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   

高精度直升机机载LiDAR在高速公路改扩建勘测中的应用可行性研究          下载免费PDF全文

郑伟安 《山东国土资源》2018,34(8)

机载LiDAR在公路勘测方面的用途日益广泛。该文对直升机机载LiDAR在高速公路改扩建中的应用技术路线可行性进行了研究论证,从地面控制测量、点云数据获取、点云数据处理、成果应用等多个方面进行了阐述,通过分析LiDAR点云数据在5种不同地面控制点布设方案校正下的点云数据精度,论证了利用地面控制点对直升机机载LiDAR点云数据进行平面和高程校正的可行性。  相似文献   

Hydrological management strategies for the control of algal blooms in regulated lowland rivers     

Jian Li  Wei Yin  Haiyan Jia  Xiaokang Xin 《水文研究》2021,35(6):e14171

Reservoirs of lowland floodplain rivers with eutrophic backgrounds cause variations in the hydrological and hydraulic conditions of estuaries and low-dam reservoir areas, which can promote planktonic algae to proliferate and algal bloom outbreaks. Understanding the ecological effects of variations in hydrological and hydraulic processes in lowland rivers is important for algal bloom control. In this study, the middle and lower reaches of the Han River, China, a typical regulated lowland river with a eutrophic background, are selected. Based on the effect of hydrological and hydraulic variability on algal blooms, a hydrological management strategy for river algal bloom control is proposed. The results showed that (a) differences in river morphology and background nutrient levels cause significant differences in the critical threshold flow velocities for algal bloom outbreaks between natural river and low-dam reservoir sections; there is no uniform threshold flow velocity for algal bloom control. (b) There are significant differences in the river hydrological/hydraulic conditions between years with and without algal blooms. The average river flow, water level and velocity in years with algal blooms are significantly lower than those in years without algal blooms. (c) For different river sections where algal blooms occur and to meet the threshold flow velocities, the joint operation of cascade reservoirs and diversion projects is an effective method to prevent and control algal blooms in regulated lowland rivers. This study is expected to deepen our understanding of the ecological significance of special hydrological processes and guide algal bloom management in regulated lowland rivers.  相似文献   

鄂尔多斯地块周缘垂直形变场负位错反演与应变积累研究     

张希  刘立炜  郝明  白卓立 《大地测量与地球动力学》2019,39(6):551-556

利用鄂尔多斯地块及其周缘1970～2014年的垂直形变速率场资料，借助负位错反演研究该区域长期应变积累。结果表明，地块东北缘山西断陷带中北段年均能量积累增量、剪应力强度都较高，西南缘六盘山断裂与渭河断裂西段次之；山西断陷带中南段至晋陕交界处年均剪应力强度较高且显示一定程度的能量积累；西秦岭构造区尤其西秦岭北缘断裂西段、晋冀蒙交界区也反映一定程度的能量积累特性。  相似文献   

Study of the flood control scheduling scheme for the Three Gorges Reservoir in a catastrophic flood          下载免费PDF全文

Shanghong Zhang  Zhu Jing  Wenda Li  Yujun Yi  Yong Zhao 《水文研究》2018,32(11):1625-1634

The Three Gorges Project is the world's largest water conservancy project. According to the design standards for the 1,000‐year flood, flood diversion areas in the Jingjiang reach of the Yangtze River must be utilized to ensure the safety of the Jingjiang area and the city of Wuhan. However, once these areas are used, the economic and life loss in these areas may be very great. Therefore, it is vital to reduce this loss by developing a scheme that reduces the use of the flood diversion areas through flood regulation by the Three Gorges Reservoir (TGR), under the premise of ensuring the safety of the Three Gorges Dam. For a 1,000‐year flood on the basis of a highly destructive flood in 1954, this paper evaluates scheduling schemes in which flood diversion areas are or are not used. The schemes are simulated based on 2.5‐m resolution reservoir topography and an optimized model of dynamic capacity flood regulation. The simulation results show the following. (a) In accord with the normal flood‐control regulation discharge, the maximum water level above the dam should be not more than 175 m, which ensures the safety of the dam and reservoir area. However, it is necessary to utilize the flood diversion areas within the Jingjiang area, and flood discharge can reach 2.81 billion m³. (b) In the case of relying on the TGR to impound floodwaters independently rather than using the flood diversion areas, the maximum water level above the dam reaches 177.35 m, which is less than the flood check level of 180.4 m to ensure the safety of the Three Gorges Dam. The average increase of the TGR water level in the Chongqing area is not more than 0.11 m, which indicates no significant effect on the upstream reservoir area. Comparing the various scheduling schemes, when the flood diversion areas are not used, it is believed that the TGR can execute safe flood control for a 1,000‐year flood, thereby greatly reducing flood damage.  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   

福建省海洋工程装备产业现状与发展对策探讨          下载免费PDF全文

张哲  郑国富  丁兰  蔡文鸿  魏盛军  陈思源 《海洋开发与管理》2018,35(5):114-118

近年来,福建海洋工程装备产业进步显著,初步形成了以港口装卸、海上起重机、海底铺管、大型汽车滚装船等传统装备为主导的制造基地;同时,海水淡化核心装备、海洋防腐材料、水下作业机器人、游艇装备等新兴产业也取得了快速发展,但仍存在产业基础薄弱、整体产品低端、研发力量小且分散、试验研发平台严重不足等制约"瓶颈"。文章通过现场调研和资料查询分析了福建海洋工程装备产业的发展现状,总结归纳出当前制约产业发展的主要因素,明确发展思路,提出建设具有海西特色的海工装备制造业应发展海洋工程装备的重点领域、编制福建省海洋工程装备中长期发展规划和实施方案、提升海洋工程装备科技创新能力、制定海洋工程装备发展的扶持政策、构建比较完整的重点领域海洋工程装备产业链等对策与建议。  相似文献   

利用短期静态PPP结果反演海潮负荷位移     

魏国光  王琪洁  彭葳  郭良琦 《大地测量与地球动力学》2019,39(6):607-612

采用香港11个GPS测站的观测资料进行1 h、2 h、3 h和4h静态PPP解算，获得4组PPP坐标序列，利用调和分析求取11个测站处8个主要分潮的负荷位移参数（振幅和相位），将其与海潮模型计算的负荷位移参数进行对比，并比较分析PPP反演值与海潮模型值改正海潮负荷信号的效果。结果表明，垂直和水平方向上，不同PPP结果反演8个分潮的负荷位移分别具有约5 mm和7 mm的差异；PPP反演8个分潮垂向负荷位移优于全球海潮模型，但水平方向上的反演效果稍弱。  相似文献   

Wave energy conversion under constrained wave-by-wave impedance matching with amplitude and phase-match limits     

《Applied Ocean Research》2019

This paper investigates an approach to limit the fullness of ‘tuning’ provided by wave-by-wave impedance matching control of wave energy devices in irregular waves. A single analytical formulation based on the Lagrange multiplier approach of Evans [1] is used to limit the velocity amplitude while also limiting the closeness of the phase match between velocity and exciting force. The paper studies the effect of the present technique in concurrently limiting the device velocity and the required control/actuation force. Time domain application requires wave-profile prediction, which here is based on a deterministic propagation model. Also examined in the time domain is the effect of possible violation of the displacement constraint, which for many designs implies impacts at hard stops within the power take-off mechanism. Time domain simulations are carried out for a 2-body axisymmetric converter (with physical end-stops) in sea states reported for a site off the US east coast. It is found that the approach leads to effective power conversion in the less energetic sea states, while as desired, considerable muting of the optimal response is found in the larger sea states. Under the assumptions of this work, the end-stop collisions are found to have a minor effect on the power conversion. The present approach could be used to guide the design of power take-off systems so that their displacement stroke, maximum force, and resistive and reactive power limits are well-matched to the achievable performance of a given controlled primary energy converter.  相似文献   

针对地质灾害隐患点的无人机航摄像控点布点方案     

吴波  李俊  蒋大鹏  冯志 《测绘通报》2020,(6):125

以陕西省某地质灾害隐患点1∶2000航飞生产任务为背景，本文结合垂直起降式无人机航摄技术特点和地质灾害隐患点区域实际情况，通过详细对比几种无人机航摄像控点布控方案的优劣，研究无人机像控点布设方案对空三加密精度的影响，总结了适用于不同地质灾害隐患点的像控点布设方案。通过本文研究，为今后制定地质灾害隐患点的无人机航摄像控点布设方案提供了参考依据。  相似文献