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   

Analytical study of ground motion caused by seismic wave propagation across faulted rock masses          下载免费PDF全文

J.C. Li  N.N. Li  S.B. Chai  H.B. Li 《国际地质力学数值与分析法杂志》2018,42(1):95-109

Studying seismic wave propagation across rock masses and the induced ground motion is an important topic, which receives considerable attention in design and construction of underground cavern/tunnel constructions and mining activities. The current study investigates wave propagation across a rock mass with one fault and the induced ground motion using a recursive approach. The rocks beside the fault are assumed as viscoelastic media with seismic quality factors, Q_p and Q_s. Two kinds of interactions between stress waves and a discontinuity and between stress waves and a free surface are analyzed, respectively. As the result of the wave superposition, the mathematical expressions for induced ground vibration are deduced. The proposed approach is then compared with the existing analysis for special cases. Finally, parametric studies are carried out, which includes the influences of fault stiffness, incident angle, and frequency of incident waves on the peak particle velocities of the ground motions.  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   

Explicit stress–strain equations for modeling frictional materials     

Kenneth J. Xu  Martin D. Liu  Buddhima Indraratna 《Marine Georesources & Geotechnology》2018,36(6):722-734

In this paper, a comprehensive study on simulating the shearing behavior of frictional materials is performed. A set of two explicit equations, describing the relationship among the shear stress ratio and the distortional strain and the volumetric strain, are formulated independently. The equations contain three stress parameters and three strain parameters and another parameter representing the nonuniformity of stress and strain during softening. All the parameters have clear physical significance and can be determined experimentally. It is demonstrated that the proposed equations have the capacity of simulating the complicated shearing behavior of many types of frictional materials including geomaterials. The proposed equations are used to simulate the stress–strain behavior for 27 frictional materials with 98 tests. These materials include soft and stiff clays in both reconstituted and structured states, silicon sands and calcareous sands, silts, compacted fill materials, volcanic soils, decomposed granite soils, cemented soils (both artificially and naturally cemented), partially saturated soils, ballast, rocks, reinforced soils, tire chips, sugar, wheat, and rapeseed. It has been demonstrated that the proposed explicit constitutive equations have the capacity to capture accurately the shearing behavior of frictional materials both qualitatively and quantitatively. A study on model parameters has been performed.  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   

Spatial measurements of stream baseflow,a relevant method for aquifer characterization and permeability evaluation. Application to a hard‐rock aquifer,the Oman ophiolite     

B. Dewandel  P. Lachassagne  A. Qatan 《水文研究》2004,18(17):3391-3400

The structure, functioning and hydrodynamic properties of aquifers can be determined from an analysis of the spatial variability of baseflow in the streams with which they are associated. Such analyses are based on simple low‐cost measurements. Through interpreting the hydrological profiles (Q = f(A)) it is possible to locate the aquifer(s) linked to the stream network and to determine the type of interrelated flow, i.e. whether the stream drains or feeds the aquifer. Using an analytical solution developed for situations with a positive linear relationship, i.e. where the baseflow increases linearly with increasing catchment size, it is also possible to estimate the permeability of the aquifer(s) concerned at catchment scale. Applied to the hard‐rock aquifers of the Oman ophiolite, this method shows that the ‘gabbro’ aquifer is more permeable than the ‘peridotite’ aquifer. As a consequence the streams drain the peridotites and ‘leak’ into the gabbro. The hydrological profiles within the peridotite are linear and positive, and indicate homogeneity in the hydrodynamic properties of these formations at the kilometre scale. The permeability of the peridotite is estimated at 5 · 10^?7 to 5 · 10^?8 m/s. Copyright © 2004 John Wiley & Sons, Ltd.  相似文献   

隧道工程地质评价的内容和方法   总被引：2，自引：0，他引：2  

陈新建  孙琳  李新星  孙巧银 《地球科学与环境学报》2004,26(1):41-45

结合工程隧道实际,首先阐述了隧道工程的基本地质环境和工程地质条件,然后针对隧道工程可能出现的不良地质现象和可采取的工程措施,从大气降水、围岩稳定、围岩压力、洞口稳定、隧道比选等角度探讨隧道工程地质评价的主要方法和一般内容,进行隧道工程地质评价,为隧道施工、支护提供了依据.  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   

P‐wave transmission across fractures with nonlinear deformational behaviour     

X. B. Zhao  J. Zhao  J. G. Cai 《国际地质力学数值与分析法杂志》2006,30(11):1097-1112

Stress wave attenuation across fractured rock masses is a great concern of underground structure safety. When the wave amplitude is large, fractures experience nonlinear deformation during the wave propagation. This paper presents a study on normal transmission of P‐wave across parallel fractures with nonlinear deformational behaviour (static Barton–Bandis model). The results show that the magnitude of transmission coefficient is a function of incident wave amplitude, nondimensional fracture spacing and number of fractures. Two important indices of nondimensional fracture spacing are identified, and they divide the area of nondimensional fracture spacing into three parts (individual fracture area, transition area and small spacing area). In the different areas, the magnitude of transmission coefficient has different trends with nondimensional fracture spacing and number of fractures. In addition, the study reveals that under some circumstances, the magnitude of transmission coefficient increases with increasing number of fractures, and is larger than 1. Copyright © 2006 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