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   

南海风暴潮对风场和外围海水敏感性研究     

李健  刘清容  阮成卿  訚忠辉  冀承振 《海洋科学》2018,42(2):99-107

为探索来自西北太平洋台风风暴潮与南海局地生成台风风暴潮不同,本研究在假设两种台风气象条件相同情况下,研究随台风而来外围海水所形成增水对南海沿岸的影响。以0814"黑格比"强台风风暴潮为基础,使用ROMS(regional ocean modeling system)模式进行数值模拟并通过设计对比试验方法进行研究,研究发现在台风登陆时引起的增水最大,最大增水出现在台风路径右侧,其中在沿岸区域,外围海水形成增水约占总增水10%,且大约3 h后出现增水回震现象。同时,设计对比试验,研究来自西北太平洋台风风暴潮对台风路径、台风强度、台风移动速度和流入角等气象条件敏感性,并获得与前人一致的结果。  相似文献   

解郁安神法联合体外反搏对PCI术后气滞血瘀型胸痹患者的临床疗效观察          下载免费PDF全文

王敏  徐新利  姜光萍 《应用海洋学学报》2020,36(12):1

目的：观察解郁安神法联合体外反搏（EECP）对经皮冠状动脉介入治疗（PCI）术后气滞血瘀型胸痹患者的临床疗效。方法：将80例冠心病PCI术后气滞血瘀型胸痹患者随机分为治疗组和对照组,每组各40例。对照组采用PCI术后规范化治疗,同时联合EECP治疗;治疗组在对照组基础上加服解郁安神方治疗,随访观察7周,比较2组临床证候疗效、Zung焦虑自评量表（SAS）评分、抑郁自评量表（SDS）评分、西雅图心绞痛调查量表（SAQ）评分。结果：总有效率治疗组为82.5%（33/40）,高于对照组的60.0%（24/40）,2组比较,差异有统计学意义（P<0.05）;2组SAS、SDS、SAQ评分治疗前后组内比较及治疗后组间比较,差异均有统计学意义（P<0.05）。结论：解郁安神法联合EECP治疗可明显改善PCI术后气滞血瘀型胸痹患者的临床症状,缓解焦虑抑郁程度,提高患者生活质量,值得临床推广应用。  相似文献   

FEASIBLE STUDY ON THE INTEGRATION SYSTEM FOR THE SPACE MONITORING OF MAJOR EARTHQUAKES AND VOLCANOES IN TERRESTRIAL LAND   总被引：1，自引：1，他引：0  

BOLi-qun 《中国地理科学(英文版)》2002,12(4):350-353

With the rapid development of space technology, earth observation technology and sky observatory technolo-gy, they have played a more and more important part in monitoring and predicting of earthquakes and volcanoes in the terres-trial land. In recent years, the related agencies have done the experiments and researches on monitoring and predicting ofearthquakes and volcanoes in the forewarning period by means of many approaches, such as satellite thermal infrared re-mote sensing (TIRS), Global Positioning System (GPS), differential interferometric synthesis aperture radar (D-INSAR),astronomical time-latitude residual anomaly, and Geographic Information Systems (GIS), etc. A quite large number of re-search foundation has been built in the fundamental theories and application methods. The experiments and researcheshave shown that these technology is efficient methods for high frequency crust movement. If the existed separate scientificforces and results are possibly assembled together to form a more complete integration monitoring system with the combina-tion of space, sky observation, ground, deep geology and macro anomaly, it will come into a new stage of monitoring andpredicting of earthquakes and volcanic eruptions.  相似文献   

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   

THERMAL EFFECTS OF BUILDING′S EXTERNAL SURFACES IN CITY——Characteristics of Heat Flux into and out of External Wall Surfaces     

ZHANG Yi-ping  HE Yun-ling    LIU Yu-hong  MA You-xin  LI You-rong  DOU Jun-xia     《中国地理科学(英文版)》2004,(4)

1INTRODUCTIONWiththerecentmodernizationandurbanizationofChi-na,urbanareashavegreatlyincreased, andgiantbuild-ings,especiallythosetallerthan100m,havebeendomi-nantincities,whichhave resultedinthegreatincreaseintheproportionofbuilding'sexternalsurfacetototalurbanarea.Thedifferencesofthermalpropertiesmain-lyinducedbysolarradiationbetweenbuilding'sexter-nalsurfacesareobviousfordifferentexposures,whichcaninevitablyinfluencethedistributionsofairtempera-turenearby,eventheverticaldistributionsofurb…  相似文献   

Investigating the mechanisms leading to the deglaciation of past continental northern hemisphere ice sheets with the CLIMBER–GREMLINS coupled model     

Sylvie Charbit  Masa Kageyama  Didier Roche  Catherine Ritz  Gilles Ramstein 《Global and Planetary Change》2005,48(4):1887

A coupling procedure between a climate model of intermediate complexity (CLIMBER-2.3) and a 3-dimensional thermo-mechanical ice-sheet model (GREMLINS) has been elaborated. The resulting coupled model describes the evolution of atmosphere, ocean, biosphere, cryosphere and their mutual interactions. It is used to perform several simulations of the Last Deglaciation period to identify the physical mechanisms at the origin of the deglaciation process. Our baseline experiment, forced by insolation and atmospheric CO₂, produces almost complete deglaciation of past northern hemisphere continental ice sheets, although ice remains over the Cordilleran region at the end of the simulation and also in Alaska and Eastern Siberia. Results clearly demonstrate that, in this study, the melting of the North American ice sheet is critically dependent on the deglaciation of Fennoscandia through processes involving switches of the thermohaline circulation from a glacial mode to a modern one and associated warming of the northern hemisphere. A set of sensitivity experiments has been carried out to test the relative importance of both forcing factors and internal processes in the deglaciation mechanism. It appears that the deglaciation is primarily driven by insolation. However, the atmospheric CO₂ modulates the timing of the melting of the Fennoscandian ice sheet, and results relative to Laurentide illustrate the existence of threshold CO₂ values, that can be translated in terms of critical temperature, below which the deglaciation is impeded. Finally, we show that the beginning of the deglaciation process of the Laurentide ice sheet may be influenced by the time at which the shift of the thermohaline circulation from one mode to the other occurs.  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   

地下洞库勘察中的深斜孔钻探和压水试验技术          下载免费PDF全文

吉孟瑞  孙桂明  吴昌庆  原华山 《山东国土资源》2001,17(2):56-60

青岛市黄岛区拟建设海底地下油气储藏库,前期地质勘察工作要求施工倾角45°、深220m的取心钻孔4个,并在孔内分段进行压水试验.本文介绍了如何利用XY-4型金刚石小口径钻机施工基岩深斜孔及压水试验技术.  相似文献   

图形软件在编辑出版专题地图中的应用研究     

王大新 《地球信息科学学报》2001,3(2):25-28

计算机制图(CAC)和电子出版系统的普及和推广,从根本上改变了传统的地图生产工艺。本文结合制图实践,讨论了应用Coreldraw图形软件编辑出版专题地图的适应性、系统条件和工艺流程,并总结了一些制图经验和应该注意的若干问题。  相似文献