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   

Damage assessment for submarine photoelectric composite cable under anchor impact     

《Applied Ocean Research》2018

The impact of dropped anchor on submarine photoelectric composite cables may possibly cause electrical faults, i.e. electricity and optical signal transmission failure. In order to study the impact capacity and structural impact failure mechanism, a test setup is designed originally to examine the structural and functional integrity. A detailed finite element model (FEM) is created, considering material nonlinearity and component interaction. A parametric analysis has been performed to predict the deformation of components and impact forces, under different impact velocities and collision directions. Relationships between the armor layer indentation rate and that of internal power and optical units are achieved. The impact deformation of internal entities can be evaluated intuitively by armor layer indentation. The proposed experimental and numerical methods are well correlated, suitable to assess the impact capacity of subsea power cables and assist the protection design of subsea power cables in engineering.  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   

形变大地测量学的进展、问题与地震预报   总被引：12，自引：7，他引：5  

周硕愚  吴云  李正媛  杜瑞林 《大地测量与地球动力学》2004,24(4):95-101

简要概括了形变大地测量学的革命性进展，研讨了它的科学特色、功能和定义以及对地球科学和防灾减灾的推动。形变大地测量学有助于从根本上击破多年来制约地震预报的“瓶颈”，但也存在不少急待解决的问题。着重研讨了在21世纪前10年，形变大地测量学如何依托多年的学科积累并充分受益于人造卫星和数字化等新技术，开展创新性研究和试验以推进地震预报。为此，对当前的研究工作提出了12条科学技术途径。最后对学科名称提出了建议。  相似文献   

辽南早元古代花岗岩的变形温度及其构造意义     

王惠初  张翊钧 《国土资源》1993,(2)

辽南早元古代辽河群中片麻状花岗岩的变形温度显示出645—690℃,550—610℃和485℃±三组温度值,表明花岗岩遭受了三幕构造变形。而区域构造解析亦表明辽河群在早元古时期经历了三幕构造变动。花岗岩的温度系列与区域变形序列具有一致性,排除了花岗岩晚期构造侵位的可能性。变形温度以550—610℃居多,意味着该幕构造形迹保存最好。第三幕变形变质作用相对较弱,仅局部出现485℃的温度值。  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   

INVERSE DDA OF A SYSTEM OF BLOCKS IN SPHERE COORDINATES     

Wu Yun  Wang Hui  Zhou Shuoyu  Shi Shunying 《大地测量与地球动力学》2003,23(Z1)

1　IntroductionDiscontinuousDeformationAnalysis(DDA)developedbyShiin 1 980’s[1 ,2 ] maybeusedtocalculatethedeformationanddisplacementsinamulti blocksystemandtoanalyzetherelationbe tweenforcesanddisplacementsinthesystem .Ifthesurveydisplacementofeverypointordirectionisknown,alldisplacementsanddeformationsofblocks,eventheglide ,theclosureandthestretchoftheboundary planeofblocks ,canbecalculated .TheresultisoptimallyfittedaccordingtotheLeastSquarePrinciple.DDAismainlyusedinrockblockssystems…  相似文献