基于引导角的非完整移动机器人轨迹跟踪控制

研究非完整移动机器人的轨迹跟踪控制问题。首先根据移动机器人侧向误差和角度误差的几何关系,提出了一种基于引导角的轨迹跟踪控制方法。然后利用Lyapunov直接法和积分Backstepping方法设计了基于引导角的轨迹跟踪控制器,并证明了移动机器人轨迹跟踪误差收敛性。最后通过仿真结果验证了本文方法的有效性。     

Neural Network Based Robust Controller for Trajectory Tracking of Underwater Vehicles

A robust neural network controller (NNC) is presented for tracking control of underwater vehicles with uncertainties. The controller is obtained by using backstepping technique and Lyapunov function design in combination with neural network identification. Modeling errors and environmental disturbances are considered in the mathematical model. A two-layer neural network is introduced to compensate the modeling errors, while H∞ control strategy is used to achieve the L2-gain performance. The uniformly ultimately bounded (UUB) stabilities of tracking errors and NN weights are guaranteed through the proposed controller. An on-line NN weights tuning algorithm is also proposed. Good performances of the tracking control system are illustrated by the results of numerical simulations.     

东海A平台丛式井钻井轨迹控制技术

针对东海A平台丛式井所钻遇地层的特点和钻井轨迹控制难点,分析了井眼各井段轨迹数据及轨迹控制难点,重点阐述了各段的井眼轨迹控制技术措施,优化钻井参数,合理控制井身轨迹,成功钻达目的层并顺利完成各井的施工,积累了宝贵经验,优选一套井眼轨迹控制技术,为今后的调整井及二期开发施工,提高轨迹控制能力,提高施工工程质量,从而提高整体效益。     

受正弦扰动的线性时滞系统的最优输出跟踪控制

考虑参考输入由外系统给出的状态含有时滞的线性系统在正弦干扰下的最优输出跟踪问题.利用逐次逼近法,通过构造线性非齐次两点边值问题序列,求得了用于补偿时滞的伴随向量.分别利用参考输入外系统状态、干扰及其导数信号引入前馈控制作用.得到的控制律包含精确反馈项、前馈项和伴随向量极限形式的时滞补偿项.通过引入参考输入观测器解决由于引入外系统状态而导致的前馈控制律的物理不可实现问题.仿真结果表明该方法的有效性.     

Robust Optimal Output Tracking Control of A Midwater Trawl System Based on T-S Fuzzy Nonlinear Model

A robust optimal output tracking control method for a midwater trawl system is investigated based on T-S fuzzy nonlinear model. A simplified nonlinear mathematical model is first employed to represent a midwater trawl system, and then a T-S fuzzy model is adopted to approximate the nonlinear system. Since the strong nonlinearities and the external disturbance of the trawling system, a mixed H2/H∞ fuzzy output tracking control strategy via T-S fuzzy system is proposed to regulate the trawl depth to follow a desired trajectory. The trawl depth can be regulated by adjusting the winch velocity automatically and the tracking error can be minimized according to the robust optimal criterion. In order to validate the proposed control method, a computer simulation is conducted. The simulation results indicate that the proposed fuzzy robust optimal controller make the trawl net rapidly follow the desired trajectory under the model uncertainties and the external disturbance caused by wave and current.     

胶州湾海面溢油轨迹的数值模拟

对胶州湾湾口两侧——团岛和薛家岛 1个月的潮位观测资料进行调和分析 ,得出湾口两侧 M2 ,S2 ,O1,K1分潮的调和常数 ,进而建立了胶州湾内的预报潮流场。考虑风场对海面溢油的影响 ,给出了预测胶州湾溢油飘移轨迹的数值模型 ,对 1 983年 1 1月 2 5日“东方大使”号油轮在中砂礁触礁后的溢油的油膜漂移轨迹进行了数值模拟 ,结果与事故后观测到的结果相符 ,说明了数值模拟的正确性     

Stability Analysis on Speed Control System of Autonomous Underwater Vehicle

The stability of the motion control system is one of the decisive factors of the control quality for Autonomous Underwater Vehicle (AUV).The divergence of control,which the unstable system may be brought about,is fatal to the operation of AUV.The stability analysis of the PD and S-surface speed controllers based on the Lyapunov' s direct method is proposed in this paper.After decoupling the six degree-of-freedom (DOF) motions of the AUV,the axial dynamic behavior is discussed and the condition is deduced,in which the parameters selection within stability domain can guarantee the system asymptotically stable.The experimental results in a tank and on the sea have successfully verified the algorithm reliability,which can be served as a good reference for analyzing other AUV nonlinear control systems.     

海上溢油粒子追踪预测模型中的两种数值方法比较

在海上溢油粒子追踪预测模型中,关键的是对拉格朗日微分方程的求解。本文首先通过数值实验比较了欧拉法和龙格-库塔法求解拉格朗日溢油轨迹微分方程的优劣,然后将其应用到2005年4月3日发生在大连附近的“ARTEAGA”油轮溢油事故的油膜粒子追踪模型中。数值实验和应用结果表明,在近岸不均匀流场下,用龙格-库塔方法解拉格朗日油粒子微分方程比用欧拉法求解精度高,用龙格-库塔方法模拟“ARTEAGA”油轮轨迹及其扩散范围与实际观测更为接近,而用欧拉法模拟溢油扩散的面积偏大。     

基于自动跟踪技术检测GNSS动态测量精度方法

提出一种基于TDA5005高精度全站仪对GNSS定位设备进行自动跟踪测量,通过自动控制、时间同步、姿态改正、空间基准统一等步骤,实现对动态环境下GNSS设备单历元定位精度进行检测。设备检测既可在海上也可在陆地上进行,自动化程度高,操作简便,以期对GNSS的应用有一定的指导和借鉴意义。     

Path Following Control of A Deep-Sea Manned Submersible Based upon NTSM

In this paper, a robust path following control law is proposed for a deep-sea manned submersible maneuvering along a predeterminated path. Developed in China, the submersible is underactuated in the horizontal plane in that it is actuated by two perpendicular thrusts in this plane. The advanced non-singular terminal sliding mode （NTSM） is implemented for the design of the path following controller, which can ensure the convergence of the motion system in finite time and improve its robustness against parametric uncertainties and environmental disturbances. In the process of controller design, the close-loop stability is considered and proved by Lyapunov＇ s stability theory. With the experimental data, numerical simulations are provided to verify the control law for path following of the deep-sea manned submersible.     

The Role of Laser Ranging for Calibrating Jason-1: The Corsica Tracking Campaign

The French Transportable Laser Ranging System (FTLRS), a highly transportable Satellite Laser Ranging (SLR) instrument, was set up in Corsica (from January to September 2002) for participating to the JASON-1 altimeter verification phase. In addition to the tracking of oceanographic satellite missions and in order to perform an accurate positioning, the FTLRS also acquired laser ranging data on geodetic satellites, STARLETTE and STELLA essentially.

The paper describes the analysis strategy mainly based on the use of a short-arc orbit technique to compute accurate 1 cm local orbits, and then the geocentric positioning (2-3 mm relative to GPS). Finally, we established the JASON-1 absolute calibration value, based on 9 SLR short-arcs (between cycles 1 and 26), at 108.2 ± 8.7 mm; the 10-day repeatability is of 26.1 mm showing that a great accuracy has been reached.     

The Role of Laser Ranging for Calibrating Jason-1: The Corsica Tracking Campaign

The French Transportable Laser Ranging System (FTLRS), a highly transportable Satellite Laser Ranging (SLR) instrument, was set up in Corsica (from January to September 2002) for participating to the JASON-1 altimeter verification phase. In addition to the tracking of oceanographic satellite missions and in order to perform an accurate positioning, the FTLRS also acquired laser ranging data on geodetic satellites, STARLETTE and STELLA essentially.

The paper describes the analysis strategy mainly based on the use of a short-arc orbit technique to compute accurate 1 cm local orbits, and then the geocentric positioning (2–3 mm relative to GPS). Finally, we established the JASON-1 absolute calibration value, based on 9 SLR short-arcs (between cycles 1 and 26), at 108.2 ± 8.7 mm; the 10-day repeatability is of 26.1 mm showing that a great accuracy has been reached.     

移动机器人定点目标控制的线性分解方法

研究移动机器人的定点目标控制问题。针对移动机器人的非线性模型提出一种线性分解控制方法。根据移动机器人的结构特性,将移动机器人的运动控制过程从时间上分解为原地旋转控制和直线运动控制2个阶段,从而实现了非线性系统的线性解耦分解。根据线性分解模型,分别设计了原地旋转和直线运动的控制算法。理论分析表明,利用线性分解控制方法可以方便地实现移动机器人有限时间定点目标控制。     

一类非线性系统次优控制的灵敏度法

本文研究一类非线性定常系统的次优控制问题。通过在系统中引入 1个灵敏度参数并将系统变量关于灵敏度参数展开 Maclaurin级数 ,使求解最优控制的非线性两点边值问题化为一族线性两点边值问题。利用截取最优控制级数的有限项求得系统的次优控制律。仿真实例表明 ,该方法对非线性系统次优控制律的设计是有效的     

Development of A Three-Dimensional Guidance System for Long-Range Maneuvering of A Miniature Autonomous Underwater Vehicle

The present paper introduces a three-dimensional guidance system developed for a miniature Autonomous Underwater Vehicle（AUV）. The guidance system determines the best trajectory for the vehicle based on target behavior and vehicle capabilities. The dynamic model of this novel AUV is derived based on its special characteristics such as the horizontal posture and the independent diving mechanism. To design the guidance strategy, the main idea is to select the desired depth, presumed proportional to the horizontal distance of the AUV and the target. By connecting the two with a straight line, this strategy helps the AUV move in a trajectory sufficiently close to this line. The adjacency of the trajectory to the line leads to reasonably short travelling distances and avoids unsafe areas. Autopilots are designed using sliding mode controller. Two different engagement geometries are considered to evaluate the strategy＇s performance： stationary target and moving target. The simulation results show that the strategy can provide sufficiently fast and smooth trajectories in both target situations.     

具有小时滞的线性系统次优控制的无滞后转换法

该文研究线性时滞定常系统的次优控制问题。根据无滞后转换法的思想 ,先引入状态向量的增量 ,将其视为附加扰动输入 ,再利用微分方程的逐次逼近法 ,将既含有时滞项又含有超前项的两点边值问题化为既不含时滞项又不含超前项的两点边值问题族。然后 ,把第 N次逼近得到的控制律近似为系统的最优控制律 ,得到次优控制律。并用实例仿真验证了该算法的有效性。该方法可使小时滞系统的迭代次数大大减少 ,因此尤其适合于小时滞系统的次优控制。     

基于全局性极小化二维反投影误差的射影重建方法

建立1种新的射影重建方法。该方法以全局性极小化射影三维空间点的二维反投影误差平方和为准则,相对于缩小SVD反投影误差的方法,具有更为明确合理的物理意义。实现过程是以奇异值分解为基本工具的分步线性迭代计算,避免了传统射影重建方法复杂的非线性优化环节。它无需估计投影深度,避免了基础矩阵计算的复杂性问题,因而也不受相机特殊运动的限制。文中利用虚拟物体图像和真实物体图像进行了实验验证,证明该方法具有计算简单、准确性和鲁棒性高等方面的特点,具有较高的实用价值。     

高精度CTD采水器控制系统的设计与分析

本系统是国家“８６３”任务中８１８－０２Ａ项目的重要组成部 和高精度ＣＴＤ测量仪联用,可以完成任意深度、任意时刻的采水控制功能,它采用国内外最新的技术和元器件,打破了原有的采水控制装置的设计思想,使采水器的动作完全合理准确。本文重点介绍其工作原理和关键技术。