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   

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   

An explicit representation of steady state response of a beam on an elastic foundation to moving harmonic line loads     

Lu Sun 《国际地质力学数值与分析法杂志》2003,27(1):69-84

A closed‐form deflection response of a beam rest is presented in this paper using the integral transform method. The theory of linear partial differential equations is used to represent the deflection of beam subjected to a moving harmonic line load in integration form. The solution is finally carried out using the inverse Fourier transform. To evaluate the integration analytically, poles of the integrand are identified with the help of algebraic equation theory. Residue theorem is then utilized to represent the integration as a contour integral in the complex plane. Closed‐form deflections and numerical results are provided for different combinations of load frequency and velocity. Copyright © 2002 John Wiley & Sons, Ltd.  相似文献   

Plane of elastic non-resisting tension material under foundation structures     

A. Baratta  I. Corbi 《国际地质力学数值与分析法杂志》2004,28(6):531-542

In the frame of 2D-static problems one approaches the problem of elastic-NRT (not-resisting tension) semi-plane loaded on its limit line. This problem is intended to model the stress situation induced in the soil by a foundation structure. The solution, in terms of activated stress field, is searched for in the class of stress fields satisfying equilibrium and admissibility conditions, by applying an energy approach. Copyright © 2004 John Wiley & Sons, Ltd.  相似文献   

山区公路软基病害研究   总被引：2，自引：0，他引：2  

刘雪岭  苏生瑞  周新民 《地球科学与环境学报》2005,27(1):65-69

随着高等级公路建设规模的扩大，山区公路所面临的路基病害特别是软土路基病害问题也逐渐增多。结合对陕南勉(县)一宁(强)高速公路工程实例分析，对山区软土成因及其特性进行了初步分析，认为山区软土属以坡洪积、湖积和冲积为主的软土，也有少量是由坡残积物堆积而形成。山区软土的特殊性表现在成分的复杂性、分布的不均匀性、隐蔽性和物理力学性质的特殊性。根据其特性以及中国山区公路软基普遍存在的病害问题，总结了山区公路软基的主要病害类型为剪切拉裂破坏、浸水沉陷破坏、剥蚀坍塌破坏、推挤滑动破坏。还提出了相应的软基处理方法及建议。  相似文献   

用素土桩挤密法处理陇东湿陷性黄土地基     

缪祥生  俞宗卫  于丽羽 《地球科学与环境学报》1994,(2)

素土桩挤密地基由桩间挤密土和回填素土夯实的桩体组成，它是一种人工“复合地基”。其作用是通过素土桩挤密法提高地基土的密实度，从而对湿陷性黄土达到消除浅部或深部的部分或全部湿陷性的作用，并改善地基承载能力，减少地基变形。本文通过现场单桩、群桩单元体轻便触探、小环刀深层取样、开剖取样等方法对场地地基土挤密前、后干重度和压实系数进行了对比分析，判定用素土桩挤密法处理陇东湿陷性黄土地基的可行性。  相似文献   

水下滑翔器主体外形优化设计   总被引：2，自引：0，他引：2  

王兵振  朱光文  杜敏  任炜  李永奇 《海洋技术学报》2008,27(3)

对水下滑翔器主体外形的优化设计问题进行研究.首先,在考虑内部机械结构限制的条件下,建立了主体外形优化数学模型,并采用CFX计算了若干主体形状的绕流阻力.在此基础上建立了映射主体外形的尺寸参数与绕流阻力的BP神经网络.然后将建立的神经网络作为优化设计问题的目标函数,采用坐标轮换法对滑翔器主体外形进行了优化设计,确定了尺寸参数的最优解.  相似文献   

Design of shallow foundations under tensile loading for transmission line towers: An overview     

M.P. Pacheco  F.A.B. Danziger  C. Pereira Pinto   《Engineering Geology》2008,101(3-4):226-235

Tensioned foundations are common in civil engineering applications such as transmission towers, harbors, offshore structures, basement slabs under pressure, industrial equipment, etc. Procedures for the design of tensioned foundations are discussed in this paper, including specific recommendations for more common transmission tower foundations. Starting from a distinction between shallow and deep modes of failure, the paper presents the most common failure mechanisms for shallow failure in tension, including procedures for calculation of foundation tensile capacity under vertical and inclined loading. Emphasis is given to the influence of the strength of the compacted backfill compared to the strength of the natural soil, including presentation of results of full-scale loading tests.  相似文献   

基于群桩基础沉降估算确定压缩层厚度的探讨     

宁文务 《探矿工程》2008,35(8):44-46

在现行规范中,由于桩基沉降估算模式的不同,压缩层厚度的确定方法也不完全相同。对这些方法进行归纳、总结,并通过具体的工程实例,对由不同估算模式确定的压缩层厚度及沉降估算结果进行探讨与分析,认为对于工程场地地质资料掌握较为翔实的情况下,压缩层厚度可采用变形比法确定,否则,宜根据应力比法确定。  相似文献   

广州地区深基坑支护形式研究     

王岭  王睿 《探矿工程》2008,35(11):42-47

介绍了广州地区基坑支护近年来的主要类型及其适用范围,并在分析选型各影响因素的基础上,总结出设计选型的要点。  相似文献