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   

基于噪声谱比法的内蒙古西部地区台站场地响应研究     

张珂  王鑫  王树波  张红才  宋晓燕 《大地测量与地球动力学》2020,40(6):646-651

利用内蒙古西部12个台站的地脉动噪声数据，采用噪声谱比法研究台站的场地响应情况。分析表明，台站场地响应按曲线形态可分为3类，且可能受地形地貌、局部构造和台基状况等条件影响。对比分析噪声谱比法与Moya方法的场地响应结果发现，场地响应曲线形态基本一致，只有极少数台站存在明显差异。结果表明，内蒙古西部区域大部分台站的台基状况总体较好，场地响应曲线较为平坦，无明显频率放大点。  相似文献   

亚毫米波射电天文用超导SIS接收机的研制(英文)     

史生才 《紫金山天文台台刊》2003,(1)

为了研制亚毫米波射电天文用超导SIS(超导 -绝缘体 -超导 )接收机 ,我们重点开展了如下研究 ,1 )Nb超导SIS结在其能隙频率附近的量子混频特性 ,及其结合高能隙超导薄膜 (NbTiN)和高电导率金属薄膜 (Al)分布结阵在 780 - 950GHz频率区间的量子混频特性 ;2 )亚毫米波超导混频器嵌入阻抗的数值和实验表征 ;3)高电流密度小面积Nb超导SIS结的制备和特性表征 ;4)一个 60 0 - 72 0GHz超导SIS混频器的研制和特性表征。本文详细介绍了相关的数值分析和实验测量结果。  相似文献   

Optimal Filtering Algorithm for Stochastic 2-D FMM Ⅱ with Multiplicative Noise     

CHUDongsheng LIANGMeng SHIXin ZHANGLing 《中国海洋大学学报(英文版)》2004,3(1):106-110

1　Introduction　Inrecentyearstherehasbeengrowingresearchin terestinthetwo dimensional (2 D )systemtheory .The 2 Dsystemsmayfindapplicationsinareassuchasmarineseismicdataprocessingandimageprocessing .Althoughmoreandmorevaluableresultshavebeengained ,mos…  相似文献   

ANALYSIS OF DRIVING FORCES ON THE CHANGE OF HISTORICAL FARMLAND USE IN SHANDONG PROVINCE DURING THE QING DYNASTY (1644-1911)     

ZHANG Xue-in  GE Quan-heng  ZHENG Jing-un 《中国地理科学(英文版)》2003,13(3)

1INTRODUCTIONTheIGBP-IHDP(InternationalGeosphere-BiosphereProgramme,andInternationalHumanDimensionPro-gramme)jointproject—LUCC(landuse/coverchange)isaninterdisciplinaryprogramdesignedtoimprovetheunderstandingofthedynamicsofland-useandland-coverchangeasinputstoandconsequencesofglobalenvironmentalchangeandsustainabledevelopment(CHARLOTTE,2002).Inparticularthedifferentbio-geochemicalmodeling(e.g.theglobalcarboncycle)ac-tivitiesandcomparativestudies,suchasthoseconduct-edbyIGBP-G…  相似文献   

ANALYSIS OF DRIVING FORCES ON THE CHANGE OF HISTORICAL FARMLAND USE IN SHANDONG PROVINCE DURING THE QING DYNASTY （1644-1911）     

ZHANGXue-qin GEQuan-sheng ZHENGJing-yun 《中国地理科学(英文版)》2003,13(3):207-215

How land-cover has been changed by human use over the last 300 years is one of the five overarching questions guiding the Land-use/Cover Change (LUCC) Science/Research Plan. China has variety of historical docu-ments providing unique data superiority. So the characteristics of farmland area in Shandong Province during the Qing Dynasty (1644-1911) are summarized firstly: 1) the rising trend of farmland area was striking; 2) farmland area had re-markable fluctuation; 3) farmland area per capita decreased dramatically; 4) wasteland reclamation index increased rapidly. Then, the driving forces of farmland area change are analyzed. It is concluded that natural and human factors are jointly influential. Among the driving forces, human dimensions are the main factors of farmland area change,which direct the general tendency of the changes mentioned above. And the natural factors influence the stability of farmland area as well. Variation of the natural factors would act as the major contributory factor to farmland area change during years or periods of abrupt climatic changes, or during the intensive occurring periods of natural hazards.Besides, the passive aspects of human factors, such as war chaos also influenced the fluctuation of the farmland area.This research indicates that it is feasible to study the land-use/cover change by Chinese historical literatures, which has huge potential to provide a comprehensive picture of the growing dominance of human land-use and land-cover pat-terns that can be used in many global change research oroiects.  相似文献   

紫阳滑坡治理工程实例分析     

刘满全 《地球科学与环境学报》1994,(2)

本文介绍紫阳骨坡治理工程中有关抗滑桩的设计与施工。文中详细地论述了设计中设计人员应根据工程的具体情况去灵活处理的一些技术问题，如确定有关参数的选择原则，计算上的条件简化和一些具体技术细节的处理方法等．  相似文献   

Readout Techniques for Drift and Low Frequency Noise Rejection in Infrared Arrays     

Gert Finger  Reinhold J. Dorn  Alan W. Hoffman  Hamid Mehrgan  Manfred Meyer  Alan F. M. Moorwood  Joerg Stegmeier 《Experimental Astronomy》2002,14(2):117-127

Three different methods are presented to subtract thermal drifts and low-frequency noise from the signal of infrared array. The first is dead pixels with open Indium bumps, the second is reference output as implemented on the Hawaii2 multiplexer, and the third is dark pixels to emulate reference cells having a capacity connected to the gate of the unit cell field-effect transistor (FET). The third method is the most effective and yields a reduction in readout noise from15.4–9.4 erms. A novel method will be described to extend this readout technique to the Aladdin 1 K × 1 K InSb array. This revised version was published online in July 2006 with corrections to the Cover Date.  相似文献   

桩前预留土体对抗滑桩影响的分析与计算研究   总被引：1，自引：0，他引：1  

孙勇 《水文地质工程地质》2008,35(1):58-63

本文在前人研究的基础上对桩前土体需要开挖的抗滑桩提出了一种新的计算方法,即似m法。文中将单排抗滑桩分为三类:第一类为桩前土体不开挖,但与抗滑桩分离形成桩后缝隙;第二类为桩前土体不开挖,但与抗滑桩相贴且有抵挡抗滑桩的作用;第三类为桩前土体需要开挖,并对各类抗滑桩给出了相应的设计计算方法。对于第一类抗滑桩可用本文改进的m法和有限线单元法计算;对于第二类抗滑桩考虑桩前抗力值大小后也可用本文改进的m法和有限单元法计算;对于第三类抗滑桩可用本文提出的似m法和改进的有限线单元法计算。通过与实际工程测量值对比分析,得出结论:在抗滑桩工程中对桩的钢筋受力进行实测以推断桩的受力性能,弥补滑坡推力及桩前抗力勘测、分析、计算值可靠性差的弱点。该方法与二维、三维有限元法相比,具有计算方法简单、可靠的特点,值得广泛应用和发展。  相似文献   

基于Poulos弹性理论的被动桩改进算法     

陈福全  黄伟达 《岩土力学》2008,29(4):905-910

传统的Poulos弹性理论仅适合于均质土中土体侧向位移时桩的性状分析,无法考虑土的层状特性。通过引入层状地基中作用一水平集中力的广义Mindlin解和地面作用有竖向荷载时的应力和位移通解,对Poulos方法进行了改进,使之扩展到多层土中,还用于研究堆载条件下的被动桩变形和受力响应。算例分析表明,改进弹性理论要比Poulos方法更为严密、合理,提高了计算精度,应用范围也更广。  相似文献