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   

Simulation of Formation and Spreading of Salinity Minimum Associated with NPIW Using a High-Resolution Model   总被引：1，自引：2，他引：1  

Hiroshi Ishizaki  Ichiro Ishikawa 《Journal of Oceanography》2004,60(2):463-485

A series of numerical experiments were conducted with a high-resolution (eddy-permitting) North Pacific model to simulate the formation and spreading of the salinity minimum associated with the North Pacific Intermediate Water (NPIW). It was found that two factors are required to simulate a realistic configuration of the salinity minimum: a realistic wind stress field and small-scale disturbances. The NCEP reanalyzed wind stress data lead to better results than the Hellerman and Rosenstein wind stress data, due to the closer location of the simulated Oyashio and Kuroshio at the western boundary. Small-scale disturbances formed by relaxing computational diffusivity included in the advection scheme promote the large-scale isopycnal mixing between the Oyashio and Kuroshio waters, simulating a realistic configuration of the salinity minimum. A detailed analysis of the Oyashio water transport was carried out on the final three-year data of the experiment with reduced computational diffusivity. Simulated transport of the Kuroshio Extension in the intermediate layer is generally smaller than the observed value, while those of the Oyashio and the flow at the subarctic front are comparable to the observed levels. In the Oyashio-Kuroshio interfrontal zone the zonally integrated southward transport of the Oyashio water (140–155°E) is borne by the eddy activity, though the time-mean flow reveals the existence of a coastal Oyashio intrusion. In the eastern part (155°E–180°) the zonally integrated transport of the Oyashio water indicates a southward peak at the southern edge of the Kuroshio Extension, which corresponds to the branching of the recirculating flow from the Kuroshio Extension. This revised version was published online in July 2006 with corrections to the Cover Date.  相似文献   

受扰线性系统的前馈-反馈最优控制     

唐功友  张颖璐 《中国海洋大学学报(自然科学版)》2005,35(1):121-124,48

针对具有外部持续扰动的线性系统，研究前馈-反馈最优控制律的设计问题。给出了最优控制律的存在唯一性条件。并提出了最优控制律的设计算法。利用滤波器解决了前馈控制的物理不可实现问题。仿真结果表明，此算法易于实现，与传统的反馈最优控制相比对抑制外部扰动具有较强的鲁棒性。  相似文献   

The ionospheric eclipse factor method (IEFM) and its application to determining the ionospheric delay for GPS   总被引：4，自引：1，他引：3  

Y. Yuan  C. C. Tscherning  P. Knudsen  G. Xu  J. Ou 《Journal of Geodesy》2008,82(1):1-8

A new method for modeling the ionospheric delay using global positioning system (GPS) data is proposed, called the ionospheric eclipse factor method (IEFM). It is based on establishing a concept referred to as the ionospheric eclipse factor (IEF) λ of the ionospheric pierce point (IPP) and the IEF’s influence factor (IFF) . The IEF can be used to make a relatively precise distinction between ionospheric daytime and nighttime, whereas the IFF is advantageous for describing the IEF’s variations with day, month, season and year, associated with seasonal variations of total electron content (TEC) of the ionosphere. By combining λ and with the local time t of IPP, the IEFM has the ability to precisely distinguish between ionospheric daytime and nighttime, as well as efficiently combine them during different seasons or months over a year at the IPP. The IEFM-based ionospheric delay estimates are validated by combining an absolute positioning mode with several ionospheric delay correction models or algorithms, using GPS data at an international Global Navigation Satellite System (GNSS) service (IGS) station (WTZR). Our results indicate that the IEFM may further improve ionospheric delay modeling using GPS data.  相似文献   

磁层-电离层电动耦合的中纬电离层效应          下载免费PDF全文

资民筠  沈长寿 《地球物理学报》1992,35(1):17-24

本文通过对1982年磁扰期间琼中、北京两站地磁X分量变化的分析,证实了磁层-电离层电动耦合对中纬电离层电流的影响.分析发现:磁静、磁扰条件下的平均日变化中,两站X分量变化在白天有反向的趋势.这表明它们分处于与动力效应对应的电离层发电机电流圈中心之南北两侧.在磁暴主相期间,X分量变化形态与之明显不同,两站地磁南北分量有同向变化,且变幅相近,甚至有时北京站△X更大.对环电流能量增长指数R小于-25nT/h的21次事件所作的时序叠加分析（以R最负时为零时）进一步证明,这种同向变化是普遍存在的.两站零时之△X大小相近,相关系数高达0.98.该同向变化与R指数突然变负密切相关. 以上对比表明,与发电机电流造成两站X分量反向变化不同,同向变化是磁层源高纬扰动电流向中低纬直接穿透的结果.本文对动力和电动耦合两种过程的不同进行了初步讨论.  相似文献   

Simultaneous radio and optical observations of the mid-latitude atmospheric response to a major geomagnetic storm of 6–8 April 2000     

E. L. Afraimovich  Ya. F. Ashkaliev  V. M. Aushev  A. B. Beletsky  V. V. Vodyannikov  L. A. Leonovich  O. S. Lesyuta  Yu. V. Lipko  A. V. Mikhalev  A. F. Yakovets 《Journal of Atmospheric and Solar》2002,64(18)

Basic properties of the mid-latitude traveling ionospheric disturbances (TIDs) during the maximum phase of a major magnetic storm of 6–8 April 2000 are shown. Total electron content (TEC) variations were studied by using data from GPS receivers located in Russia and Central Asia. The nightglow response to this storm at mesopause and termospheric altitudes was also measured by optical instruments FENIX located at the observatory of the Institute of Solar-Terrestrial Physics (51.9°N,103.0°E), and MORTI located at the observatory of the Institute of Ionosphere (43.2°N, 77.0°E). Observations of the O (557.7 and 630.0 nm) emissions originating from atmospheric layers centered at altitudes of 90 and 250 km were carried out at Irkutsk and of the O₂(b¹∑_g⁺−X³∑_g⁻) (0-1) emission originating from an atmospheric layer centered at altitude of 94 km was carried out at Almaty. Our radio and optical measurement network observed a storm-induced solitary large-scale wave with duration of 1 h and a wave front width of no less than 5000 km, while it traveled equatorward with a velocity of 200 m/s from 62°N to 38°N geographic latitude. The TEC disturbance, basically displaying an electron content depression in the maximum of the F2 region, reveals a good correlation with growing nightglow emission, the temporal shift between the TEC and emission variation maxima being different for different altitudes. A comparison of the auroral oval parameters with dynamic spectra of TEC variations and optical 630 nm emissions in the frequency range 0.4–4 mHz (250–2500 s periods) showed that as the auroral oval expands into mid-latitudes, also does the region with a developed medium-sale and small-scale TEC structure.  相似文献   

GPS反演上电离层剖面及实例     

张玉生  张瑜  权坤海 《全球定位系统》2003,28(6):18-20

介绍了在利用GPS观测电离层TEC和反演上电离层剖面过程中，如何选择最适宜GPS星，如何计算卫星有关参数，如何计算卫星到测站间斜向TEC等问题，最后给出了一个剖面反演实例。  相似文献   

利用GPS组合观测值建立区域电离层模型研究   总被引：4，自引：1，他引：4  

蔡昌盛  李征航  赵晓峰 《测绘工程》2003,12(1):13-16

介绍了VTEC模型的基本原理，给出了三种利用载波相位观测值改善伪距观测值精度的方法，利用三种组合观测值分别建立VTEC模型，并与利用伪距观测值计算的VTEC模型的精度进行比较。  相似文献   

地磁静日期内北半球电离层NmF2的结构分布          下载免费PDF全文

沈长寿  资民筠  王劲松  徐寄遥 《地球物理学报》2003,46(6):731-735

用北半球陆地上48个地面电离层垂测站资料，以及国际参考电离层IRI 90模式，考察1985年1月6～7日F2层电子密度最大值日变化的纬度剖面和经度效应. 结果表明，在亚洲地区的20°N～30°N内，F2层赤道异常“喷泉效应”产生的NmF2“北驼峰”最高，其最大值出现在中午，或稍迟时间. 30°N ～50°N区域内，NmF2的白天峰值幅度逐渐下降，峰值时间移至午前约10:00 LT. 更高纬度(50°N～62°N )台站上，中午前后NmF2出现双峰，傍晚有谷值，夜间又再次抬升. 欧、美地区的低纬台站很少，但借助IRI 90模式分析可发现，在270°E经圈上，“喷泉效应”造成的“北驼峰”幅度最小，而且随纬度增大时，NmF2白天幅度下降也不明显，即纬度剖面的经度效应非常显著. 对中国、日本地区台站资料的小范围经度差异分析表明，在驼峰区的90°E～140°E内，各站NmF2无明显差别；但在中纬地区30°N～50°N内，中国西部上空NmF2白天变化幅度较大，且较为陡直，而中国东部和日本台站上空则相对平缓.  相似文献   

Jason-2高度计电离层GIM误差分析及修正研究     

黄霞凤  苗洪利  苗翔鹰  薛文文 《海洋学报》2019,41(7):143-148

基于Jason-2高度计2015年地球物理数据集(GDR)38个周期太平洋海域的全球电离层图(GIM)电离层校正值和双频校正值的数据，分不同季度和不同纬度区域比较二者的差异，结果表明:GIM值与双频校正值之间存在明显的差异，GIM校正值普遍高于双频校正值，说明GIM高估了电离层路径延迟，GIM校正值与双频校正值的差异与季节和纬度区间有关。用梯度下降法得到GIM值的修正方程，将修正方程应用于2016年Jason-2的全年数据，修正后的GIM值与双频校正值十分接近，在各年份中均具有良好的适用性。在单频高度计不能使用电离层双频校正算法的情况下，可以利用不同季度和不同纬度区域的修正方程对同等高度的高度计GIM值进行修正以达到双频校正值的精度水平。  相似文献