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   

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   

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   

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   

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   

A study on quality of aquatic environment in Tumen River Area     

Zhu Yanming  Li Jinsong  Lu Xueqiang 《中国地理科学(英文版)》1997,8(2):126-135

After the survey of pollution sources, a study on surface water quality assessment and forecast is given by means of grey system method, fuzzy mathematical method and multiple-index method. Based on it, aquatic environment quality features, treatment measures and environmental strategies of the area are proposed. The quality of aquatic environment of 5 rivers in the Tumen River area is studied. The results show that the pollution of surface water is serious; water quality of most rivers is between grade IV and V except the Hunchun River, being higher than grade IV standard; pollution levels of most rivers have been basically controlled except the of Burhatong River, which is deteriorating gradually. Pollutants of the rivers are comparatively regular, mainly are SS, COD, BOD, AR-OH, NH₃-N. The main pollution trades are chemical fibre industry, pulp and paper making industry and mining industry. If the growth rate of gross industrial product is higher than 25 percent under the encouraging-model of regional exploitation, the pollutants’ load will overtake the bearing capacity of aquatic environment. Thus some protection program against pollution must be worked out in order to achieve the harmonious development of economy society and environment. A project from “Studies on Earlier Stage of Regional Development” of the Chinese Academy of Sciences  相似文献   

雅砻江流域主汛期降水长期预报的一种方法     

赵守尧 《成都信息工程学院学报》1994,(1)

本文使用天气学方法，从影响雅砻江区域主汛期降水量的长期预报有关因子出发，再运用数理统计方法反复筛选，仅取３个主要因子：西部青藏高原８个站冬春积温，北部冬季极涡面积指数，南部冬季印缅槽平均强度，建立逐步回归预报方程。结果显示：对主汛期６～９月降水量预报拟合准确率为１６／１７即约９４％。回归分析中发现：尽管西太平洋副热带高压对盆地西部降水有很大影响，盛夏且与高原积温有较密切相关，但由放大范围长时段的青藏高原积温，对于雅砻江区域主汛期降水量的影响超过西太平洋副热高压，因而在逐步回归过程中，副高因子仍被剔除．  相似文献   

武汉区域气象中心数值预报业务并行计算机系统     

龚贤创  范宏飞  余康庆  王宏记 《成都信息工程学院学报》2002,17(4):236-239

对武汉区域气象中心并行计算机系统进行了详细地介绍，分析了并行计算机体系结构、网络和存储系统特点；给出了在并行计算机SP上实现数值预报业务并行化的部分结果；对数值预报模式在串、并行编程环境下的结果进行了分析比较。  相似文献   

The second order characteristic condition for plastic flow     

Graham Weir  Roger Young 《国际地质力学数值与分析法杂志》2003,27(15):1299-1316

In this paper the second order characteristic (discontinuous bifurcation) condition is derived for the granular flow (fully plastic) equations. This second order bifurcation equation is shown to be formally identical to the first order localization requirement during steady elastoplastic deformation provided the elastic compliance tensor is substituted for the product of the plastic multiplier with the flow Hessian. For isotropic yield and flow functions the invariant form of the characteristic condition is given in detail, as well as an alternative expression in adapted co‐ordinates. The characteristic condition can be regarded as defining a hardening function which is maximized to identify the critical angles. When the method is applied to 3D Coulomb flow, Mohr's 3D fracture plane conditions are obtained uniquely. Copyright © 2003 John Wiley & Sons, Ltd.  相似文献   

临猗5.0级地震前后品质因子值变化特征研究     

王卫东  张永志  杜长娥 《地球科学与环境学报》2005,27(1):70-71,79

利用西安数字地震遥测台网记录的数字地震资料，采用P波初动半周期残差法求得1998年7月临猗5．0级地震前后不同路径的Q(品质因子)值变化，发现在地震发生前Q值为87～203，震后Q值为67～164，震前震中区附近出现明显的高Q值异常。结果表明，地震前的高Q值异常可以作为地震预测的一种手段。  相似文献