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Robust control based on feedback linearization for roll stabilizing of autonomous underwater vehicle under wave disturbances 总被引：1，自引：0，他引：1
In the case of Autonomous Underwater Vehicle(AUV) navigating with low speed near water surface,a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance.Robust control is applied,which is based on uncertain nonlinear horizontal motion model of AUV and the principle of zero speed fin stabilizer.Feedback linearization approach is used to transform the complex nonlinear system into a comparatively simple linear system.For parameter uncertainty of motion model,the controller is designed with mixed-sensitivity method based on H-infinity robust control theory.Simulation results show better robustness improved by this control method for roll stabilizing of AUV navigating near water surface. 相似文献
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We propose to adopt a deep learning based framework using generative adversarial networks for ground-roll attenuation in land seismic data. Accounting for the non-stationary properties of seismic data and the associated ground-roll noise, we create training labels using local time–frequency transform and regularized non-stationary regression. The basic idea is to train the network using a few shot gathers such that the network can learn the weights associated with noise attenuation for the training shot gathers. We then apply the learned weights to test ground-roll attenuation on shot gathers, that are not a part of training input to obtain the desired signal. This approach gives results similar to local time–frequency transform and regularized non-stationary regression but at a significantly reduced computational cost. The proposed approach automates the ground-roll attenuation process without requiring any manual input in picking the parameters for each shot gather other than in the training data. Tests on field-data examples verify the effectiveness of the proposed approach. 相似文献
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多波束系统横摇、纵倾参数的校正方法 总被引：3，自引：0，他引：3
多波束水深测量系统以条幅式测量为特点,比较传统单波束测深发生了巨大的变化,能够进行实时声速、船体姿态等参数的改正.多波束系统换能器安装时存在的纵倾角度偏差(pitch bias)和横摇角度偏差(roll bias)是产生水深测量系统误差的重要来源之一.分析两个参数对水深测量精度的影响,并根据其误差在地形剖面上的表现形式,讨论实测法和剖面重合法两种参数测试的方法,特别是针对剖面重合法参数测试,制作可视化操作界面,大大方便了野外和室内参数调整.测试获取的纵倾、横摇参数输入多波束系统中进行实时水深校正.在室内资料处理中,利用参数校正方法,能够对野外采集资料进行再处理,提高资料质量. 相似文献
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A numerical study is presented on roll damping of ships by solving Navier-Stokes equation.Two-Dimensional unsteady incompressible viscous flow around the rolling cylinders of various ship-likecross sections are numerically simulated by use of the computational scheme previously developed by theauthors.The numerical results show that the location of the vortices is very similar to the existing experi-mental result.For comparison of vortex patterns and roll damping on various ship-like cross sections,vari-ous distributions of shear stress and pressure on the rolling ship hull surface are presented in this paper.Itis found that there are two vortices around the midship-like section and there is one vortex around the foreor stern section.Based on these simulation results.the roll damping of a ship including viscous effects iscalculated.The contribution of pressure to the roll moment is larger than the contribution of frictionalshear stress. 相似文献
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定点式声学多普勒流速仪(简称"HADCP")在国内已较为普及,但对其应用却多停留在表面,鲜有人研究其测验误差控制及参数优化方法,影响HADCP测流精度。为解决HADCP使用中的一些疑难问题,从流速仪测验误差表现的三方面对HADCP的测流误差开展讨论。以测验误差为控制指标,对HADCP在使用中各个环节的误差来源及应用难点进行分析,并以多个实例阐明提高仪器应用精度的优化设置方法。按照所论及方法进行对照检查并合理优化,可减小测流误差,提高HADCP测流方案的整体精度。 相似文献
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简述了从国外到国内的砂岩型铀矿概况及成矿理论研究的发展,归纳出了我国砂岩型铀矿的"叠合复成因氧化-还原成矿理论",并就"预富集"、"板状矿体成因"、"深部油气作用"、"可地浸概念"、"大砂体"等问题进行了粗浅的讨论。 相似文献
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为完善坡面水流的基础理论研究,基于定床水槽试验,以甘油溶液为试验流体,采用超声波测量技术,进行了4种粗糙度、5种坡度和13种单宽流量条件下的组合试验,研究了坡面流层流区的动力学特性及滚波特征。研究结果表明:在雷诺数为8~160的范围内,流态指数在理论值0.33附近波动,且随粗糙度的增大呈现先增大后减小的变化趋势,在粗糙度为0.10 mm附近达到峰值;阻力系数受坡度和粗糙度影响显著,可较好地由坡度、粗糙度和雷诺数的关系式表示;随着雷诺数的增大,滚波波速和波峰均呈幂函数形式递增,滚波周期大小无明显变化;坡度的增大会使层流失稳临界单宽流量减小,粗糙度的增大会使临界弗劳德数的均值减小。 相似文献
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