium excess relative to groundwater from the pre‐storm periods. Significant variation in deuterium excess in groundwater from the same area, collected in two different periods, indicates the different origin of air masses. The estimated recharge component of a storm event of 600 mm to the groundwater was found to be in the range of 117–165 mm. There was no significant variation in environmental tritium content of post‐storm and pre‐storm groundwater, indicating the fast circulation of groundwater in the system. After completion of the environmental isotope work, an injected radiotracer ³H technique was applied to estimate the direct recharge of total precipitation to the groundwater. The estimated recharge to the groundwater is 33 mm of the 550 mm annual precipitation during 1992. Copyright © 2003 John Wiley & Sons, Ltd.  相似文献   

Wavelet analysis of inter‐annual variability in the runoff regimes of glacial and nival stream catchments,Bow Lake,Alberta     

Melissa Lafrenire  Martin Sharp 《水文研究》2003,17(6):1093-1118

Continuous wavelet analyses of hourly time series of air temperature, stream discharge, and precipitation are used to compare the seasonal and inter‐annual variability in hydrological regimes of the two principal streams feeding Bow Lake, Banff National Park, Alberta: the glacial stream draining the Wapta Icefields, and the snowmelt‐fed Bow River. The goal is to understand how water sources and flow routing differ between the two catchments. Wavelet spectra and cross‐wavelet spectra were determined for air temperature and discharge from the two streams for summers (June–September) 1997–2000, and for rainfall and discharge for the summers of 1999 and 2000. The diurnal signal of the glacial runoff was orders of magnitude higher in 1998 than in other years, indicating that significant ice exposure and the development of channelized glacial drainage occurred as a result of the 1997–98 El Niño conditions. Early retreat of the snowpack in 1997 and 1998 led to a significant summer‐long input of melt runoff from a small area of ice cover in the Bow River catchment; but such inputs were not apparent in 1999 and 2000, when snow cover was more extensive. Rainfall had a stronger influence on runoff and followed quicker flow paths in the Bow River catchment than in the glacial catchment. Snowpack thickness and catchment size were the primary controls on the phase relationship between temperature and discharge at diurnal time scales. Wavelet analysis is a fast and effective means to characterize runoff, temperature, and precipitation regimes and their interrelationships and inter‐annual variability. The technique is effective at identifying inter‐annual and seasonal changes in the relative contributions of different water sources to runoff, and changes in the time required for routing of diurnal meltwater pulses through a catchment. However, it is less effective at identifying changes/differences in the type of the flow routing (e.g. overland flow versus through flow) between or within catchments. Copyright © 2003 John Wiley & Sons, Ltd.  相似文献