HY1600测深仪发射接收电路的实现

发射接收电路是测深仪的前端电路，其性能的高低直接影响测深仪测量的精度。介绍了HY1600测深仪的发射接收电路的基本原理、性能特点，以及发射接收电路的整体控制。通过试验验证了其有效性和实用性。     

双频测深仪测深研究

随着国内用户对测量要求的提高,双频测深仪在水深测量、航道勘测等各个领域得到了广泛应用。从测深仪的工作原理出发分析了双频测深仪的工作特点,介绍并分析了双频测量时的一些现象,为更好地使用双频测深仪进行测量提供一定帮助。     

SDH—13A型测深仪比对研究

本文对回声测深仪校对法比对作了分析研究。针对海测部队使用的SDH—13A型浅水精密测深仪无水听器比对功能,提出了一种既简单又经济的水听器校对方法。根据此法,有关人员自己动手即可完成对原型仪器的改装。这种方法还可推广到具有类似收发转换电路的测深仪上。     

SC—Ⅳ型测深仪常见故障的排除及有关注意事项

SC—Ⅳ型测深仪是目前国内较先进的千米测深仪。该型仪器测深精度高、功能较完善,但电路比较复杂。因而出了故障后,一时很难查出故障发生的准确部位,通常我们是先根据故障现象,结合仪器的方框图和信号的来龙去脉来优先确定更换的备件板;找出故障板后,再参照该板各部分电路     

H/HCSOO4一D型回声测深仪问世

一种国内技术领先的、新型的H/HCSOO—D型回声测深仪,日前在七院七二六研究所研制成功。这种用于大中型水面舰船助航和对中、近海水深测量的回声测深仪,最大测量深度为1 000m,其重量比原型的轻一半,成本也比原型减少20％。 为跟踪国外同类型产品的先进技术,体现技术创新,以适应用户新的需求,七二六所科技人员     

动力定位系统与单波束测深仪在科考船定点作业中的应用

科考船定点作业时会受到海洋风、涌、浪、流等外界环境因素影响，导致工作效率降低，原位测量精度下降，甚至影响作业安全。动力定位系统 （DP） 具有自动定位功能，能够抵抗外界环境因素的影响，可实现科考船高精度定点控位。 单波束测深仪不仅可以测量水深，也可反映水下设备深度信息，可以起到辅助监控水下设备功能。本文在介绍定点作业施工现状与局限性的基础上，分析 DP 系统与单波束测深仪工作原理，以“向阳红 01”船为载体，在定点作业时开启 DP 系统与单波束测深仪，发现该方法可以提高科考船定点作业工作效率、原位测量精度并保障作业安全，可为其他科考船定点作业提供参考。     

多波束测深仪有效扇面宽度估计方法

根据多波束测深仪的声纳方程,提出多波束测深仪有效扇面宽度概算方法。通过多波束测深仪声学设计原理估计多波束测深仪的声学参数。分别对各波束的目标强度和声源级进行估算,给出了不同工作深度和工作脉宽情况下的各波束声源级分布,通过检索各波束的声源级确定多波束测深仪的有效扇面宽度,并对测船的选择提出建议。     

不同海底底质类型水深数据特征分析

在典型的实验海区，使用双频测深仪和箱式取样器，对海底进行同步探测，获取双频测深仪不同底质类型数据。比较了式取样器海底底质样品，归纳出海底基岩、沙、粘土的双频测深仪水深数据和双频测深仪海底模拟记录图象特征，该特征可为双频测深仪识别海底底质类型提供先验认识。     

测深仪精密数字校准仪

回声测深仪是一种测量仪器,其精度和稳定性必须定期检定。测深仪精密数字校准仪就是解决测深精度的调试校准的专用仪器设备,设计新颖、性能稳定、功能齐全、实用性强。可直接与各种测深仪连接,在测深仪全部可用测深频率(4～260KHz)、声速(1400～1600米/秒)、量程(0.5～12000m)范围内,模拟实际测深中回波的情况,为测深仪提供了检验、维修及校准等工作急需的专用设备和技术保障,有广泛的推广应用前景。     

CS─500型智能回声测深仪在长江三峡河段的综合测验

本文通过ＣＳ─５００型智能回声测深仪与ｍｓ─４８型（英国产）回声测深仪在长江三峡河段的同步测验，对ＣＳ—５００型智能回声测深仪的仪器性能、测深精度、智能化程度以及整机可靠性进行了综合检验。检验结果认为，ＣＳ—５００型智能回声测深精度优良，自动化程度高，是目前取代普通回声测深仪在长江三峡河段测深的新一代测深产品。     

自动定时编码控制器的研制

本文叙述了笔者研制的“自动定时编码控制器”的工作原理,给出了它的方框图和电路原理图,采用这一技术将旧的非自动化仪表改装成自动定时测量系统,具有成本低,稳定可靠等优点。     

一种增设于Waverider测波仪的数据自记系统

本文介绍一种用MCS-51单片微机作为控制器,用大容量静态RAM作为存储器,以纯电子线路组成硬件线路,配合相应的控制软件,联合构成稳定可靠、低功耗的自记式波浪数据采集系统。该系统增设在Waverider浮标(67780系列)中,使之成为自记与遥测并存的双制式测波浮标,海上实地投放使用已获得成功.     

分数阶混沌系统与整数阶混沌系统之间的同步

基于追踪控制的思想,利用分数阶系统稳定性理论,实现了分数阶混沌系统与整数阶混沌系统之间的混沌同步,给出了补偿器和反馈控制器的选择方法. 以三维分数阶Chen系统和三维整数阶Lorenz混沌系统之间的混沌同步为例进行了数值仿真和电路仿真. 研究表明了该同步方法的有效性.     

A constant tension winch: Design and test of a simple passive system

A constant tension winch controller has been designed to minimize peak tension loads encountered while towing heavy gear in rough sea conditions. The control unit consists of a pressure relief valve inserted in the hydraulic circuit of the winch. Operational tests with a towed plankton net system showed significant reduction in the cable tension peaks and marked improvement in the towed system behaviour.     

用RAM扩充程序存贮器

给出一种用ＲＡＭ扩充程序存贮器的方法，以及具体的硬件线路。这种简便实用的方法可为用户提供一种根据需要自行修改或编写应用程序的环境．     

AEL—1型风向,风速仪

本文介绍并叙述了AEL-1型风向、风速仪的设计原理,仪器各部分的电路设计,工作过程及系统软件。该仪器适用于气象台站、工矿企业、海上浮标及科研单位等部门。     

Ant colony fuzzy neural network controller for cruising vessel on river

This paper proposes an ant colony fuzzy neural network (ACFNN) controller for a cruising vessel on a river. The proposed controller comprises an ant colony (AC) algorithm, a fuzzy neural network (FNN) controller, and a switching law. The approximately optimal sailing line and short sailing time are obtained using the AC algorithm. First, the searching pattern of the AC algorithm is constructed using the data of the tidal current, river current, vessel velocity, and position of the coordinate. From a tracking error viewpoint, the switching law determines that the approximately optimal sailing line and the shorter sailing time are obtained using the AC algorithm, and that uncertain nonlinear factors are compensated by the FNN controller. The controller consists of an FNN identifier and a robust controller. The identifier is used to estimate the vessel velocity, and its parameters are tuned online by the adaptive law derived from the Lyapunov function. The robust controller is used to compensate for uncertainties of the tidal current and river current through the estimated law. The output of the ACFNN controller is the sum of the FNN identifier, the robust controller, and an auxiliary function. Finally, a simulation and a practical cruising vessel on a river are performed to verify the effectiveness of the presented controller.     

Nonlinear output feedback control of underwater vehicle propellersusing feedback form estimated axial flow velocity

Accurate propeller shaft speed controllers can be designed by using nonlinear control theory and feedback from the axial water velocity in the propeller disc. In this paper, an output feedback controller is derived, reconstructing the axial flow velocity from vehicle speed measurements, using a three-state model of propeller shaft speed, forward (surge) speed of the vehicle, and the axial flow velocity. Lyapunov stability theory is used to prove that a nonlinear observer combined with an output feedback integral controller provide exponential stability. The output feedback controller compensates for variations in thrust due to time variations in advance speed. This is a major problem when applying conventional vehicle-propeller control systems. The proposed controller is simulated for an underwater vehicle equipped with a single propeller. The simulations demonstrate that the axial water velocity can be estimated with good accuracy. In addition, the output feedback integral controller shows superior performance and robustness compared to a conventional shaft speed controller     

On the track keeping and roll reduction of the ship in random waves using different sliding mode controllers

In the paper, an autopilot system composed of sliding mode controller and line-of-sight guidance technique are adopted to navigate the ship in random waves by altering the rudder deflection. Two kinds of sliding mode controller are considered; one is the separate system including sway–yaw control and roll control, the other is the compact system considering sway–roll–yaw control altogether. Both track keeping and roll reduction are accomplished by rudder control and the design parameters of controller are optimized by genetic algorithm. The present simulation results show both the separate controller and the compact controller work quite well, either for track keeping or roll reduction while the ship is sailing in random waves. However, the separate controller is recommended due to its simplicity.     

全姿态水下移动平台模式切换姿态控制研究

为了适应复杂海洋环境中多样性的观探测任务需求,本文提出了一种融合Argo浮标、水下滑翔机（Glider）和自治式水下机器人（Autonomous Underwater Vehicle,AUV） 3种工作模式的全姿态水下移动平台（All-attitude Multimode Underwater Vehicle,AMUV）。首先,基于3种水下移动平台的工作原理,建立了AMUV的六自由度动力学模型;然后,针对动力学模型中的非线性耦合特性及模式切换过程中的驱动位形变化等问题,基于比例、积分、微分控制器（Proportional Integral Derivative,PID）与模糊控制概念,设计了不依赖于数学模型的自适应模糊PID姿态控制器,实现了AMUV多模式切换过程中的姿态控制;最后,开展多模式切换控制仿真实验,将自适应模糊PID控制器与传统PID控制器仿真结果进行对比,并设计了全模式任务工况,仿真结果表明,本文提出的控制器能够精确和稳定地控制AMUV进行多种工作模式的相互切换。