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   

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   

JD直连式深孔绳索取心钻杆的研制与应用          下载免费PDF全文

许华松  覃强华  熊海书 《探矿工程》2008,35(10):33-35

根据深部找矿的需要,立足于我国目前钻探设备现状和材料冶炼及机械加工水平,通过对钻杆选材、结构、制造工艺的创新,研制了一种两端镦粗后整体热处理再车螺纹的新型深孔绳索取心钻杆及配套钻具,经使用,效果达到了设计要求。  相似文献   

Preliminary study on different nutrient pools supplies for the phytoplankton growth in the Jiaozhou Bay in China in the fall of 2004     

WANG Dan  SUN Jun  SONG Shuqun  LUAN Qingshan  Joey McMurdie 《海洋学报(英文版)》2007,26(3):110-120

The source and significance of two nutrients, nitrogen and phosphorous, were investigated by a modified dilution method performed on seawater samples from the Jiaozhou Bay, in autumn 2004. This modified dilution method accounted for the phytoplankton growth rate, microzooplankton grazing mortality rate, the internal and external nutrient pools, as well as nutrient supplied through remineralization by microzooplankton. The results indicated that the phytoplankton net growth rate increased in turn from inside the bay, to outside the bay, to in the Xiaogang Harbor. The phytoplankton maximum growth rates and microzooplankton grazing mortality rates were 1.14 and 0.92 d-1 outside the bay, 0.42 and 0.32 d-1 inside the bay and 0.98 and 0.62 d-1 in the harbor respectively. Outside the bay, the remineralized nitrogen (Kr=24.49) had heavy influence on the growth of the phytoplankton. Inside the bay, the remineralized phosphorus(Kr=3.49) strongly affected the phytoplankton growth. In the harbor, the remineralized phosphorus (Kr=3.73) was in larger demand by phytoplankton growth. The results demonstrated that the different nutrients pools supplied for phytoplankton growth were greatly in accordance with the phytoplankton community structure, microzooplankton grazing mortality rates and environmental conditions. It is revealed that nutrient remineralization is much more important for the phytoplankton growth in the Jiaozhou Bay than previously believed.  相似文献   

我国地质找矿取心（样）钻探设备现状及提高效能的分析研究          下载免费PDF全文

张永勤 《探矿工程》2006,33(8):45-50

概述了我国地质找矿钻探市场现状及前景，分析研究了地质取样钻探传统的立轴钻机及全液压动力头钻机的优缺点及综合效能，针对国家提出加强地质工作的形势及中国的实际状况，提出了完善和改进我国现有钻探设备、提高我国地质找矿取样钻探效率、降低能耗及成本的观点及建议。  相似文献   

冲击凿岩钎杆的瞬态动力学分析          下载免费PDF全文

周晔  张国榉 《探矿工程》2006,33(9):46-48

以ANSYS为平台，按照真实工作状态对凿岩钎杆进行了瞬态动力学分析，并对不同活塞形状下分析结果数据进行了比较，为冲击凿岩系统设计提供了理论依据。  相似文献   

FW-300型非开挖导向钻机给进机构的设计   总被引：4，自引：0，他引：4       下载免费PDF全文

郑午  吴晓军 《探矿工程》2002,(2):51-52

指出了对非开挖钻机给进机构的基本要求，着重介绍了FW－300型非开挖导向钻机机构的设计思想及主要部件设计。  相似文献