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   

高精度直升机机载LiDAR在高速公路改扩建勘测中的应用可行性研究          下载免费PDF全文

郑伟安 《山东国土资源》2018,34(8)

机载LiDAR在公路勘测方面的用途日益广泛。该文对直升机机载LiDAR在高速公路改扩建中的应用技术路线可行性进行了研究论证,从地面控制测量、点云数据获取、点云数据处理、成果应用等多个方面进行了阐述,通过分析LiDAR点云数据在5种不同地面控制点布设方案校正下的点云数据精度,论证了利用地面控制点对直升机机载LiDAR点云数据进行平面和高程校正的可行性。  相似文献   

不同排列方式和间隙比下双圆柱流致振动特性研究   总被引：1，自引：0，他引：1  

刘巨保  杨明  岳欠杯  丁宇奇  姚利明 《海洋工程》2018,36(4):105-113

采用基于ALE的流固耦合分析方法,将圆柱体振动模型简化为平面双自由度质量-弹簧-阻尼系统,进行了计算参数无关性分析。对不同θ角和间隙比T下的双圆柱流致振动进行数值模拟,并与单圆柱振动计算结果进行比较,得到了不同θ角和间隙比T下中心圆柱的升阻力系数、流场分布和运动轨迹变化情况。通过分析发现小间隙比下由于两圆柱间的相互干扰,改变了中心圆柱的尾涡结构,导致了升力和阻力系数随不同θ角而发生变化;小间隙比下由于两圆柱间的相互干扰影响,均使中心圆柱的轨迹在不同θ角下发生了较大的变化,顺流向的振动频率与单圆柱振动时相比出现了多倍频,导致其运动轨迹发生了变化。  相似文献   

Hydrological management strategies for the control of algal blooms in regulated lowland rivers     

Jian Li  Wei Yin  Haiyan Jia  Xiaokang Xin 《水文研究》2021,35(6):e14171

Reservoirs of lowland floodplain rivers with eutrophic backgrounds cause variations in the hydrological and hydraulic conditions of estuaries and low-dam reservoir areas, which can promote planktonic algae to proliferate and algal bloom outbreaks. Understanding the ecological effects of variations in hydrological and hydraulic processes in lowland rivers is important for algal bloom control. In this study, the middle and lower reaches of the Han River, China, a typical regulated lowland river with a eutrophic background, are selected. Based on the effect of hydrological and hydraulic variability on algal blooms, a hydrological management strategy for river algal bloom control is proposed. The results showed that (a) differences in river morphology and background nutrient levels cause significant differences in the critical threshold flow velocities for algal bloom outbreaks between natural river and low-dam reservoir sections; there is no uniform threshold flow velocity for algal bloom control. (b) There are significant differences in the river hydrological/hydraulic conditions between years with and without algal blooms. The average river flow, water level and velocity in years with algal blooms are significantly lower than those in years without algal blooms. (c) For different river sections where algal blooms occur and to meet the threshold flow velocities, the joint operation of cascade reservoirs and diversion projects is an effective method to prevent and control algal blooms in regulated lowland rivers. This study is expected to deepen our understanding of the ecological significance of special hydrological processes and guide algal bloom management in regulated lowland rivers.  相似文献   

风和径流量对长江口缺氧影响的数值模拟   总被引：1，自引：1，他引：0  

郑静静  刘桂梅  高姗  李云  李志杰 《海洋学报》2018,40(9):1-17

受自然和人类活动的影响，海洋缺氧现象日益严重，威胁着海洋生态环境，海洋缺氧问题已经引起了人们的广泛关注。本文应用区域海洋模式并耦合生态模式，对东海的生态系统进行了数值模拟和分析研究。与观测数据比较显示，该模型能较好地模拟长江口外生态变量的分布趋势。另外本文通过设置不同敏感性实验，探讨风和径流量对长江口底层缺氧现象的影响，结果分析表明，风和径流量对长江口外缺氧区的形成有显著的影响。径流量变化虽然对长江口外缺氧区的季节变化影响并不显著，但是对缺氧区域面积却存在显著的影响。径流量增加，水体层化增强，表层叶绿素浓度增加，最终导致缺氧区域范围扩展；径流量减小，水体层化减弱，表层叶绿素浓度减小，缺氧区域范围缩小。风向和风速的改变不仅影响长江口外缺氧区的季节变化，还影响缺氧区域面积。  相似文献   

Study of the flood control scheduling scheme for the Three Gorges Reservoir in a catastrophic flood          下载免费PDF全文

Shanghong Zhang  Zhu Jing  Wenda Li  Yujun Yi  Yong Zhao 《水文研究》2018,32(11):1625-1634

The Three Gorges Project is the world's largest water conservancy project. According to the design standards for the 1,000‐year flood, flood diversion areas in the Jingjiang reach of the Yangtze River must be utilized to ensure the safety of the Jingjiang area and the city of Wuhan. However, once these areas are used, the economic and life loss in these areas may be very great. Therefore, it is vital to reduce this loss by developing a scheme that reduces the use of the flood diversion areas through flood regulation by the Three Gorges Reservoir (TGR), under the premise of ensuring the safety of the Three Gorges Dam. For a 1,000‐year flood on the basis of a highly destructive flood in 1954, this paper evaluates scheduling schemes in which flood diversion areas are or are not used. The schemes are simulated based on 2.5‐m resolution reservoir topography and an optimized model of dynamic capacity flood regulation. The simulation results show the following. (a) In accord with the normal flood‐control regulation discharge, the maximum water level above the dam should be not more than 175 m, which ensures the safety of the dam and reservoir area. However, it is necessary to utilize the flood diversion areas within the Jingjiang area, and flood discharge can reach 2.81 billion m³. (b) In the case of relying on the TGR to impound floodwaters independently rather than using the flood diversion areas, the maximum water level above the dam reaches 177.35 m, which is less than the flood check level of 180.4 m to ensure the safety of the Three Gorges Dam. The average increase of the TGR water level in the Chongqing area is not more than 0.11 m, which indicates no significant effect on the upstream reservoir area. Comparing the various scheduling schemes, when the flood diversion areas are not used, it is believed that the TGR can execute safe flood control for a 1,000‐year flood, thereby greatly reducing flood damage.  相似文献   

基于SODA资料的南海表层风能输入的空间分布与长期趋势研究     

杨倩  崔超然  张宇  刘志宇  管玉平  黄瑞新 《热带海洋学报》2018,37(6):41-48

海面风不仅是驱动上层海洋运动的主要动力, 其能量也是维持海洋表层流动的主要机械能来源。为了分析南海表层流风能输入的变化, 用SODA(Simple Ocean Data Assimilation)(1901—2010)资料估算了风向南海表层流(表层地转流+表层非地转流)的能量输入。结果表明, 风向南海表层流、表层地转流和表层非地转流输入的能量总体均呈减少趋势, 110年间分别减小了约56%、65%和49%。导致风能输入减小的最主要因素是风应力的减弱(减小了35%)。由于南海受季风系统的控制, 风向表层流及其各成分输入的能量呈现出显著的季节性变化。冬季风能输入最强, 高值区位于南海西部及北部区域, 呈一个显著的“回力镖”状结构。这些结果对深入认识南海环流具有理论意义。  相似文献   

基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制   总被引：2，自引：0，他引：2  

黄道敏  徐瑞昆  唐国元  冯雷  刘智  徐国华 《海洋工程》2018,36(6):69-76

基于控制力矩陀螺群(CMGs)的水下航行器具有低速或零速机动的能力。采用基于分布式CMGs的水下航行器方案,并研究其水平面的轨迹跟踪控制问题。通过全局微分同胚变换将非完全对称的动力学模型解耦成标准欠驱动控制模型,并根据简化的模型构建其轨迹跟踪的误差动力学模型,将轨迹跟踪控制问题转化为误差模型镇定问题。基于一种分流神经元模型和反步法设计了系统的轨迹跟踪控制律,该控制器不需要对任何虚拟控制输入进行求导计算,且能确保跟踪误差的最终一致有界性。仿真结果表明该控制器能够实现在不依赖动力学参数先验知识的情况下对光滑轨迹的有效跟踪。  相似文献   

乌兰布和沙漠典型植物群落土壤风蚀可蚀性研究   总被引：1，自引：0，他引：1       下载免费PDF全文

王佳庭  于明含  杨海龙  吴其淦  刘泰含 《干旱区地理》2020,43(6):1543-1550

为探明植被恢复对乌兰布和沙漠土壤风蚀可蚀性的影响，以乌兰布和沙漠内不同沙地固 定阶段的 8 种典型植物群落及群落内表土作为研究对象，对土壤物理因子（可蚀性颗粒含量、土壤 含水量、有机质含量）、土壤结皮因子、植被因子 3 类土壤风蚀可蚀性因子指标进行监测，分析土壤 风蚀可蚀性因子在不同植物群落类型间、沙地固定阶段间的差异。结果表明：（1）在乌兰布和沙漠 典型植物群落中，沙蓬、沙生针茅、盐爪爪等草本植物群落的土壤风蚀可蚀性最强，白刺、梭梭、沙 冬青等灌木植物群落土壤风蚀可蚀性弱于草本植物群落，说明灌木林能显著降低土壤风蚀作用。 （2）随着沙地的不断固定，土壤结构不断发育，土壤可蚀性不断降低，土壤风蚀可蚀性强弱表现为 固定沙地<半固定沙地<流动沙地。（3）土壤可蚀性颗粒含量、土壤有机质含量、土壤含水量、土壤结 皮、植被因子与植被类型及沙地固定阶段具有显著相关关系。因此，在沙区生态建设工程中，为了 减少土壤风蚀量，不仅要考虑物种的选择，还要促进人工生态系统的演替和恢复，从而有效降低土 壤风蚀可蚀性。研究结果可为乌兰布和沙区植被生态系统服务功能的科学评价、防沙治沙工程的 建设与管理提供一定参考。  相似文献   

Wave energy conversion under constrained wave-by-wave impedance matching with amplitude and phase-match limits     

《Applied Ocean Research》2019

This paper investigates an approach to limit the fullness of ‘tuning’ provided by wave-by-wave impedance matching control of wave energy devices in irregular waves. A single analytical formulation based on the Lagrange multiplier approach of Evans [1] is used to limit the velocity amplitude while also limiting the closeness of the phase match between velocity and exciting force. The paper studies the effect of the present technique in concurrently limiting the device velocity and the required control/actuation force. Time domain application requires wave-profile prediction, which here is based on a deterministic propagation model. Also examined in the time domain is the effect of possible violation of the displacement constraint, which for many designs implies impacts at hard stops within the power take-off mechanism. Time domain simulations are carried out for a 2-body axisymmetric converter (with physical end-stops) in sea states reported for a site off the US east coast. It is found that the approach leads to effective power conversion in the less energetic sea states, while as desired, considerable muting of the optimal response is found in the larger sea states. Under the assumptions of this work, the end-stop collisions are found to have a minor effect on the power conversion. The present approach could be used to guide the design of power take-off systems so that their displacement stroke, maximum force, and resistive and reactive power limits are well-matched to the achievable performance of a given controlled primary energy converter.  相似文献