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   

四川汶川MS 8.0大地震地表破裂带的遥感影像解析   总被引：21，自引：1，他引：20  

付碧宏  时丕龙  张之武 《地质学报》2008,82(12):1679-1687

2008年5月12日发生于四川盆地西部龙门山断裂带的汶川MS 8.0级大地震造成巨大的人员伤亡和财产损失,并形成了空间上基本连续分布的地表破裂带（地震断层）。根据地表破裂带的解译标志及影像特征,我们充分利用震后中国科学院航空遥感飞机所获取的高分辨率航空遥感图像以及我国台湾福卫-2卫星遥感图像进行详细解译分析,并结合震后的多次野外科学考察与验证,初步查明了四川汶川MS 8.0级大地震所产生地表破裂带的空间分布特征。遥感解译分析表明汶川大地震产生的地表破裂带总计长约300 km,其几何学特征十分复杂,主要沿先存的NE走向活动断裂带呈不连续展布;变形特征以逆冲挤压为主兼具右旋走滑分量。按同震地表破裂带所在断裂带位置,可将其分为两条： 中央地表破裂带：沿映秀-北川断裂带分布,从西南开始呈北东向延伸至平武县水观乡石坎子北东一带,长约230 km,最大垂直位移量达6.0 m左右,最大右旋水平位移达5.8 m;山前地表破裂带：沿灌县-安县断裂带分布,由都江堰市向峨乡一带开始呈北东向延伸至安县雎水镇一带,长约70 km,以逆冲挤压为主,最大垂直位移量可达2.5 m。此外,遥感图像分析还表明上述地表破裂带与地质灾害分布在空间上具有十分密切的相关性,因此,挤压逆冲-走滑型地震断层的致灾效应研究是未来应该加以重视的研究课题。  相似文献   

手掘式顶管在市政排水工程中的应用          下载免费PDF全文

刘会 《探矿工程》2008,35(10):52-54

从混凝土管材的选定、工作坑的设计及施工、顶管顶进中若干关键问题入手,介绍了手掘式顶管施工技术在成都市中心城水环境综合整治工程G标段管道排水工程中的应用。  相似文献   

Characteristic analysis on oxygen isotopic tracer in the East China Sea and waters to east of the Ryūkyū-guntō     

Hong Ashi  Yuan Yaochu 《海洋学报(英文版)》1995,14(3):371-381

Samples of O isotopic tracer were mlleMed at Sections P₃,P₂₅,P_cM-t/2-E and P_CM-1/2.w in both the Fast China Sea and the area to the east of the Ryūkyū-gunto during October-November,1991.Analytical results of the δ¹⁸O are as follows: (1) In the Kuroshio area,the δ¹⁸O isolines are almost parallel to the 200 m isobath.The value of δ¹⁸O is negative and reaches minimum mt the main axis of the Kuroshio,and increases on both sides.(2) In the Taiwan Warm Current (TWC) area there is a high δ¹⁸O tongue extending to the northeast.(3) In the area near the coast,the distribution of δ¹⁸O isoline shows that the Changjiang River runoff diffuses seaward and the land-ocean isotopic effect from the nearshore to the offshore.(4) The values of δ¹⁸O are from -1.0×10^-3 to -0.5×10^-3 in the shelf.(5) There is a low mre of δ¹⁸O value(<-1.6×10^-3) at the 600 m layer in the Kuroshio area,which is quite in accord with the existence of a low salinity mre (S G 34.30) between the 600 and 800 m layers in the same area.Finally,the mrrelations of the δ¹⁸O with the salinity and temperature,the upwelling and so on are discussed.  相似文献   

Spatial and temporal variability of crustal magnetization of a slowly spreading ridge: Mid-Atlantic Ridge (20°–24° N)     

R. A. Pockalny  A. Smith  P. Gente 《Marine Geophysical Researches》1995,17(3):301-320

The results of the two- and three-dimensional magnetic inversions performed on data located between 20°–24° N on the Mid-Atlantic Ridge indicate the crustal magnetization has decayed exponentially for the last 10 Ma, and that this decay has been fairly symmetric about the ridge axis. After removal of the mean temporal decay, the residual field is characterized by more positive magnetizations at the second-order discontinuities, regardless of initial magnetization direction. A model that involves the preferential emplacement of serpentinized lithologies near the discontinuities is proposed to explain this correlation. The temporal detrending method also indicates that several ridge-parallel depressions located on the flanks of the ridge axis are regions of more positive magnetizations. These bathymetric depressions may mark the locations of detachment faulting that occurred during amagmatic periods of extension. The general symmetry of the crustal magnetization about the ridge axis does not support the occurrence of continuous detachment faulting proposed to correspond to the inner and outer corners of ridge axis discontinuities.  相似文献   

南海中建南盆地构造样式分析   总被引：2，自引：0，他引：2  

陈玲 《海洋地质与第四纪地质》2006,26(1):53-58

中建南盆地是发育于南海西部陆缘我国传统疆界线附近的新生代沉积盆地,大部分区域位于我国传统疆界线内。在对盆地近万千米多道地震资料综合分析解释的基础上,对盆地的主要构造样式以及它们与油气的关系进行了分析,结果表明,盆地分布面积广,沉积厚度大,油气前景良好。盆地是属于早期断陷、后期经走滑改造而成的复合型盆地,其构造演化经历了3个阶段,不同的阶段发育不同的构造样式:早期为断陷阶段,伸展型构造样式发育;中期为断坳—压扭或走滑反转阶段,产生走滑或压扭性构造样式;晚期为区域沉降阶段,以垂向沉积为主,无明显的构造样式发育。  相似文献   

Determination of the Critical Value of Deflection for Embedded Cylindrical Structures     

刘建起陈滨  王海艳 《中国海洋工程》2005,19(3):519-528

An embedded cylinder is a large-diameter cylinder embedded in a soil foundation. The state of failure of such an embedded cylindrical structure shows large deflection instead of slide and overturn of the traditional gravity type of structure placed on a rubble base or foundation base. The critical value of deflection of the embedded cylindrical structure, which is the maximum allowable deflection for stability calculation of the cylinder, is a vital control value. Through investigation on deflection and soil pressures on an embedded cylinder by model experiments, the variations of the angle of rotation θ of a cylinder with effective anti-overturning ratio η and moment MH of thrust are discussed. On the basis of experimental study, the critical value of deflection of the cylindrical structure is proposed in the paper. Meanwhile, the formulas for calculating deflection of cylinders are derived.  相似文献   

Fault Characteristics in Longmen Mountain Thrust Belt,Western Sichuan Foreland Basin,China   总被引：1，自引：0，他引：1  

万桂梅  汤良杰  杨克明  金文正  吕志洲  余一欣 《中国地质大学学报(英文版)》2008,19(6):611-624

Through field geological survey,the authors found that abundant thrust faults developed in the Longmen (龙门) Mountain thrust belt.These faults can be divided into thrust faults and strike-slip faults according to their formation mechanisms and characteristics.Furthermore,these faults can be graded into primary fault,secondary fault,third-level fault,and fourth-level fault according to their scale and role in the tectonic evolution of Longmen Mountain thrust belt.Each thrust fault is composed of several secondary faults,such as Qingchuan (青川)-Maowen (茂汶) fault zone is composed of Qiaozhuang (乔庄) fault,Qingxi (青溪) fault,Maowen fault,Ganyanggou (赶羊沟) fault,etc..The Longmen Mountain thrust belt experienced early Indosinian movement,Anxian (安县) movement,Yanshan (燕山)movement,and Himalayan movement,and the faults formed gradually from north to south.  相似文献   

面积平衡法与川东大池干推覆带区域滑脱面预测   总被引：3，自引：3，他引：0  

刘玉萍  张洁  尹宏伟  徐士进 《大地构造与成矿学》2008,32(4)

本文详细介绍了面积平衡法的原理与方法,并将该方法应用于川东大池干构造的解释。利用面积平衡法,本文预测出在该地区可能有三个较大的区域滑脱面,它们分别位于3.53km处的中三叠统(由石膏、盐岩和泥页岩组成),7.79km处的下寒武统(由页岩、石膏和岩盐层组成),以及8.67km处的下寒武统(由页岩、石膏和岩盐层组成)地层之中。根据以上滑脱面的分析结果,作者认为大池干构造可以解释为滑脱褶皱和断层转折褶皱两种成因模式。在滑脱褶皱模式中,主滑脱面为8.67km处的非能干层;在断层转折褶皱模式中,该地区被认为具有上下两个滑脱面,其上滑脱面为3.53km处的非能干层,而其下滑脱面为7.79km处的非能干层。两种模式所对应的面积深度直线都具有较好的相关性,表明两种构造解释都具有内部岩层一致性,剖面达到平衡,故具有相对的合理性。  相似文献   

抗滑桩设计推力计算方法研究   总被引：2，自引：0，他引：2  

和海芳  祁生文  伍法权  贺可强 《工程地质学报》2008,16(5):694-698

滑坡推力是抗滑桩设计推力的重要依据,工程中通常使用剩余推力法来计算滑坡推力。为了比较准确合理地计算出抗滑桩的设计推力,提出了在剩余推力法基础上的一种新的抗滑桩设计推力取值方法。分析极限平衡状态下和工程安全要求下各条块的剩余下滑力,选择合理的桩位,使得抗滑桩位于滑坡体的抗滑段;然后调整桩后滑体的剩余下滑力,其调整量一方面保证桩前桩后滑体满足工程安全要求,另一方面则作为抗滑桩设计推力的修正依据,其过程由程序实现。通过实例证明了该方法的合理性。同时对今后抗滑桩设计推力的合理取值提供了参考作用。  相似文献