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   

抽油机悬点投影测量仪     

文志雄  戚克军  李明  曾南志 《大地测量与地球动力学》2002,22(1):110-113

油田抽油机的抽油杆幌动幅度过大，是引起抽油杆断裂的一个重要因素，检测这种幌动幅度是防止抽油杆断裂的一种有效手段。设计了一种基于面阵CCD和普通半导体激光器（LD）测量这种幌动的悬点投影测量方法，通过数字卷积滤波，达到了范围为0－40mm，误差＜0.2mm的技术检测指标。  相似文献   

基于噪声随机模型的加权观测融合方法     

黄贤源  隋立芬  范玉茹 《测绘学院学报》2009,(1)

信息融合技术中,在各局部传感器的有色观测噪声为一阶AR模型的情况下,可以利用观测扩增方法消除有色噪声的影响,得到最优加权观测融合方程,从而实现状态的最优滤波解。对于有色观测噪声为MA或ARMA模型的情况,观测扩增方法不再适用。提出了基于有色观测噪声随机模型级数展开的方法,求解出各局部传感器有色观测噪声的方差,并利用该方差对加权观测融合滤波器进行了构造。通过计算实例证明,该方法不仅适用于观测噪声为AR模型,同时适用于噪声MA或ARMA模型。  相似文献   

Consideration of time-correlated errors in a Kalman filter applicable to GNSS   总被引：1，自引：0，他引：1  

M. G. Petovello  K. O’Keefe  G. Lachapelle  M. E. Cannon 《Journal of Geodesy》2009,83(1):51-56

An algorithm for considering time-correlated errors in a Kalman filter is presented. The algorithm differs from previous implementations in that it does not suffer from numerical problems; does not contain inherent time latency or require reinterpretation of Kalman filter parameters, and gives full consideration to additive white noise that is often still present but ignored in previous implementations. Simulation results indicate that the application of the new algorithm yields more realistic and therefore useful state and covariance information than the standard implementation. Results from a field test of the algorithm applied to the problem of kinematic differential GPS demonstrate that the algorithm provides slightly pessimistic covariance estimates whereas the standard Kalman filter provides optimistic covariance estimates.  相似文献   

Phasing of segmented mirrors: a new algorithm for piston detection     

J.M. Rodríguez-Ramos  J.J. Fuensalida 《Monthly notices of the Royal Astronomical Society》2001,328(1):167-173

The point spread function of a segmented-mirror telescope is severely affected by segment misalignment, which can nullify the performance of adaptive optics systems. The piston and tilt of each segment must be precisely adjusted in relation to the other segments. Furthermore, the direct detection of the alignment error with natural stars would be desirable in order to monitor the errors during astronomical observation.
We have studied the lost information of the piston error caused by the presence of atmospheric turbulence in the measurements of curvature, and present a new algorithm for obtaining the local piston using the curvature sensor. A phase-wrapping effect is shown as responsible for the loss of curvature information and so the piston errors can no longer adequately be mapped; this happens not only in the presence of atmospheric turbulence, but also in its absence.
Good results are obtained using a new iterative method for obtaining the local piston error map. In the presence of atmospheric perturbation, the turbulent phase information obtained from a Shack–Hartmann sensor is introduced in our new iterative method. We propose a hybrid sensor composed of a curvature sensor and a Shack–Hartmann sensor, in order to complete all the information for the phasing. This design takes a short computation time and could be used in real time inside an adaptive optics system, where tilt and piston errors must be corrected.  相似文献   

Optimal Compensation and Implementation for Adaptive Optics Systems     

Douglas P. Looze  Markus Kasper  Stefan Hippler  Orhan Beker  Robert Weiss 《Experimental Astronomy》2003,15(2):67-88

This paper develops a compensation algorithm based on Linear–Quadratic–Gaussian (LQG) control system design whose parameters are determined (in part) by a model of the atmosphere. The model for the atmosphere is based on the open-loop statistics of the atmosphere as observed by the wavefront sensor, and is identified from these using an auto-regressive, moving average (ARMA) model. The (LQG) control design is compared with an existing compensation algorithm for a simulation developed at ESO that represents the operation of MACAO adaptive optics system on the 8.2 m telescopes at Paranal, Chile. This revised version was published online in July 2006 with corrections to the Cover Date.  相似文献   

Estimation of anisoplanatism in adaptive optics by generalized SCIDAR profiling     

R. W. Wilson  N. J. Wooder  F. Rigal  J. C. Dainty 《Monthly notices of the Royal Astronomical Society》2003,339(2):491-494

  相似文献   

An operational multiscale system for hazards prediction, mapping, and response     

David P. Bacon  Nash’at N. Ahmad  Thomas J. Dunn  Michael C. Monteith  Ananthakrishna Sarma 《Natural Hazards》2008,44(3):317-327

By definition, a crisis is a situation that requires assistance to be managed. Hence, response to a crisis involves the merging of local and non-local emergency response personnel. In this situation, it is critical that each participant: (1) know the roles and responsibilities of each of the other participants; (2) know the capabilities of each of the participants; and (3) have a common basis for action. For many types of natural disasters, this entails having a common operational picture of the unfolding events, including detailed information on the weather, both current and forecasted, that may impact on either the emergency itself or on response activities. The Consequences Assessment Tool Set (CATS) is a comprehensive package of hazard prediction models and casualty and damage assessment tools that provides a linkage between a modeled or observed effect and the attendant consequences for populations, infrastructure, and resources, and, hence, provides the common operational picture for emergency response. The Operational Multiscale Environment model with Grid Adaptivity (OMEGA) is an atmospheric simulation system that links the latest methods in computational fluid dynamics and high-resolution gridding technologies with numerical weather prediction to provide specific weather analysis and forecast capability that can be merged into the geographic information system framework of CATS. This paper documents the problem of emergency response as an end-to-end system and presents the integrated CATS–OMEGA system as a prototype of such a system that has been used successfully in a number of different situations.  相似文献   

基于Mindlin理论Winkler地基参数的Kalman滤波识别     

张剑  叶见曙  唐修生 《岩土力学》2008,29(2):425-430

提出了Winkler地基参数的Kalman滤波识别方法。引入Mindlin理论后,推导了Winkler地基上板的控制微分方程。利用Fourier变换,推求了Winkler地基上简支板的Fourier闭式解。推导了Winkler地基参数的Kalman滤波方程,研究了Winkler地基参数的Kalman滤波识别的具体计算步骤。研究表明,运用Kalman滤波理论进行Winkler地基参数的识别,能有效地估计Winkler地基参数;Winkler地基参数的滤波收敛速度和精度受地基参数初始值选取和位移实测资料的影响,且Kalman滤波理论也可用于其他地基模型地基参数的识别。  相似文献   

GPS卫星反射信号增强技术研究     

杨进佩  刘中  朱晓华 《海洋湖沼通报》2006,(3):13-20

本文根据GPS卫星反射信号在海洋参数测量、无源雷达目标探测以及大地测绘中的应用,从天线接收、信号处理运算和多路径信号抵消角度,详细地研究了GPS卫星反射信号增强技术,给出了相应天线和电路结构及信号处理方法,并进行了计算机仿真,结果表明所提出的技术能增强GPS卫星反射信号。  相似文献