Experimental Study of a Command Governor Adaptive Depth Controller for an Unmanned Underwater Vehicle

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.     

基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制

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。     

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

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…     

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

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.     

紫阳滑坡治理工程实例分析

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．     

水下滑翔器主体外形优化设计

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.     

桩前预留土体对抗滑桩影响的分析与计算研究

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。     

基于Poulos弹性理论的被动桩改进算法

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。     

高桩码头桩基负摩擦力现场试验研究 ——上海洋山深水港工程现场试验

高桩码头接岸结构中的桩基础,在抛石的作用下将产生负摩擦力。通过支撑桩及自由桩上负摩擦力的现场试验研究,获得抛石过程中基桩内力随深度变化的基本规律。抛石过程中基桩上的负摩擦力主要产生在抛石段。同时,抛石作为附加荷载,将引起下方软弱土层的固结沉降,桩土之间产生相对位移,从而在抛石段下方一定范围内也产生负摩擦力作用。承台荷载对负摩擦力的大小和分布有着重要的影响。提出的负摩擦力分布规律和采用有效应力法计算层状土负摩擦力的公式,可为桩基础的设计,尤其对水下单面抛石施工的设计及采取消减负摩擦力的措施提供依据。     

GYD-300型全液压动力头工程钻机的研制

GYD-300型全液压动力头工程钻机为全液压驱动,动力头反循环式机型。液压系统采用插装阀集成结构,电液复合操作。使用PC控制监测系统,适时检测孔底各相关压力,对不同地层进行范围设置,实现钻进过程中孔底的自动、手动恒压钻进。重点介绍了该钻机的结构特点、实验情况、主要技术参数等。