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   

Dynamic modelling of retrogressive landslides with emphasis on the role of clay sensitivity          下载免费PDF全文

Xue Zhang  Scott W. Sloan  Eugenio Oñate 《国际地质力学数值与分析法杂志》2018,42(15):1806-1822

This paper presents a detailed numerical study of the retrogressive failure of landslides in sensitive clays. The dynamic modelling of the landslides is carried out using a novel continuum approach, the particle finite element method, complemented with an elastoviscoplastic constitutive model. The multiwedge failure mode in the collapse is captured successfully, and the multiple retrogressive failures that have been widely observed in landslides in sensitive clays are reproduced with the failure mechanism, the kinematics, and the deposition being discussed in detail. Special attention has been paid to the role of the clay sensitivity on each retrogressive failure as well as on the final retrogression distance and the final run‐out distance via parametric studies. Moreover, the effects of the viscosity of sensitive clays on the failure are also investigated for different clay sensitivities.  相似文献   

A multiscale work-analysis approach for geotechnical structures     

Hao Xiong  Zhen-Yu Yin  François Nicot 《国际地质力学数值与分析法杂志》2019,43(6):1230-1250

This paper presents a second-order work analysis in application to geotechnical problems by using a novel effective multiscale approach. To abandon complicated equations involved in conventional phenomenological models, this multiscale approach employs a micromechanically-based formulation, in which only four parameters are involved. The multiscale approach makes it possible a coupling of the finite element method (FEM) and the micromechanically-based model. The FEM is used to solve the boundary value problem (BVP) while the micromechanically-based model is utilized at the Gauss point of the FEM. Then, the multiscale approach is used to simulate a three-dimensional triaxial test and a plain-strain footing. On the basis of the simulations, material instabilities are analyzed at both mesoscale and global scale. The second-order work criterion is then used to analyze the numerical results. It opens a road to interpret and understand the micromechanisms hiding behind the occurrence of failure in geotechnical issues.  相似文献   

Application of micropolar plasticity to post failure analysis in geomechanics     

Majid T. Manzari 《国际地质力学数值与分析法杂志》2004,28(10):1011-1032

A micropolar elastoplastic model for soils is formulated and a series of finite element analyses are employed to demonstrate the use of a micropolar continuum in overcoming the numerical difficulties encountered in application of finite element method in standard Cauchy–Boltzmann continuum. Three examples of failure analysis involving a deep excavation, shallow foundation, and a retaining wall are presented. In all these cases, it is observed that the length scale introduced in the polar continuum regularizes the incremental boundary value problem and allows the numerical simulation to be continued until a clear collapse mechanism is achieved. The issue of grain size effect is also discussed. Copyright © 2004 John Wiley & Sons, Ltd.  相似文献   

浅谈项目投资失败的原因及对策     

梁宗念 《南方国土资源》2002,15(2):69-72

地勘单位在向企业化经营转变的过程中 ,投资兴办了许多企业 ,但不少项目以失败告终。文章分析探讨了失败的原因 ,并提出相应的对策  相似文献   

Numerical manifold method for dynamic nonlinear analysis of saturated porous media     

H. W. Zhang  L. Zhou 《国际地质力学数值与分析法杂志》2006,30(9):927-951

It is well known that the Babuska–Brezzi stability criterion or the Zienkiewicz–Taylor patch test precludes the use of the finite elements with the same low order of interpolation for displacement and pore pressure in the nearly incompressible and undrained cases, unless some stabilization techniques are introduced for dynamic analysis of saturated porous medium where coupling occurs between the displacement of solid skeleton and pore pressure. The numerical manifold method (NMM), where the interpolation of displacement and pressure can be determined independently in an element for the solution of u–p formulation, is derived based on triangular mesh for the requirement of high accurate calculations from practical applications in the dynamic analysis of saturated porous materials. The matrices of equilibrium equations for the second‐order displacement and the first‐order pressure manifold method are given in detail for program coding. By close comparison with widely used finite element method, the NMM presents good stability for the coupling problems, particularly in the nearly incompressible and undrained cases. Numerical examples are given to illustrate the validity and stability of the manifold element developed. Copyright © 2006 John Wiley & Sons, Ltd.  相似文献   

The second order characteristic condition for plastic flow     

Graham Weir  Roger Young 《国际地质力学数值与分析法杂志》2003,27(15):1299-1316

In this paper the second order characteristic (discontinuous bifurcation) condition is derived for the granular flow (fully plastic) equations. This second order bifurcation equation is shown to be formally identical to the first order localization requirement during steady elastoplastic deformation provided the elastic compliance tensor is substituted for the product of the plastic multiplier with the flow Hessian. For isotropic yield and flow functions the invariant form of the characteristic condition is given in detail, as well as an alternative expression in adapted co‐ordinates. The characteristic condition can be regarded as defining a hardening function which is maximized to identify the critical angles. When the method is applied to 3D Coulomb flow, Mohr's 3D fracture plane conditions are obtained uniquely. Copyright © 2003 John Wiley & Sons, Ltd.  相似文献   

Restricted Three-Body Problem: An Approximation of its General Solution – Part One – the Manifold of Symmetric Periodic Solutions     

Kostantinos Papadakis  Constantine Goudas 《Astrophysics and Space Science》2006,305(2):99-124

This paper gives the results of a programme attempting to exploit ‘la seule bréche’ (Poincaré, 1892, p. 82) of non-integrable systems, namely to develop an approximate general solution for the three out of its four component-solutions of the planar restricted three-body problem. This is accomplished by computing a large number of families of ‘solutions précieuses’ (periodic solutions) covering densely the space of initial conditions of this problem. More specifically, we calculated numerically and only for μ = 0.4, all families of symmetric periodic solutions (1st component of the general solution) existing in the domain D:(x ₀ ∊ [−2,2],C ∊ [−2,5]) of the (x ₀, C) space and consisting of symmetric solutions re-entering after 1 up to 50 revolutions (see graph in Fig. 4). Then we tested the parts of the domain D that is void of such families and established that they belong to the category of escape motions (2nd component of the general solution). The approximation of the 3rd component (asymmetric solutions) we shall present in a future publication. The 4th component of the general solution of the problem, namely the one consisting of the bounded non-periodic solutions, is considered as approximated by those of the 1st or the 2nd component on account of the `Last Geometric Theorem of Poincaré' (Birkhoff, 1913). The results obtained provoked interest to repeat the same work inside the larger closed domain D:(x ₀ ∊ [−6,2], C ∊ [−5,5]) and the results are presented in Fig. 15. A test run of the programme developed led to reproduction of the results presented by Hénon (1965) with better accuracy and many additional families not included in the sited paper. Pointer directions construed from the main body of results led to the definition of useful concepts of the basic family of order n, n = 1, 2,… and the completeness criterion of the solution inside a compact sub-domain of the (x ₀, C) space. The same results inspired the ‘partition theorem’, which conjectures the possibility of partitioning an initial conditions domain D into a finite set of sub-domains D i that fulfill the completeness criterion and allow complete approximation of the general solution of this problem by computing a relatively small number of family curves. The numerical results of this project include a large number of families that were computed in detail covering their natural termination, the morphology, and stability of their member solutions. Zooming into sub-domains of D permitted clear presentation of the families of symmetric solutions contained in them. Such zooming was made for various values of the parameter N, which defines the re-entrance revolutions number, which was selected to be from 50 to 500. The areas generating escape solutions have being investigated. In Appendix A we present families of symmetric solutions terminating at asymptotic solutions, and in Appendix B the morphology of large period symmetric solutions though examples of orbits that re-enter after from 8 to 500 revolutions. The paper concludes that approximations of the general solution of the planar restricted problem is possible and presents such approximations, only for some sub-domains that fulfill the completeness criterion, on the basis of sufficiently large number of families.  相似文献   

Weibull statistical analysis of granite bending strength     

P. M. Amaral  J. Cruz Fernandes  L. Guerra Rosa 《Rock Mechanics and Rock Engineering》2008,41(6):917-928

Summary  This paper describes and discusses the adequacy of Weibull statistical analysis to analyse the bending strength of granite. The experimental results show that strength variability is related with a specific origin of failure. This conclusion is based on analysing the influence of the surface condition (extrinsic defects) on the bending strength results treated by the Weibull statistics. The conclusions drawn from this study have been validated by analysing the results of the critical flaw dimension estimated by applying the linear elastic fracture mechanics (LEFM) formulae. Results obtained from fractographic examination also have been used to describe the location of the origin of the fracture and understand the distribution of defects; i.e., there is a unimodal distribution of defects (intrinsic defects), despite the fact that some outlier values are normally observed in the fractured surfaces. Correspndence: P. M. Amaral, Department of Materials Engineering, Instituto Superior Técnico, Technical University of Lisbon, Av. Rovisco Pais, 1049-001 Lisboa, Portugal  相似文献   

On the Assessment of Failure in Slope Stability Analysis by the Finite Element Method   总被引：3，自引：0，他引：3  

H. Zheng  D. F. Liu  C. G. Li 《Rock Mechanics and Rock Engineering》2008,41(4):629-639

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