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   

试论企业组织结构--电子商务企业与传统企业的比较     

何兴贵  黄宗捷 《成都信息工程学院学报》2002,17(3):196-199

网络时代的到来，对传统企业的组织结构、运作模式、管理方法均提出了严峻的挑战。传统的企业组织结构是适应大工业生产而形成的等级组织结构形式，它有很大的局限性；电子商务企业的组织结构是适应网络社会而形成扁平化、双向多对多、以信息为基础的新型组织结构形式。电子商务企业以其组织结构扁平化和中空化，决策分散化，运作虚拟化，灵活高效为特点，它将成为传统企业在电子商务发展阶段变革的方向和目标。  相似文献   

八庙—青山金红石矿床化学成分与成矿关系     

徐少康  李博昀  程建祖  刘振山 《河南国土资源》1996,(4)

本矿床是我国金红石矿床重要的成因及工业类型，为具有特定化学成分的岩石在特定变质条件下形成的。本文通过对大量数据的处理，查明了化学成分与成矿的关系：高Ａｌ２Ｏ３、ＭｇＯ、Ｆｅ２Ｏ３＋ＦｅＯ、Ｋ２Ｏ、Ｐ２Ｏ５、Ｈ２Ｏ＋、ＭｎＯ，低ＳｉＯ２、ＣａＯ、Ｎａ２Ｏ、ＣＯ２、Ｓ等，利于钛富集；高ＴｉＯ２、ＭｇＯ、Ｐ２Ｏ５、Ｓ，低ＳｉＯ２、ＣａＯ、Ｋ２Ｏ、Ａｌ２Ｏ３、Ｆｅ２Ｏ３／ＦｅＯ，利于金红石形成；高Ｓｃ、Ｚｒ、Ｎｉ、Ｚｎ及Ｌａ／Ｙｂ，低Ｙ、Ｎｂ、Ｔｈ、Ｃｄ、Ｂａ、Ｂｅ、ΣＲＥＥ，利于金红石纯度提高。对研究矿床成因及寻找新的同类矿床等有重要意义  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   

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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