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   

新疆和田地区耕地面源污染生态风险评价          下载免费PDF全文

田丰收  刘新平  原伟鹏 《干旱区地理》2019,42(2):295-304

随着化肥、农膜等在农业生产中的过量投入，耕地面源污染的程度随之加重。文章选取塔里木河流域上游和田地区为研究区域，依据P-S-R框架理论，构建和田地区耕地面源污染生态风险评价指标体系，加入土壤理化数据，使用生态风险评价模型对和田地区1980 年及2016 年耕地面源污染状况进行生态风险评价，运用耕地生态风险模型、生态风险转移矩阵、Arcgis分析和田地区耕地面源污染时空分异状况。研究结论如下：和田地区1980 年耕地生态风险等级均为II级或III级，呈“中间高，两侧低”分布；2016 年耕地生态风险等级上升至IV级或V级，呈“倒W型”分布，各县耕地面源污染程度较1980 年均有较大幅度的上升，其中墨玉县和于田县在2016 年耕地生态风险等级达到最高的V级，而民丰县因自身生态环境的强脆弱性，同样需要提高关注。根据面源污染“从源头治理”的原则，应切实推进和田地区耕地生态环境保护与治理，提高政府重视程度，增强技术指导，开展试点工作，改善和田地区耕地面源污染现状。  相似文献   

Analytical study of ground motion caused by seismic wave propagation across faulted rock masses          下载免费PDF全文

J.C. Li  N.N. Li  S.B. Chai  H.B. Li 《国际地质力学数值与分析法杂志》2018,42(1):95-109

Studying seismic wave propagation across rock masses and the induced ground motion is an important topic, which receives considerable attention in design and construction of underground cavern/tunnel constructions and mining activities. The current study investigates wave propagation across a rock mass with one fault and the induced ground motion using a recursive approach. The rocks beside the fault are assumed as viscoelastic media with seismic quality factors, Q_p and Q_s. Two kinds of interactions between stress waves and a discontinuity and between stress waves and a free surface are analyzed, respectively. As the result of the wave superposition, the mathematical expressions for induced ground vibration are deduced. The proposed approach is then compared with the existing analysis for special cases. Finally, parametric studies are carried out, which includes the influences of fault stiffness, incident angle, and frequency of incident waves on the peak particle velocities of the ground motions.  相似文献   

基于深度域地震成像的中沙海槽盆地东北部结构构造研究     

赵斌  高红芳  张衡  李丽青 《热带海洋学报》2019,38(2):95-102

文章基于叠前深度偏移地震成像分析, 结合前人重磁反演等地球物理资料成果, 对中沙海槽盆地东北部结构构造进行探索研究。研究表明: 中沙海槽盆地东北部发育新生代地层, 厚度在1500~2500m之间, 地层层速度为1500~ 3500m·s^-1, 不存在中生界沉积层, 盆地基底为海山或前寒武系基岩及岩浆岩隆起。中沙海槽盆地新生代陆源海相烃源岩丰富, 盆地新生界地层厚度大, 盆地凹陷、断裂发育, 具有一定的油气勘探潜力。  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   

中国古生教授学会微体古生物学分会举行代表大会和学术年会     

李家骧 《南方国土资源》1996,(4)

中国古生教授学会微体古生物学分会举行代表大会和学术年会中国古竽物学会微体古物学分会第五次会员代表大分暨第六次不术年会于１９９６年１月２４日到３０日在福州市召开。来自全国地质、石油、煤炭的和产、科研和大学的１００多位代表参加了这次大会和学术研讨。大会共...  相似文献   

Irpinia, Italy, 1980 earthquake: waveform modelling of strong motion data     

P. Suhadolc  G. F. Panza  F. Vaccari 《Geophysical Journal International》1990,101(3):631-647

  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   

Synthetic SH seismograms in a laterally varying medium by the discrete wavenumber method   总被引：1，自引：0，他引：1  

Michel Campillo  Michel Bouchon 《Geophysical Journal International》1985,83(1):307-317

Summary. We present a new method to calculate the SH wavefield produced by a seismic source in a half-space with an irregular buried interface. The diffracting interface is represented by a distribution of body forces. The Green's functions needed to solve the boundary conditions are evaluated using the discrete wavenumber method. Our approach relies on the introduction of a periodicity in the source-medium configuration and on the discretization of the interface at regular spacing. The technique developed is applicable to boundaries of arbitrary shapes and is valid at all frequencies. Some examples of calculation in simple configurations are presented showing the capabilities of the method.  相似文献