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   

The 550-au Mission: a critical discussion     

S. G. Turyshev  B-G. Andersson 《Monthly notices of the Royal Astronomical Society》2003,341(2):577-582

We have studied the science rationale, goals and requirements for a mission aimed at using the gravitational lensing from the Sun as a way of achieving high angular resolution and high signal amplification. We find that such a mission concept is compromised by several practical problems. Most severe are the effects due to the plasma in the solar atmosphere which cause refraction and scattering of the propagating rays. These effects either limit the frequencies that can be observed to those above ∼1 THz, or they move the optical point outwards beyond the vacuum value of ≥550 au. (Thus for observing frequency of 300 GHz the optical point is moved outwards to ∼ 680 au.) Density fluctuations in the inner solar atmosphere will further cause random pathlength differences for different rays. The corrections for the radiation from the Sun itself will also be a major challenge at any wavelength used, but could be mitigated with coronographic techniques. Given reasonable constraints on the spacecraft (particularly in terms of size and propulsion), source selection as well as severe navigational constraints further add to the difficulties for a potential mission. Nevertheless, unbiased surveys of small-scale structure on the sky at short wavelengths might be the most promising application of such a mission.  相似文献   

辽东湾凝析气田超压成因及侧向传递机制初探   总被引：1，自引：0，他引：1       下载免费PDF全文

李潍莲  刘震  夏庆龙  周心怀 《地质科学》2008,43(2):377-388

位于辽东湾西部低凸起北端的JZ20-2超压凝析气田,离供烃中心较远,压力系数却达到1.56~1.7,这在我国东部裂谷盆地比较少见。经过综合分析,作者认为JZ20-2凝析气田异常高压的形成与其所处的特殊地质背景紧密相关,辽中凹陷沙河街组三段超压凝析油气沿不整合面、砂体输导通道向辽东湾西部低凸起的运移、充注和能量的侧向传递是JZ20-2凝析气田异常高压形成的根本原因,而上覆东营组二段下亚段-东营组三段巨厚的强超压泥岩封盖和辽西3号边界断层侧向遮挡共同构成的优越封闭环境是超压保存的必要条件。本文分析了该气田超压特征及其远距离超压侧向传递的成因机制,不仅有助于揭示辽东湾西部低凸起超压流体运移聚集的规律和成藏作用,而且可能提供了一个超压远距离侧向传递的典型实例。  相似文献   

Monitoring Large-Scale Tests for Nuclear Waste Disposal     

Eduardo E. Alonso  Sarah M. Springman  Charles W. W. Ng 《Geotechnical and Geological Engineering》2008,26(6):817-826

Two large-scale “in situ” demonstration experiments and their instrumentation are described. The first test (FEBEX Experiment) involves the hydration of a compacted bentonite barrier under the combined effect of an inner source of heat and an outer water flow from the confining saturated granite rock. In the second case, the progressive de-saturation of Opalinus clay induced by maintained ventilation of an unlined tunnel is analyzed. The paper shows the performance of different sensors (capacitive cells, psychrometers, TDR’s) and a comparison of fill behaviour with modelling results. The long term performance of some instruments could also be evaluated specially in the case of FEBEX test. Capacitive sensors provide relative humidity data during long transient periods characterised by very large variations of suction within the bentonite.  相似文献   

Field Measurement of Suction, Water Content, and Water Permeability   总被引：1，自引：0，他引：1  

Alessandro Tarantino  Andrew M. Ridley  David G. Toll 《Geotechnical and Geological Engineering》2008,26(6):751-782

This paper presents a review of techniques for field measurement of suction, water content, and water hydraulic conductivity (permeability). Main problems in the use of field tensiometers are addressed and hints on how to improve tensiometer performance are given. Advantages and limitations of instruments for indirect measurement of suction including electrical conductivity sensors, thermal conductivity sensors, dielectric permittivity sensors, filter paper, and psychrometer are discussed. Techniques for water content measurement based on dielectric methods are then presented. These include time and amplitude domain reflectometry and capacitance. Finally, a brief overview of methods for measurement of water permeability in the field is presented.  相似文献   

智能潜器的集成仿真系统     

庞永杰  徐玉如  尚游  彭良 《海洋工程》1997,(4)

本文介绍了智能潜器集成仿真系统的硬、软件结构．通过这一系统所展示的水下虚拟仿真环境能够在研究和开发智能潜器的控制体系结构、潜器载体的水动力学、信息融合和目标识别等工作中发挥巨大作用  相似文献   

Robust and adaptive path following for underactuated autonomous underwater vehicles   总被引：1，自引：0，他引：1  

K. D. Do  J. Pan  Z. P. Jiang 《Ocean Engineering》2004,31(16):1967-1997

This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle’s unknown physical parameters. The proposed controller is designed using Lyapunov’s direct method, the popular backstepping and parameter projection techniques. The closed loop path following errors can be made arbitrarily small. Interestingly, it is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology.  相似文献   

Autonomous underwater vehicles: future platforms for fisheries acoustics   总被引：3，自引：1，他引：3  

Fernandes  Paul G; Stevenson  Pete; Brierley  Andrew S; Armstrong  Frederick; Simmonds  E.John 《ICES Journal of Marine Science》2003,60(3):684-691

  相似文献   

水下滑翔机器人运动分析与载体设计   总被引：4，自引：0，他引：4  

张奇峰  俞建成  唐元贵  李硕  张艾群 《海洋工程》2006,24(1):74-78,85

水下滑翔机器人是一种新型水下机器人,具有噪声低、航行距离远、续航时间长、成本低等特点。分析了水下滑翔机器人的驱动机理和运动实现,给出了水下滑翔机器人典型运动的仿真结果,并以正在设计的一水下滑翔机试验样机为研究对象,描述了样机的整体结构布局,详细研究了浮力调节机构、俯仰调节机构和横滚调节机构的实现方法,并就样机中各执行机构的设计实现进行了论述。  相似文献   

The characteristics and sources of natural gases from Ordovician weathered crust reservoirs in the Central Gas Field in the Ordos Basin   总被引：2，自引：2，他引：0  

Xianqing Li  Guoyi Hu  Jian Li  Dujie Hou  Peng Dong  Zhihong Song  Yunfeng Yang 《中国地球化学学报》2008,27(2):109-120

The Central Gas Field is a famous large-sized gas field in the Ordos Basin of China. However, identification of main gas sources of the Ordovician reservoirs in this gas field remains puzzling. On the basis of a lot of geochemical data and geological research on natural gases, the characteristics and sources of natural gases from Ordovician weathered crust reservoirs in the Central Gas Field in the Ordos Basin were studied. The results indicated that natural gases from Ordovician weathered crust reservoirs in the Central Gas Field in the Ordos Basin have similar chemical and isotopic compositions to highly mature and over-mature dry gases. Both coal-derived gases and oil-type gases coexist in the Central Gas Field in the Ordos Basin. The former was derived mainly from Carboniferous-Permian coal measures and the latter from Lower Paleozoic marine carbonates. It is suggested that coal-derived gases occur in the eastern part of the Central Gas Field while oil-type gases may be produced mainly in the northern, western and southern parts of the Central Gas Field in the Ordos Basin.  相似文献