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基于分布式控制力矩陀螺的水下航行器轨迹跟踪控制 总被引:2,自引:0,他引:2
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。 相似文献
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针对执行水质监测任务过程中固定浮标监测站单点监测存在局限性、船载观测人员取样耗时耗力等问题,本文设计了一种搭载多点、分层自动采水取样装置的智能无人船水质监测系统,可实现目标水域的多点、分层连续水质数据测量及取样。该智能无人船具备基于快速随机树(Rapid Random Tree)算法的自主避障和快速路径规划功能,解决了现有无人船技术存在的多障碍自主路径规划难等问题。同时,本设计结合了ARM9控制芯片、M5310无线传输模块,通过可视化的显示界面和远程WEB访问的功能,大大提升了科研人员及时处理特殊情况便捷性。通过实验测试及比对分析,证明本设计具有智能高效、稳定可靠等优点,能够满足职能部门对于水质监测工作的需要。 相似文献
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Carbonyl compounds, especially polyunsaturated aldehydes (PUAs), are increasingly reported as teratogenic to grazers and deleterious to phytoplankton. While PUAs have been considered to be mainly produced by diatoms after cell wounding, little is known about whether microalgae other than diatoms, particularly harmful algal bloom (HAB)-forming species, produce carbonyl compounds. In this study, we analyzed the carbonyl compounds from eight common HAB-forming species ( Akashiwo sanguinea , Karenia mikimotoi , Karlodinium venefi cum , Margalefi dinium polykrikoides , Prorocentrum donghaiense , P . minimum , Scrippsiella trochoidea , and Heterosigma akashiwo ) using gas chromatography-mass spectrometry in full scan and selected ion monitoring (SIM) modes. Our results show a ubiquitous presence of carbonyl compounds in both dissolved and particulate forms in all species we examined. In the full scan mode, 133 chromatographic peaks were detected from 51 samples altogether. Both the varieties of carbonyl compounds and their quantities were algal species dependent, although most of the carbonyl compounds could not be fully identifi ed according to the mass spectral database only due to the unavailability of enough standards for all analytes. Aided with nine standards in SIM mode, we further identifi ed and quantifi ed all nine aldehydes (2-methyl-2-pentenal, trans-2-nonenal, cis-6-nonenal, 2,6-dimethyl-5-heptenal, trans-2-hexenal, trans-2- decenal, 2,4-heptadienal, trans-trans-2,4-octadienal, and trans-trans-2,4-decadienal). Four of these nine aldehydes were detected in particulate form, which confi rmed that trans-2-nonenal could be produced by K . mikimotoi , Karl . venefi cum , P . donghaiense , P . minimum , S . trochoidea , and H . akashiwo , 2,4-heptadienal and trans-trans-2,4-decadienal by A . sanguinea , M . polykrikoides , and S . trochoidea , and trans, trans-2,4- octadienal by S . trochoidea , respectively. We proved that some dinofl agellate and raphidophyte species could contribute to the pool of carbonyl compounds including PUAs in a marine ecosystem. Some carbonyl compounds, particularly those in high cell quota and/or dissolved concentration, may be related to fi shkilling or allelopathy which needs further identifi cation and quantifi cation. 相似文献
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Contents of heavy metals, polycyclic aromatic hydrocarbons (PA Hs), dichlorodiphenyltrichloroethanes (DDTs) and hexachlorcy- clohexanes (HCHs) in surface sediments from mangrove areas of the Leizhou Peninsula were analyzed in July and November 2005. Risk assessment criteria applied by Long E R et al. (1995) and Long E D et al. (1995) (effects range low, ERL; effects range mean, ERM) of chemicals in sediments from the gulf or estuary were used to assess the potential ecological risks of heavy metals, PAHs, DDTs and HCHs to aquatic organisms in the studied area. The results indicated that the average contents of zinc, nickel, chromium, lead, copper, arsenic and mercury were (61.97 ± 55.87), (59.99 ± 39.01 ), (47.93 ± 28.37), (26.64± 13.00) , (23.45 ± 41.96), (9.32 ± 3.62), (0.14 ± 0.18) mg/kg in dry weight in the sediment samples col- lected from five studied sites in the Leizhou Peninsula, respectively. Cadmium was not calculated due to its content being below the detection limit ( 〈 0.3 mg,/kg). The average levels of Cr, Cu, Ni, Pb, Zn and Hg exceed their background values. The average contents of Ni were higher than ERM. The contents of PAHs in the sediments from the five studied sites were (79.78 ± 43.70) ng/g in dry weight, far lower than ERL(4 022 ng/g). The contents of DDE, DDD and DDTs in the sediments from five studied sites were (2.60 ± 4.68), ( 17.52 ± 27.25 ), (27.78 ± 46.64) ng/g in dry weight respectively, clearly higher than ERL, and the average contents of DDT were (7.66 ± 15.93) ng/g in dry weight, much higher than ERM. HCHs could be detected in the sediments only from Gaoqiao sampling site, with the average contents (0.07 ± 0.08) ng/g in dry weight. 相似文献
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涨落潮槽是河口区的重要地貌单元。只有枯季涨潮槽才能表现出涨潮优势。使用ADCP和ENDECO在枯季对长江口典型涨落潮槽进行一个潮周期的同步水文观测。利用本次观测资料和收集以前洪季水动力结果,比较分析了长江口涨落潮槽一个完整洪枯季大小潮水动力特征和输运机制。结果表明:(1)长江河口涨潮槽的水动力极为复杂。不仅存在洪枯季节的水文特征变化,而且存在着洪季大小潮和枯季大小潮的变化;(2)只有枯季大潮表现出较为明显的涨潮优势。涨潮槽的单宽涨落潮量接近,而落潮槽的单宽涨潮量都小于单宽落潮量;(3)洪季大小潮涨潮槽的平均涨潮流速都大于落潮槽,平均落潮流速都小于落潮槽。枯季小潮的平均涨潮流速来说,涨潮槽大于落潮槽;而对于落潮流速来说,涨潮槽上部小于落潮槽,下部大于落潮槽;(4)涨潮槽的欧拉余流要小于落潮槽,涨潮动力减弱对涨潮槽的影响较为明显。 相似文献