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   

旅游生态环境容量的经济学探讨   总被引：10，自引：4，他引：10  

吴志才  彭华 《云南地理环境研究》2003,15(1):69-74

在总结旅游环境容量研究进展的基础上，提出了研究旅游环境容量意义及其概念体系，并就影响旅游环境容量的关键性因子－旅游生态环境容量进行了分析，运用经济学的理论和方法，提出了引起旅游生态环境容量的深层原因是外部不经济性，最后就为了实现资源环境的可持续发展，应该从法律、行政，经济、社会等角度对社会各利益加以协调，构建了有效的制度平台和相应的措施，使外部成本内部化，并提出了解决这些问题的具体对策和建议。  相似文献   

THE EFFECTS OF EXTERNAL FORCING,DISSIPATION AND NONLINEARITY ON THE SOLUTIONS OF ATMOSPHERIC EQUATIONS^*     

Li Jianping  Chou Jifan 《Acta Meteorologica Sinica》1997,11(1):57-65

Based on the primitive equations of the atmosphere,we study the effects of external forcing.dissipation and nonlinearity on the solutions of stationary motion and non-stationary motion.The results show that the asymptotic behavior of solutions of the forced dissipative nonlinear system is essentially different from that of the adiabatic non-dissipative system,the adiabatic dissipative system,the diabatic non-dissipative system and the diabatic dissipative linear system,and that the joint action of external forcing,dissipation and nonlinearity is the source of multiple equilibria.From this we can conclude that the important actions of diabatic heating and dissipation must be considered in the models of the long-term weather and the climate.  相似文献   

台风区和外围暴雨区的旋转风、散度风动能收支          下载免费PDF全文

励申申  寿绍文 《大气科学学报》1997,20(1):108-113

用完全的散度风(v_D)和旋转风(v_R)动能收支方程对8116台风和8407台风以及8116台风与其外围暴雨区的关系作了讨论。结果表明:台风区的有效位能通过散度风动能(K_D)转换为旋转风动能(K_R).台风向区域外部输出动能,在暴雨区上空通过涡度、散度场相互作用的转换机制由K_R向K_D转换,散度风加大触发对流发展产生暴雨,这可能是台风与其外围暴雨联系的一种能量过程。  相似文献   

Estimating Climate-Change Impacts on Colorado Plateau Snowpack Using Downscaling Methods     

David L. McGinnis 《The Professional geographer》1997,49(1):117-125

This study develops observed climate-based downscaling transfer functions that are used with general circulation model (GCM) output to assess potential global-change impacts on Upper Colorado Plateau, USA, water resources. Daily automated snow water equivalent stations are used with 700 mb atmospheric circulation to determine empirical transfer functions. Downscaling methodologies using multiple regression and neural networks are evaluated, with the neural network results explaining approximately 70%of the daily snowfall variance. The neural network-based transfer functions are used with the GENESIS GCM to simulate snowfall characteristics in both a 1xCO₂ and a 2xCO₂ climate. While the total precipitation simulated by the 2xCO₂ analysis remains nearly the same as today, less will fall as snow; specifically, snow water equivalence shows significant reduction (except in the Green River Basin) as the snow season is reduced by 58 days on average.  相似文献   

中国南方风化磷块岩研究   总被引：3，自引：2，他引：3  

李铁生  文素秋 《化工矿产地质》1996,18(3):196-200

中国南方风化磷块岩中的风化磷矿的自然类型可分为两类七种型式，其中以“原位面型风化磷矿”和“位移溶洞砂砾磷矿”为主。风化磷矿是由其原矿的自身特性与外部适宜条件（水文地质条件为主导）综合作用的产物。根据碳酸盐、磷酸盐矿物分解、淋失程度可划分为弱风化、风化、强风化三个阶段。可用直接法、间接法和数学法３类共１３种方法加以判别  相似文献