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   

基于噪声谱比法的内蒙古西部地区台站场地响应研究     

张珂  王鑫  王树波  张红才  宋晓燕 《大地测量与地球动力学》2020,40(6):646-651

利用内蒙古西部12个台站的地脉动噪声数据，采用噪声谱比法研究台站的场地响应情况。分析表明，台站场地响应按曲线形态可分为3类，且可能受地形地貌、局部构造和台基状况等条件影响。对比分析噪声谱比法与Moya方法的场地响应结果发现，场地响应曲线形态基本一致，只有极少数台站存在明显差异。结果表明，内蒙古西部区域大部分台站的台基状况总体较好，场地响应曲线较为平坦，无明显频率放大点。  相似文献   

亚毫米波射电天文用超导SIS接收机的研制(英文)     

史生才 《紫金山天文台台刊》2003,(1)

为了研制亚毫米波射电天文用超导SIS(超导 -绝缘体 -超导 )接收机 ,我们重点开展了如下研究 ,1 )Nb超导SIS结在其能隙频率附近的量子混频特性 ,及其结合高能隙超导薄膜 (NbTiN)和高电导率金属薄膜 (Al)分布结阵在 780 - 950GHz频率区间的量子混频特性 ;2 )亚毫米波超导混频器嵌入阻抗的数值和实验表征 ;3)高电流密度小面积Nb超导SIS结的制备和特性表征 ;4)一个 60 0 - 72 0GHz超导SIS混频器的研制和特性表征。本文详细介绍了相关的数值分析和实验测量结果。  相似文献   

Optimal Filtering Algorithm for Stochastic 2-D FMM Ⅱ with Multiplicative Noise     

CHUDongsheng LIANGMeng SHIXin ZHANGLing 《中国海洋大学学报(英文版)》2004,3(1):106-110

1　Introduction　Inrecentyearstherehasbeengrowingresearchin terestinthetwo dimensional (2 D )systemtheory .The 2 Dsystemsmayfindapplicationsinareassuchasmarineseismicdataprocessingandimageprocessing .Althoughmoreandmorevaluableresultshavebeengained ,mos…  相似文献   

西南极纳尔逊岛Stansbury半岛火山岩地质特征初论          下载免费PDF全文

郑祥身 《极地研究》1990,2(4):28-35

纳尔逊岛Stansbury半岛被玄武质、玄武安山质熔岩和火山碎屑岩以及沉积火山碎屑岩所覆盖。区域火山岩地层对比证明其是在形成长城站地区火山岩的同一火山作用下发育起来的。据地质接触关系和岩石组合特点,初步认为该半岛火山岩地层可以进一步划分为三个岩性段,分别形成于两期火山作用。该半岛的主要构造线方向平行于菲尔德斯海峡,这在地貌特征及次火山岩的分布上得到了证实。  相似文献   

胶辽鲁西徐淮地区新元古代地层多重划分对比          下载免费PDF全文

许克民  王来明  刘桂玲  张增奇  汪又平  胡艳蕾 《山东国土资源》2004,20(5):26-31,36

依据岩性组合、古生物特征及地震事件层研究，对胶辽鲁西徐淮地区新元古代地层可作如下多重划分对比：鲁西黑山官组、二青山组分别与辽东的钓鱼台组，南芬组相当，胶东豹山口组可与南芬组对比，它们同属青白口系。辽东南关岭组下部、鲁西石旺庄组下部、苏皖北部贾园组、淮南九里桥组皆为一套砂灰岩组合，都发育第一期地震事件层，并开始含有后生动物化石，为等时地层单位，与其以上各前寒武岩石地层单位同属灯影峡阶，鲁西的佟家庄组、浮来山组可分别与辽东桥头组、长岭子组、胶东辅子夼组、南庄组、苏皖北部兰陵组一城山组、淮南伍山组一四十里长山组对比，归属《中国区域年代地层(地质年代)表》新划分的陡山陀阶。  相似文献   

Readout Techniques for Drift and Low Frequency Noise Rejection in Infrared Arrays     

Gert Finger  Reinhold J. Dorn  Alan W. Hoffman  Hamid Mehrgan  Manfred Meyer  Alan F. M. Moorwood  Joerg Stegmeier 《Experimental Astronomy》2002,14(2):117-127

Three different methods are presented to subtract thermal drifts and low-frequency noise from the signal of infrared array. The first is dead pixels with open Indium bumps, the second is reference output as implemented on the Hawaii2 multiplexer, and the third is dark pixels to emulate reference cells having a capacity connected to the gate of the unit cell field-effect transistor (FET). The third method is the most effective and yields a reduction in readout noise from15.4–9.4 erms. A novel method will be described to extend this readout technique to the Aladdin 1 K × 1 K InSb array. This revised version was published online in July 2006 with corrections to the Cover Date.  相似文献   

沉积物粒度分析在厦门市第四纪环境研究和地层划分对比中的应用   总被引：6，自引：0，他引：6  

张璞  陈建强  田明中  朱金芳  黄宗林  江春亮 《地球科学与环境学报》2005,27(1):88-94

采用MS2000型激光粒度分析仪进行测试，利用计算机粒度分析软件对数据进行整理和计算，绘制出样品的频率曲线、概率累积曲线以及粒度众数位值曲线等图件并进行沉积环境分析。厦门地区第四纪环境演化经历了中更新世同安组(含泥中粗砂、含泥细中砂、砂为主)海积一冲积一更新统上部龙海组(含泥粗中砂、含泥细中砂、含泥粗砂、粗砂、细中砂、含细砾中粗砂、中细砂等)冲积一洪冲积一更新世上部东山组(砂、砂砾、含泥中粗砂、粗砂、泥质中细砂、细砂、中粗砂等)冲洪积及部分海积(粉砂、细粉砂、含碳质泥、粘土、淤泥质粘土、粉砂质粘土等)一全新世长乐组(粉砂，淤泥质粘土、粉砂质粘土、碳质粘土、含砂淤泥质粘土，粉砂质亚粘土、粉细砂亚粘土等)海湾沉积。在解释环境变化的同时，说明粒度变化曲线在一定程度上可以作为地层划分的依据之一，并以此对研究区地层进行了详细划分。  相似文献   

The Early Pleistocene Praetiglian and Ludhamian pollen stages in the North Sea Basin and their relationship to the marine isotope record     

T. Meijer  P. Cleveringa  D. K. Munsterman  R. M. C. H. Verreussel 《第四纪科学杂志》2006,21(3):307-310

In this paper, the currently accepted correlation of the Early Pleistocene Ludhamian stage of England with the Tiglian‐A sub‐stage of the Netherlands is challenged. Recent investigations of Early Pleistocene marine North Sea deposits from a borehole near Noordwijk (the Netherlands) yielded evidence from molluscs, dinoflagellate cysts and sporomorphs for an alternation of warm‐temperate and arctic intervals within the Praetiglian and Tiglian stages. Marine equivalents of the terrestrial‐based pollen sub‐stages Tiglian A and B have been recognised in the upper part of the sequence. A Praetiglian age can be assigned to the lower part of the sequence on the basis of mollusc analysis. Within the Praetiglian, an alternation of warm and cold phases has been recognised from both the dinoflagellate cyst and molluscan records. Three cold phases within the Praetiglian are tentatively correlated with marine isotope stages (MIS) 96–100. The molluscan assemblages provide evidence for climate forcing of the sea level: highest sea levels are reached in the warm‐temperate intervals. Within the Praetiglian, an interval with an acme zone of the dinoflagellate cyst Impagidinium multiplexum, is correlated with the Ludhamian and tentatively linked to MIS 97 and/or MIS 96. The cold molluscan assemblages from the Noordwijk borehole include an acme zone of Megayoldia thraciaeformis, the first and only occurrence of this North Pacific bivalve in the North Sea Basin. Copyright © 2006 John Wiley & Sons, Ltd.  相似文献   

准噶尔盆地腹部Z2井三叠系地层及沉积特征   总被引：1，自引：0，他引：1  

刘柏林  王启飞  阎泗民 《地层学杂志》2008,32(2):188-193

对准噶尔Z2井三叠系各组的岩性、电性特征进行了详细解释与描述,对各组的孢粉、大孢子组合特征展开了讨论,提出了该井三叠系地层划分为自碱滩组、克拉玛依组和百口泉组,且将其与邻区钻遇的三叠系进行了横向及纵向对比。在此基础上,通过对测、录井资料的精细解释,并借鉴前人的区域沉积相研究成果,探讨了该区三叠纪沉积环境。  相似文献