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   

高精度直升机机载LiDAR在高速公路改扩建勘测中的应用可行性研究          下载免费PDF全文

郑伟安 《山东国土资源》2018,34(8)

机载LiDAR在公路勘测方面的用途日益广泛。该文对直升机机载LiDAR在高速公路改扩建中的应用技术路线可行性进行了研究论证,从地面控制测量、点云数据获取、点云数据处理、成果应用等多个方面进行了阐述,通过分析LiDAR点云数据在5种不同地面控制点布设方案校正下的点云数据精度,论证了利用地面控制点对直升机机载LiDAR点云数据进行平面和高程校正的可行性。  相似文献   

Hydrological management strategies for the control of algal blooms in regulated lowland rivers     

Jian Li  Wei Yin  Haiyan Jia  Xiaokang Xin 《水文研究》2021,35(6):e14171

Reservoirs of lowland floodplain rivers with eutrophic backgrounds cause variations in the hydrological and hydraulic conditions of estuaries and low-dam reservoir areas, which can promote planktonic algae to proliferate and algal bloom outbreaks. Understanding the ecological effects of variations in hydrological and hydraulic processes in lowland rivers is important for algal bloom control. In this study, the middle and lower reaches of the Han River, China, a typical regulated lowland river with a eutrophic background, are selected. Based on the effect of hydrological and hydraulic variability on algal blooms, a hydrological management strategy for river algal bloom control is proposed. The results showed that (a) differences in river morphology and background nutrient levels cause significant differences in the critical threshold flow velocities for algal bloom outbreaks between natural river and low-dam reservoir sections; there is no uniform threshold flow velocity for algal bloom control. (b) There are significant differences in the river hydrological/hydraulic conditions between years with and without algal blooms. The average river flow, water level and velocity in years with algal blooms are significantly lower than those in years without algal blooms. (c) For different river sections where algal blooms occur and to meet the threshold flow velocities, the joint operation of cascade reservoirs and diversion projects is an effective method to prevent and control algal blooms in regulated lowland rivers. This study is expected to deepen our understanding of the ecological significance of special hydrological processes and guide algal bloom management in regulated lowland rivers.  相似文献   

Study of the flood control scheduling scheme for the Three Gorges Reservoir in a catastrophic flood          下载免费PDF全文

Shanghong Zhang  Zhu Jing  Wenda Li  Yujun Yi  Yong Zhao 《水文研究》2018,32(11):1625-1634

The Three Gorges Project is the world's largest water conservancy project. According to the design standards for the 1,000‐year flood, flood diversion areas in the Jingjiang reach of the Yangtze River must be utilized to ensure the safety of the Jingjiang area and the city of Wuhan. However, once these areas are used, the economic and life loss in these areas may be very great. Therefore, it is vital to reduce this loss by developing a scheme that reduces the use of the flood diversion areas through flood regulation by the Three Gorges Reservoir (TGR), under the premise of ensuring the safety of the Three Gorges Dam. For a 1,000‐year flood on the basis of a highly destructive flood in 1954, this paper evaluates scheduling schemes in which flood diversion areas are or are not used. The schemes are simulated based on 2.5‐m resolution reservoir topography and an optimized model of dynamic capacity flood regulation. The simulation results show the following. (a) In accord with the normal flood‐control regulation discharge, the maximum water level above the dam should be not more than 175 m, which ensures the safety of the dam and reservoir area. However, it is necessary to utilize the flood diversion areas within the Jingjiang area, and flood discharge can reach 2.81 billion m³. (b) In the case of relying on the TGR to impound floodwaters independently rather than using the flood diversion areas, the maximum water level above the dam reaches 177.35 m, which is less than the flood check level of 180.4 m to ensure the safety of the Three Gorges Dam. The average increase of the TGR water level in the Chongqing area is not more than 0.11 m, which indicates no significant effect on the upstream reservoir area. Comparing the various scheduling schemes, when the flood diversion areas are not used, it is believed that the TGR can execute safe flood control for a 1,000‐year flood, thereby greatly reducing flood damage.  相似文献   

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   

Wave energy conversion under constrained wave-by-wave impedance matching with amplitude and phase-match limits     

《Applied Ocean Research》2019

This paper investigates an approach to limit the fullness of ‘tuning’ provided by wave-by-wave impedance matching control of wave energy devices in irregular waves. A single analytical formulation based on the Lagrange multiplier approach of Evans [1] is used to limit the velocity amplitude while also limiting the closeness of the phase match between velocity and exciting force. The paper studies the effect of the present technique in concurrently limiting the device velocity and the required control/actuation force. Time domain application requires wave-profile prediction, which here is based on a deterministic propagation model. Also examined in the time domain is the effect of possible violation of the displacement constraint, which for many designs implies impacts at hard stops within the power take-off mechanism. Time domain simulations are carried out for a 2-body axisymmetric converter (with physical end-stops) in sea states reported for a site off the US east coast. It is found that the approach leads to effective power conversion in the less energetic sea states, while as desired, considerable muting of the optimal response is found in the larger sea states. Under the assumptions of this work, the end-stop collisions are found to have a minor effect on the power conversion. The present approach could be used to guide the design of power take-off systems so that their displacement stroke, maximum force, and resistive and reactive power limits are well-matched to the achievable performance of a given controlled primary energy converter.  相似文献   

针对地质灾害隐患点的无人机航摄像控点布点方案     

吴波  李俊  蒋大鹏  冯志 《测绘通报》2020,(6):125

以陕西省某地质灾害隐患点1∶2000航飞生产任务为背景，本文结合垂直起降式无人机航摄技术特点和地质灾害隐患点区域实际情况，通过详细对比几种无人机航摄像控点布控方案的优劣，研究无人机像控点布设方案对空三加密精度的影响，总结了适用于不同地质灾害隐患点的像控点布设方案。通过本文研究，为今后制定地质灾害隐患点的无人机航摄像控点布设方案提供了参考依据。  相似文献   

日照市露天开采矿山地质环境问题及恢复治理措施          下载免费PDF全文

汪继学  尹俊凯  陈鹏  张承斌 《山东国土资源》2018,34(12)

通过1∶5万矿山地质环境调查和遥感解译手段,对日照市矿山进行了全面的调查,查明各类矿山546处,主要集中在莒县和五莲县境内。除莒县刘官庄煤矿外,其余全部为露天开采矿山,主要选用直接开挖的方式,不仅破坏了地表环境,而且矿山生产活动产生的固体废弃物占用了大面积的土地。该文根据矿山地理位置及开采方式的不同,将相同类型的多个矿山划分为同一治理区,针对不同治理区的特点,采取科学有效的治理方法,建立健全矿山地质环境监督管理机制,切实解决矿山地质环境问题,改善生态环境。  相似文献   

用双三次样条函数和GPS资料反演现今中国大陆构造形变场   总被引：38，自引：20，他引：18  

杨少敏  游新兆  杜瑞林  乔学军  王琪 《大地测量与地球动力学》2002,22(1):68-75

将中国大陆现今构造变动视为一种连续的地壳变形,利用双三次样条函数模拟了近期GPS测定的大陆内部及周边地区412个测站速率,反演大陆地区自洽的构造变动速度场和应变率场.模拟结果显示:印度板块与欧亚板块的碰撞、挤压是构成中国大陆内部岩石层水平形变的主要驱动力.印度板块在东喜马拉雅构造结深深插入青藏高原,造成地壳大规模的缩短和抬升.青藏高原东南部的喜马拉雅带、拉萨和羌塘地块以及青藏高原东南边的川滇地区,内部构造活动强烈,其内部的构造变形包含地壳碎片的冲断、褶皱和侧向逃逸.大陆地壳(或岩石圈)的增厚,尤其是喜马拉雅山脉南北向的快速缩短和青藏高原东西向的缓慢拉张,大约吸收了印欧板块会聚量的85%,西藏中东地区东西向的拉张速率达到了(16±2.0)mm/a,且顺时针方向扭转明显.印度板块相对欧亚板块运动的欧拉极为(29.7°N, 19.3°E, 0.392°/Ma);华南地块相对于欧亚大陆向东(102°±7.4°)南的运动速率是(11±1.54)mm/a,华南块体相对欧亚板块运动的欧拉极为(62.25°N, 126.56°E, 0.141°/Ma);塔里木地块相对较稳定,其西部运动速度高于东部运动速度,作顺时针方向旋转.总体上讲,中国大陆运动方向为北偏东呈辐射状,从西部近南北方向的运动转向东部地区东南方向的运动,绕东喜马拉雅构造结有一顺时针方向的旋转.横穿喜马拉雅构造带及青藏内部的南北向压缩速率为(19±2.0)mm/a,横穿西天山构造带的南北向压缩平均速率为(13±1.5)mm/a,横穿东天山构造带的南北向压缩平均速率为(6.0±1.4)mm/a.阿尔金断裂带的左旋走滑速率为(6±1.2)mm/a.  相似文献   

昆仑山8.1级地震前中国大陆的构造应变背景   总被引：10，自引：4，他引：6  

杨少敏  王琪 《大地测量与地球动力学》2003,23(3):61-65

利用“网络工程”1998～2001年累积的1181个测站的GPS重复观测资料，采用双三次样条函数模型建立中国大陆水平运动模型速度场，用大地坐标在椭球面上计算各类应变场，详细分析了2001年昆仑山8．1级地震前中国大陆水平构造应变场空间分布特征。各类构造应变场的最高值都出现在喜马拉雅构造带与昆仑山地块内(地震断裂带南侧)，鲜水河—安宁河断裂带次之。分析表明，昆仑山8．1级地震正好发生在张性面膨胀应变率的高值区，第一、第二和最大剪应变率高值区边缘的突变区和最大、最小主应变率的高值区。  相似文献