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   

南海海温异常与ENSO的相关性   总被引：11，自引：0，他引：11  

谭军  周发琇  胡敦欣  于慎余 《海洋与湖沼》1995,26(4):377-382

使用1958－1987COADS资料，应用复经验正交函数（CEOF）分析方法，分析南海海表面温度场（SST）和风场（u及v）。结果发现，南海海温异常基本独立于西太平洋，同时存在类似于ENSO事件的年际变化，ENSO发生前冬季南海有异常降温过程，之后有增暖事件发生。分析还表明，南海SST异常主要取决于经向风场的异常强迫。南海SST与ENSO事件的相关性实质上反映了季风异常对ENSO循环的影响。  相似文献   

Several significant hydrographic characteristics and their formation mechanism in the South China Sea during the spring and summer of 1998   总被引：1，自引：1，他引：1  

Xu Jianping  Chai Fei  Liu Zenghong  Zhu Bokang 《海洋学报(英文版)》2003,22(4):491-502

INTRODUCTIONTheSCSisthelargestmarginseainthewestoftheNorthPacificOcean .Theprevailingwindinwinterisnortheast,whileinsummeritissouthwest .Itisstilluncertainthathowthecirculationandtemperature -salinityfieldassociatewiththemonsoonforcingandaccompanywithseveralkindsofvariationsbeforeorafterthesummermonsoonburst .DuringSECMEXin 1 998,twointensiveobservationperiods (IOP)havebeencarriedoutntheSCS (Fig 1 ) :IOP1 ,from 1 0Aprilto 5May ;IOP2 ,from 1 2JunetoJuly 6 ,inordertounderstandthe…  相似文献   

Simulation of Formation and Spreading of Salinity Minimum Associated with NPIW Using a High-Resolution Model   总被引：1，自引：2，他引：1  

Hiroshi Ishizaki  Ichiro Ishikawa 《Journal of Oceanography》2004,60(2):463-485

A series of numerical experiments were conducted with a high-resolution (eddy-permitting) North Pacific model to simulate the formation and spreading of the salinity minimum associated with the North Pacific Intermediate Water (NPIW). It was found that two factors are required to simulate a realistic configuration of the salinity minimum: a realistic wind stress field and small-scale disturbances. The NCEP reanalyzed wind stress data lead to better results than the Hellerman and Rosenstein wind stress data, due to the closer location of the simulated Oyashio and Kuroshio at the western boundary. Small-scale disturbances formed by relaxing computational diffusivity included in the advection scheme promote the large-scale isopycnal mixing between the Oyashio and Kuroshio waters, simulating a realistic configuration of the salinity minimum. A detailed analysis of the Oyashio water transport was carried out on the final three-year data of the experiment with reduced computational diffusivity. Simulated transport of the Kuroshio Extension in the intermediate layer is generally smaller than the observed value, while those of the Oyashio and the flow at the subarctic front are comparable to the observed levels. In the Oyashio-Kuroshio interfrontal zone the zonally integrated southward transport of the Oyashio water (140–155°E) is borne by the eddy activity, though the time-mean flow reveals the existence of a coastal Oyashio intrusion. In the eastern part (155°E–180°) the zonally integrated transport of the Oyashio water indicates a southward peak at the southern edge of the Kuroshio Extension, which corresponds to the branching of the recirculating flow from the Kuroshio Extension. This revised version was published online in July 2006 with corrections to the Cover Date.  相似文献   

受扰线性系统的前馈-反馈最优控制     

唐功友  张颖璐 《中国海洋大学学报(自然科学版)》2005,35(1):121-124,48

针对具有外部持续扰动的线性系统，研究前馈-反馈最优控制律的设计问题。给出了最优控制律的存在唯一性条件。并提出了最优控制律的设计算法。利用滤波器解决了前馈控制的物理不可实现问题。仿真结果表明，此算法易于实现，与传统的反馈最优控制相比对抑制外部扰动具有较强的鲁棒性。  相似文献   

Deep ocean fluxes and their link to surface ocean processes and the biological pump     

T. Rixen  M.V.S. Guptha  V. Ittekkot 《Progress in Oceanography》2005,65(2-4):240

Intense studies of upper and deep ocean processes were carried out in the Northwestern Indian Ocean (Arabian Sea) within the framework of JGOFS and related projects in order to improve our understanding of the marine carbon cycle and the ocean’s role as a reservoir for atmospheric CO₂. The results show a pronounced monsoon-driven seasonality with enhanced organic carbon fluxes into the deep-sea during the SW Monsoon and during the early and late NE Monsoon north of 10°N. The productivity is mainly regulated by inputs of nutrients from subsurface waters into the euphotic zone via upwelling and mixed layer-deepening. Deep mixing introduces light limitation by carrying photoautotrophic organisms below the euphotic zone during the peak of the NE Monsoon. Nevertheless, deep mixing and strong upwelling during the SW Monsoon provide an ecological advantage for diatoms over other photoautotrophic organisms by increasing the silica concentrations in the euphotic zone. When silica concentrations fall below 2 μmol l⁻¹, diatoms lose their dominance in the plankton community. During diatom-dominated blooms, the biological pathway of uptake of CO₂ (the biological pump) appears to be more efficient than during blooms of other organisms, as indicated by organic carbon to carbonate carbon (rain) ratios. Due to the seasonal alternation of diatom and non-diatom dominated exports, spatial variations of the annual mean rain ratios are hardly discernible along the main JGOFS transect.Data-based estimates of the annual mean impact of the biological pump on the fCO₂ in the surface water suggest that the biological pump reduces the increase of fCO₂ in the surface water caused by intrusion of CO₂-enriched subsurface water by 50–70%. The remaining 30 to 50% are attributed to CO₂ emissions into the atmosphere. Rain ratios up to 60% higher in river-influenced areas off Pakistan and in the Bay of Bengal than in the open Arabian Sea imply that riverine silica inputs can further enhance the impact of the biological pump on the fCO₂ in the surface water by supporting diatom blooms. Consequently, it is assumed that reduced river discharges caused by the damming of major rivers increase CO₂ emission by lowering silica inputs to the Arabian Sea; this mechanism probably operates in other regions of the world ocean also.  相似文献   

Synchronism of Holocene East Asian monsoon variations and North Atlantic drift-ice tracers   总被引：3，自引：2，他引：3  

Stephen C. Porter  Zhou Weijian 《Quaternary Research》2006,65(3):443-449

Eighteen radiocarbon-dated eolian and paleosol profiles within a 1500-km-long belt along the arid to semi-arid transition zone of north-central China record variations in the extent and strength of the East Asian summer monsoon during the Holocene. Dated paleosols and peat layers represent intervals when the zone was dominated by a mild, moist summer monsoon climate that favored pedogenesis and peat accumulation. Brief intervals of enhanced eolian activity that resulted in the deposition of loess and eolian sand were times when strengthened winter monsoon conditions produced a colder, drier climate. The monsoon variations correlate closely with variations in North Atlantic drift-ice tracers that represent episodic advection of drift ice and cold polar surface water southward and eastward into warmer subpolar water. The correspondence of these records over the full span of Holocene time implies a close relationship between North Atlantic climate and the monsoon climate of central China.  相似文献   

Holocene climate and cultural evolution in late prehistoric-early historic West Asia   总被引：2，自引：0，他引：2  

Michael Staubwasser  Harvey Weiss 《Quaternary Research》2006,66(3):372-387

The precipitation climatology and the underlying climate mechanisms of the eastern Mediterranean, West Asia, and the Indian subcontinent are reviewed, with emphasis on upper and middle tropospheric flow in the subtropics and its steering of precipitation. Holocene climate change of the region is summarized from proxy records. The Indian monsoon weakened during the Holocene over its northernmost region, the Ganges and Indus catchments and the western Arabian Sea. Southern regions, the Indian Peninsula, do not show a reduction, but an increase of summer monsoon rain across the Holocene. The long-term trend towards drier conditions in the eastern Mediterranean can be linked to a regionally complex monsoon evolution. Abrupt climate change events, such as the widespread droughts around 8200, 5200 and 4200 cal yr BP, are suggested to be the result of altered subtropical upper-level flow over the eastern Mediterranean and Asia.The abrupt climate change events of the Holocene radically altered precipitation, fundamental for cereal agriculture, across the expanse of late prehistoric-early historic cultures known from the archaeological record in these regions. Social adaptations to reduced agro-production, in both dry-farming and irrigation agriculture regions, are visible in the archaeological record during each abrupt climate change event in West Asia. Chronological refinement, in both the paleoclimate and archaeological records, and transfer functions for both precipitation and agro-production are needed to understand precisely the evident causal linkages.  相似文献   

用一个耦合的全球格点大气环流模式-植被模式模拟中全新世气候变化   总被引：19，自引：7，他引：19  

Wang Huijun 《大气科学进展》2002,19(2):205-218

用一个耦合的全球格点大气环流模式－植被模式模拟中全新世的气候变化，模拟试验中考虑了地球轨道参数的变化，而其他强迫条件均取成现今值。结果表明，耦合的模式能够模拟出较今强的大尺度夏季风，特别是亚洲－非洲季风，而其他季节和区域的变化值一般都比较小。季风环流和季风降水都大幅度地增大了。结果还显示，耦合模式模拟的大尺度季风系统的变化同单纯大气环流模式模拟的结果非常相似，但是，在非洲北部季风区耦合模式模拟的降水和温度变化较单纯大气模式模拟的值要大，而且，耦合模式模拟的冬季降温值要比单纯大气模式模拟的结果小。  相似文献   

Impact of Southern Oscillation on the Frequency of Monsoon Depressions in the Bay of Bengal     

Singh  O. P.  Ali Khan  Tariq Masood  Rahman  Md. Sazedur 《Natural Hazards》2002,25(2):101-115

The impact of Southern Oscillation on thecyclogenesis over the Bay of Bengal duringthe summer monsoon has been investigated.The analysis of correlation coefficients(CCs) between the frequency of monsoondepressions and the Southern OscillationIndex (SOI) reveals that more depressionsform during July and August of El Niñoyears. Due to this, the seasonal frequencyof monsoon depressions remains little higherduring El Niño epochs even though thecorrelations for June and September are notsignificant. The CCs for July and August aresignificant at the 99% level.The El Niño-Southern Oscillation (ENSO)is known to affect Indian MonsoonRainfall (IMR) adversely. The enhancedcyclogenesis over the Bay of Bengal duringJuly and August is an impact of ENSO whichneeds to be examined closely. Increasedcyclogenesis over the Bay of Bengal may bereducing the deficiency in IMR duringEl Niño years by producing more rainfallover the eastern parts of India duringJuly and August. Thus there is a considerablespatial variation in the impact of ENSOon the monsoon rainfall over India and El Niñoneed not necessarily imply a monsoonfailure everywhere in India.The area of formation of monsoon depressionsshifts eastward during El Niño years.Warmer sea surface temperature (SST) anomaliesprevail over northwest and adjoiningwestcentral Bay of Bengal during premonsoon andmonsoon seasons of El Niño years.May minus March SOI can provide useful predictionsof monsoon depression frequencyduring July and August.  相似文献