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   

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   

基于LiDAR的农田地形环境三维重建方法     

郎朗  冯晓蓉  刘浪 《测绘通报》2020,(2):55-60

为克服传统农田土地平整测量方法耗时费力的特点，提出采用LiDAR技术对农田地形进行重建的探索性研究。通过HDL-32E型激光雷达等搭建了系统的硬件平台，应用C++语言编写了系统数据的采集程序；在此基础上对激光雷达所采集数据进行了标定，研究了农田地形重建系统中不同坐标系的转换方法；同时基于最小值去噪法设计了更适用于农田地形点云去噪的均值限差去噪法。通过对比在农田起伏较大区域不同坡度范围内RTK与激光雷达所测单元个数，对系统精度进行了评价；最后实现了车载农田地形重建系统的界面显示、应用与精度评估。结果表明，在10°~15°、25°~30°大坡度范围内激光雷达所获农田地形更为丰富，精度更高。该方法重建的农田地形模型点云数据和原始农田地形点云数据投影面积逼近度可达93%，验证了本文研究方法应用于农田地形环境重建的可行性，同时为今后的土地精细平整工作提供了理论参考与依据。  相似文献   

顾及地形起伏的无人机影像覆盖分析方法     

张衡  李骁  叶朋飞 《测绘通报》2020,(1):102-106

使用无人机实施测绘航空摄影时，由于无人机相对航高较低，地面起伏会对无人机影像的分辨率、覆盖范围、重叠度造成较大的影响，影像成果会出现分辨率不足、重叠度不够、覆盖漏洞等缺陷。针对这一情况，本文提出了一种利用数字微分正解法的计算方法，借助DEM准确计算每张影像的覆盖范围，并使用FME软件高效生成全部影像的覆盖范围。经过实际使用，验证了该方法可以在航线设计阶段准确预测并分析全部影像的覆盖范围、重叠度，因此可及时发现设计问题并调整航线。该方法可以有效减少因地形起伏造成的影像覆盖缺陷，减少返工现象，从整体上提高了作业效率。  相似文献   

水下滑翔器主体外形优化设计   总被引：2，自引：0，他引：2  

王兵振  朱光文  杜敏  任炜  李永奇 《海洋技术学报》2008,27(3)

对水下滑翔器主体外形的优化设计问题进行研究.首先,在考虑内部机械结构限制的条件下,建立了主体外形优化数学模型,并采用CFX计算了若干主体形状的绕流阻力.在此基础上建立了映射主体外形的尺寸参数与绕流阻力的BP神经网络.然后将建立的神经网络作为优化设计问题的目标函数,采用坐标轮换法对滑翔器主体外形进行了优化设计,确定了尺寸参数的最优解.  相似文献   

Contribution of storms to groundwater recharge in the semi‐arid region of Karnataka,India     

K. Shivanna  U. P. Kulkarni  T. B. Joseph  S. V. Navada 《水文研究》2004,18(3):473-485

This paper describes the application of environmental isotopes and injected tracer techniques in estimating the contribution of storms as well as annual precipitation to groundwater recharge and its circulation, in the semi‐arid region of Bagepalli, Kolar district, Karnataka. Environmental isotopes ²H, ¹⁸O and ³H were used to study the effect of storms on the hydrological system, and an isotope balance was used to compute the contribution of a storm component to the groundwater. Some of the groundwater samples collected during the post‐storm periods were highly depleted in stable isotope content with higher deuterium excess relative to groundwater from the pre‐storm periods. Significant variation in deuterium excess in groundwater from the same area, collected in two different periods, indicates the different origin of air masses. The estimated recharge component of a storm event of 600 mm to the groundwater was found to be in the range of 117–165 mm. There was no significant variation in environmental tritium content of post‐storm and pre‐storm groundwater, indicating the fast circulation of groundwater in the system. After completion of the environmental isotope work, an injected radiotracer ³H technique was applied to estimate the direct recharge of total precipitation to the groundwater. The estimated recharge to the groundwater is 33 mm of the 550 mm annual precipitation during 1992. Copyright © 2003 John Wiley & Sons, Ltd.  相似文献   

Marine Ecology - A Century of Changes     

Rupert  Riedl 《Marine Ecology》1980,1(1):3-46

Abstract. The major changes within the concepts of marine ecology are investigated, with the aim to design this new journal's scientific format. Four phases of marine sciences are distinguished: the phase of seafarers, of oceanographic expeditions, of marine stations, and of field research. The changes in the latter two are discussed in detail. The changes are described as occurring along three axes. First, as a movement towards the object; accomplished by fieldwork, scientific diving, remote controlled equipment, and by underwater experimentation. Second, the cooperation between several disciplines that led towards bridging gaps. And lastly, how the discovery of unifying principles in ecology (the development of an ecological theory) led the approach in marine ecology towards increasing complexity.  相似文献   

中国开辟区不利开采地形类型及其分布     

王英  吕文正  王洪法  何拥华  周建平 《海洋学研究》2003,21(2):23-29

利用1998年"大洋一号"调查船近海底作业所获的深拖海底电视和照相系统资料,对中国开辟区不利开采地形类型及其分布特征进行了研究,并对海底地形的坡度进行了计算,结果表明:(1)中国开辟区东、西两区海底的东向坡和西向坡是均衡分布的。东、西两区海底地形坡度的分布特征明显不同,东区海底地形坡度以0～15°为主,而西区坡度大于3°的地形则很少。坡度大于5°的地形主要分布于坡脚处,特别是坡度超过15°的地形总是出现在水深变化的转折点处。(2)研究区不利开采地形可分为坡度为5～15°和大于15°两种类型,东区地形坡度大于5°的不利开采地形比西区多14%,东区坡度大于15°的地形为3.6%,比西区(仅为1.4%)多,东、西两区都有少量坡度近90°的地形出现,并且这种地形在东区所占比率比西区大,说明东区断崖、陡坎和断裂沟槽比西区多,地形也更为复杂多变。  相似文献   

北部湾地形、底质特征与渔场分布的关系   总被引：4，自引：0，他引：4  

乔延龙  林昭进 《海洋湖沼通报》2007,(Z1)

北部湾作为南海北部重要水域.属于热带和亚热带半封闭海湾.湾内地形地貌以及底质特征复杂。鱼类资源丰富。北部湾渔区的划分与地形地貌、底质特征存在密切联系.为更好的了解渔业生物的生活史、空间配布以及北部湾的渔业资源特点本文进行了初步的基础研究。为北部湾的渔业资源开发提供了科学依据。  相似文献   

水下运载器外挂负载的系统测试方案及仿真     

杨洪刚  连琏  葛彤 《海洋工程》2006,24(1):60-67

研究水下运载器外挂负载的测试问题,根据负载功能,建立了负载的系统模型。考虑到系统可测性,模型中增设一些辅助元件和电路,测试计算机通过与负载的自动驾驶计算机通讯,由自动驾驶计算机施加激励和采集响应,完成测试。最后,对测试方案进行了仿真试验,并分析了仿真结果。  相似文献