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   

影响鸢乌贼手钓上钩率的因子探讨     

吴国峰  陈新军 《广东海洋大学学报》2006,26(6):35-38

根据印度洋西北部鸢乌贼（Sym plectoteuthis oualaniensis）作业渔场的现场调查数据．分析了作业水深、作业时段、摄食等级和月相等因子对手钓上钩率的影响。统计表明．晚上、午夜和凌晨3个不同时段和不同作业水深对手钓上钩率均有显著性影响。3个时段中，其摄食等级呈先低后高再低的现象。午夜和凌展，上钩率的变化趋势与摄食等级的变化趋势呈显著的负相关。在月相的影响下．离朔日三四天之前，手钓产量呈上升趋势；离望日五六天之前。手钓产量呈明显的下降趋势。  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   

A Simulating Experiment in the Process of Soil Erosion on Bare Land in Mt. Tanakami     

ZHAO Wei  HU Ke  Wang Xikui  Akitsu Kimoto  Takahisa MIZUYAMA 《世界地质(英文版)》2001,4(2)

In order to understand the process of surface erosion and acquire basic data of conditions on hillslope without vege tation, a sprinkling experiment is conducted on a bare slope in Mt. Tanakami in the central part of Japan. Based on the mea surements of runoff, mean soil erosion depth, and sediment yield, etc. , the results suggest the following characteristics in the process of surface erosion in the experimental area. (1) The occurrence of sediment discharge is interrupted; (2) Surface runoff is a saturated overland flow; (3) The mean soil erosion depth is thick compared with other areas in Mt. Tanakami;(4) Sediment discharge process is detachment- limited.  相似文献   

Effect of Ploughing Depth on the Growth and Yield of Heracleum candicans： a Threatened Medicinal Herb and a Less-explored Potential Crop of the Himalayan Region     

Hemant K. Badola Jitendra S. Butola 《山地科学学报》2005,2(2):173-180

This paper examines the effect of ploughing depths （A -- 60 cm, B -- 45 cm and C -- 30 cm） on the growth and yield of Heracleum candicans Wall （Apiaceae）, a threatened medicinal herb of the Himalayan region. This less-explored plant is being suggested as a potential crop for the mountain agriculture. The study was carried out in an orchard in Himachal Pradesh, India at 2500 m altitude, for two successive growth years. During the first year, all plants remained in juvenile state; in the second year, nearly 65 % plants produced flowers only under 60cm ploughing depth. Among its morphological traits, plant height, collar diameter and aboveground flesh weight were found to be strongly correlated （P 〈 0.01） with the belowground biomass during the first year （r =0.968, 0.925 and 0.973, respectively） and during the second year （r=0.945, 0.928 and 0.775, respectively）. Increase in the ploughing depth was significantly correlated （P〈0.01） with all growth parameters, including the belowground dry weight, marketable portion of the produce. The belowground biomass （commercial yield; 16.28 Qt/hec） at depth A was about 2.6 and 4.7 times higher than those recorded at depths B and C, respectively. The results clearly justify the importance of deep ploughing and this paper strongly recommends it for economically sustainable cropping.  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   

松辽盆地中生代沉积基准面变化研究   总被引：6，自引：0，他引：6  

张世奇  任延广 《地球科学与环境学报》2003,25(2):1-5

利用地质资料研究来恢复沉积基准面变化。首先根据沉积物的分布规律、沉积构造、古生物组合及古生态、自生矿物和波基面等特征来获得古水深,然后利用对地层做脱水压实校正获得沉积物原始厚度。对湖盆地区古水深和沉积物原始厚度累加起来就可得到沉积基准面变化曲线。沉积基准面变化曲线为在松辽盆地中进行地层对比提供了依据。  相似文献