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   

利用超快速精密星历约束的北斗卫星实时精密定轨     

范磊  施闯  李敏 《大地测量与地球动力学》2018,38(9):937-942

以广播星历为起算轨道的北斗卫星实时滤波精密定轨往往需要较长收敛时间，针对此，提出利用超快速精密星历约束的实时精密定轨方法。通过MGEX跟踪网全球分布的51个测站连续7 d的实测数据，利用平方根信息滤波对北斗卫星实时精密轨道进行确定，并以3 d解事后轨道作为参考，评估北斗卫星实时滤波轨道精度。结果表明，利用广播星历作起算轨道时，北斗实时滤波轨道平均需要经过15 h收敛才能达到稳定，而新方法在这段时间内轨道变化较为平稳，未出现明显的收敛现象，并且7 d时间内GEO卫星在切向、法向和径向上RMS分别优于2.5 m、20 cm和30 cm，IGSO和MEO卫星在3个方向上分别优于30 cm、15 cm和10 cm。
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一种新的振幅滤波法在化磁极中的应用     

丁凤仪  刘建军 《地球科学与环境学报》1995,(4)

本文针对低纬度地区频率域化磁极存在的问题，在频谱分析的基础上，提出了一种新的滤波方法即振幅滤波法。该方法能将低纬度地区化极磁场的频谱恢复到垂直磁化磁场的频谱，大大提高了低纬度地区化磁极的精度。  相似文献   

Controlled Direction Reception Filtering of P- and S-Waves In τ-P Space     

S. A. Greenhalgh  I. M. Mason  E. Lucas  D. Pant  R. T. Eames 《Geophysical Journal International》1990,100(2):221-234

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图像目标形状匹配与视频过滤技术研究   总被引：1，自引：0，他引：1  

吴四九 《成都信息工程学院学报》2002,17(2):97-100

通过研究图像目标形状特征的提取、匹配，运用随机过程，投影理论，提出用于识别目标形状统计特性的波动度特征，建立目标形状匹配函数，给出实际图像目标的匹配实现算法，实际系统测试表明该算法能准确、快速完成实际图像目标形状的匹配、过滤，为图像跟踪、识别及视频过滤等应用领域提供了新的可借鉴方法。  相似文献   

一次西南低涡过程的地面场中尺度分析     

曾俊  卢敬华  潘鄂芬 《成都信息工程学院学报》1990,(Z1)

本文运用带通滤波分析方法,对四川省1981年7月由西南低涡等天气系统引起的大暴雨过程作了地面气象要素场的中尺度诊断分析。结果表明,带通滤波后的场具有明显的中尺度特征,其中一些物理量场的适当配置与6小时后的暴雨中心有较好的对应关系。说明了此带通滤波方法在实际业务预报中具有一定的使用价值。  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   

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

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