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   

新疆库车县盐水沟北铜矿床地质特征及成因探讨          下载免费PDF全文

刘传朋 《山东国土资源》2018,34(4)

盐水沟北铜矿区位于新疆库车县北部,其大地构造位置处于塔吉克-塔里木陆块区、塔里木陆块、塔里木北缘隆起、库车前陆盆地,区内构造活动强烈。铜矿床赋存于新近纪中新统康村组第一岩性段,矿体呈层状,严格受地层控制。区内共圈定10个铜矿体,矿石矿物主要为孔雀石、赤铜矿、水胆矾、自然铜等,矿体内无夹石,顶、底板围岩均为褐红色及浅红色粉质泥岩。该矿床为砂岩型铜矿床。  相似文献   

Dynamic modelling of retrogressive landslides with emphasis on the role of clay sensitivity          下载免费PDF全文

Xue Zhang  Scott W. Sloan  Eugenio Oñate 《国际地质力学数值与分析法杂志》2018,42(15):1806-1822

This paper presents a detailed numerical study of the retrogressive failure of landslides in sensitive clays. The dynamic modelling of the landslides is carried out using a novel continuum approach, the particle finite element method, complemented with an elastoviscoplastic constitutive model. The multiwedge failure mode in the collapse is captured successfully, and the multiple retrogressive failures that have been widely observed in landslides in sensitive clays are reproduced with the failure mechanism, the kinematics, and the deposition being discussed in detail. Special attention has been paid to the role of the clay sensitivity on each retrogressive failure as well as on the final retrogression distance and the final run‐out distance via parametric studies. Moreover, the effects of the viscosity of sensitive clays on the failure are also investigated for different clay sensitivities.  相似文献   

杭州湾中部实测波浪特性分析   总被引：1，自引：0，他引：1  

杨斌  杨忠良  叶钦  张俊彪  施伟勇 《海洋工程》2018,36(3):96-103

利用杭州湾中部一年实测波浪资料,分析该地区的波参数统计变化特性,采用最小二乘法拟合得出相关参数之间的关系式,并统计分析了频谱特性。结果表明:杭州湾中部以小浪和轻浪为主,在各月分布较为均匀,年平均周期为2.97 s;最大一次波浪过程为冷空气影响所致,影响强度大于台风莫拉克;常浪向分布在东北至东南向,其中又以小浪出现较多,对应的波周期以2~4 s为主;强浪向主要分布在西北和东北方向,对应的波周期主要分布在3~5 s;多数特征波参数之间相关关系较好;由谱分析得知风浪占多数,且以单峰为主。研究结果可为相关工程和理论研究提供基础资料。  相似文献   

A multiscale work-analysis approach for geotechnical structures     

Hao Xiong  Zhen-Yu Yin  François Nicot 《国际地质力学数值与分析法杂志》2019,43(6):1230-1250

This paper presents a second-order work analysis in application to geotechnical problems by using a novel effective multiscale approach. To abandon complicated equations involved in conventional phenomenological models, this multiscale approach employs a micromechanically-based formulation, in which only four parameters are involved. The multiscale approach makes it possible a coupling of the finite element method (FEM) and the micromechanically-based model. The FEM is used to solve the boundary value problem (BVP) while the micromechanically-based model is utilized at the Gauss point of the FEM. Then, the multiscale approach is used to simulate a three-dimensional triaxial test and a plain-strain footing. On the basis of the simulations, material instabilities are analyzed at both mesoscale and global scale. The second-order work criterion is then used to analyze the numerical results. It opens a road to interpret and understand the micromechanisms hiding behind the occurrence of failure in geotechnical issues.  相似文献   

日照市土壤地球化学元素分布规律及成因探讨          下载免费PDF全文

庞绪贵  宋娟娟  代杰瑞  喻超  张华平  陈磊  任天龙  王红晋 《山东国土资源》2018,34(4)

在日照市开展多目标区域地球化学调查，获取了表层土壤和深层土壤地球化学数据，通过对获得的地球化学参数进行统计分析，确定了日照市土壤地球化学基准值和背景值，认为日照市除部分元素或指标外，大部分元素或指标土壤地球化学基准值和背景值与全省土壤地球化学基准值和背景值接近。研究发现，日照市As，Cd，Cr，Cu，Hg，Ni，Pb，Zn等8种重金属元素背景值含量低于国家土壤环境质量标准的土壤一级标准限值，日照市土壤质量基本保持自然背景水平；而受工业化生产和城市化建设等后期人为活动影响，日照市表层土壤中Cd，C，Hg，N，P，S，Se，Corg等元素或指标出现明显富集，应引起重视。  相似文献   

莱州湾南岸潍河下游地区咸水入侵灾害成因及特征   总被引：8，自引：1，他引：7  

刘恩峰  张祖陆  沈吉  宋俊峰 《地球科学与环境学报》2004,26(3):78-82,87

通过对莱州湾南岸咸水入侵较严重地潍河下游地区晚更新世以来沉积特征及现代自然环境条件变化的分析，探讨了沉积相对咸水入侵产生及空间范围特征的环境机理。晚更新世以来的三次海平面升降变化造成了潍河下游地区海陆沉积环境交替，形成了巨厚的海陆交互相沉积层。海进时期，大面积的滨海平原被淹没，在近海平原洼地滞留的海水经过蒸发、浓缩变为卤水，成为咸水入侵的物源；海退后陆源碎屑在滨海地区沉积形成了巨厚的古河道砂层。20世纪70年代末期以来，随着对地下淡水的过度开采，淡咸水水头压力差减小．卤水通过古河道砂层快速南侵。通过对潍河下游地区100余个地质钻孔水化学连续监测资料分析，阐明了咸水入侵的特征，有针对性地提出了咸水入侵的防治措施。  相似文献   

Application of micropolar plasticity to post failure analysis in geomechanics     

Majid T. Manzari 《国际地质力学数值与分析法杂志》2004,28(10):1011-1032

A micropolar elastoplastic model for soils is formulated and a series of finite element analyses are employed to demonstrate the use of a micropolar continuum in overcoming the numerical difficulties encountered in application of finite element method in standard Cauchy–Boltzmann continuum. Three examples of failure analysis involving a deep excavation, shallow foundation, and a retaining wall are presented. In all these cases, it is observed that the length scale introduced in the polar continuum regularizes the incremental boundary value problem and allows the numerical simulation to be continued until a clear collapse mechanism is achieved. The issue of grain size effect is also discussed. Copyright © 2004 John Wiley & Sons, Ltd.  相似文献   

P‐wave transmission across fractures with nonlinear deformational behaviour     

X. B. Zhao  J. Zhao  J. G. Cai 《国际地质力学数值与分析法杂志》2006,30(11):1097-1112

Stress wave attenuation across fractured rock masses is a great concern of underground structure safety. When the wave amplitude is large, fractures experience nonlinear deformation during the wave propagation. This paper presents a study on normal transmission of P‐wave across parallel fractures with nonlinear deformational behaviour (static Barton–Bandis model). The results show that the magnitude of transmission coefficient is a function of incident wave amplitude, nondimensional fracture spacing and number of fractures. Two important indices of nondimensional fracture spacing are identified, and they divide the area of nondimensional fracture spacing into three parts (individual fracture area, transition area and small spacing area). In the different areas, the magnitude of transmission coefficient has different trends with nondimensional fracture spacing and number of fractures. In addition, the study reveals that under some circumstances, the magnitude of transmission coefficient increases with increasing number of fractures, and is larger than 1. Copyright © 2006 John Wiley & Sons, Ltd.  相似文献   

浅谈项目投资失败的原因及对策     

梁宗念 《南方国土资源》2002,15(2):69-72

地勘单位在向企业化经营转变的过程中 ,投资兴办了许多企业 ,但不少项目以失败告终。文章分析探讨了失败的原因 ,并提出相应的对策  相似文献