Robust adaptive control of underactuated ships on a linear course with comfort

This paper addresses an important problem in ship control application—the robust stabilization of underactuated ships on a linear course with comfort. Specifically, we develop a multivariable controller to stabilize ocean surface ships without a sway actuator on a linear course and to reduce roll and pitch simultaneously. The controller adapts to unknown parameters of the ship and constant environmental disturbances induced by wave, ocean current and wind. It is also robust to time-varying environmental disturbances, time-varying change in ship parameters and other motions of the ship such as surge and heave. The roll and pitch can be made arbitrarily small while the heading angle and sway are kept to be in reasonably small bounds. The controller development is based on Lyapunov’s direct method and backstepping technique. A Lipschitz continuous projection algorithm is used to update the estimate of the unknown parameters to avoid the parameters’ drift due to time-varying environmental disturbances. Simulations on a full-scale catamaran illustrate the effectiveness of our proposed controller.     

Gravity torques for surface waves

The effects of the gravity torques acting on the angular momentum of surface gravity waves are calculated theoretically. For short crested waves the gravity torque is caused by the force of gravity on the orbiting fluid particles acting down the slopes of the crests and troughs and in the direction parallel to the crests and troughs. The gravity torque tries to rotate the angular momentum vectors, and thus the waves themselves, counterclockwise in the horizontal plane, as viewed from above, in both hemispheres. The amount of rotation per unit time is computed to be significant assuming reasonable values for the along-crest and trough slopes for waves in a storm area. The gravity torque has a frequency which is double the frequency of the waves. For long crested waves the gravity torque acts in the vertical plane of the orbit and tries to decelerate the particles when they rise and accelerate them when they fall. By disrupting the horizontal cyclostrophic balance of forces on the fluid particles (centrifugal force versus pressure force) the gravity torque accounts qualitatively for the three characteristics of breaking waves: that they break at the surface, that they break at the crest, and that the crest breaks in the direction of wave propagation.     

The Mathematical and Parameterized Expressions for Wave Induced Excess Flow of Momentum

Wave induced excess flow of momentum(WIEFM)is the averaged flow of momentum over a wave period due to wave presence,which may also be called 3-D radiation stress.In this paper,the 3-D current equations with WIEFM are derived from the averaged Navier-Stokes equations over a wave period,in which the velocity is separated into the large-scale background velocity,the wave particle velocity and the turbulent fluctuation velocity.A concept of wave fluctuating layer(WFL)is put forward,which is the vertical column from the wave trough to wave ridge.The mathematical expressions of WIEFM in WFL and below WFL are given separately.The parameterized expressions of WIEFM are set up according to the linear wave theory.The integration of WIEFM in the vertical direction equals the traditional radiation stress(namely 2-D radiation stress)given by Longuet-Higgins and Stewart.     

Ekman螺线的动力学结构

介绍了Ekman螺线的动力学结构 ,分析研究了风应力及海水内部的动量传递形式 .结果表明 :动量传递方向与海流方向成 45°左偏 .这对于研究海洋内部的动力结构是有意义的 .     

富钴结壳分布的分形特征

利用我国在西太平洋国际海底两个海山获得的富钴结壳资料进行分形研究后发现，富钴结壳的分布具有变维分形分布的特点，结壳丰度呈二阶累计和分形分布，结壳厚度呈多阶不定累计和分形分布，通过计算得到了它们各自的分维数，进而对两个海山的结壳资源进行了初步评价。     

Fractal Dimension and Fractals in Ocean Engineering

- This paper discusses the application of fractal dimension and fractals in ocean engineering. To handle some ocean environment problems, the existing fractal method, in which the fractal dimension is a constant, can be used. For some complicated problems in ocean engineering, this paper presents the concept of the variable dimension fractals (D = f(r)), i. e., the fractal dimension D is the function of characteristic scale r instead of a constant. By using variable dimension fractals, several deformation and stress states of offshore structures are described.     

Effects of chemical ecological adjustment and control experiment on phytoplankton community in the Aoshan Bay

There is a low nutrient level in the Aoshan Bay. In June 1999, the chemical adjustmentand control experiment was made in the Aoshan Bay. Following tracts investigation was carried out before the experiment and on the 1st, 2nd, 4th, 5th, 6th and 45th day/after the experiment. While the variance of amount of phytoplankton, the replacement of superior species and the species composition of phytoplankton were researched. The results show that the amount of phytoplankton in the Aoshan Bay rises gradually after the experiment. Ceratium macroceros Cleve of pyrophyta was the dominant species before the experiment, its dominant index was 37.7％. Six days after the experiment, its dominant index dropped to 17.6％ . Meanwhile the dominant index of Asterionella japanics Cleve rose from 7.1％ to 39.2％ , it became the first dominant species. Forty-five days after the experiment, the amount of phytoplankton in the Aoshan Bay was 5.15 to 137.32 times more than that in 1997.     

水下智能潜器的神经网络运动控制

本文介绍一种基于神经网络的水下智能潜器的运动控制方法，该方法通过在线学习，融控制与滤波为一体。计算机仿真与水池实验验证表明，该方法的控制与滤波性能良好，对环境的学习与适应能力强。该方法事实上可用于一般动力系统的控制。     

自主式水下机械手系统研究

本文从水下机械手的总体设计，关节直流电机的驱动和调速，手臂上声纳的水下搜索与跟踪，机械手系统的智能控制和电源等几个方面，介绍了有关自主式水下机械手系统的研究，可为研制自主式水下作业系统提供参考     

Expanded adaptive fuzzy sliding mode controller using expert knowledge and fuzzy basis function expansion for UFV depth control

Generally, the underwater flight vehicle (UFV) depth control system operates with the following problems: it is a multi-input multi-output (MIMO) system, it requires robustness, a continuous control input, and further, it has the speed dependency of controller parameters. To solve these problems, an expanded adaptive fuzzy sliding mode controller (EAFSMC), which is based on the decomposition method designed by using an expert knowledge and the decoupled sub-controllers and composition method designed by using the fuzzy basis function expansions (FBFEs), is proposed. To verify the performance of the EAFSMC, the depth control of UFV in various operating conditions is performed. Simulation results show that the EAFSMC solves all problems experienced in the UFV depth control system online.