Robust control based on feedback linearization for roll stabilizing of autonomous underwater vehicle under wave disturbances

In the case of Autonomous Underwater Vehicle(AUV) navigating with low speed near water surface,a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance.Robust control is applied,which is based on uncertain nonlinear horizontal motion model of AUV and the principle of zero speed fin stabilizer.Feedback linearization approach is used to transform the complex nonlinear system into a comparatively simple linear system.For parameter uncertainty of motion model,the controller is designed with mixed-sensitivity method based on H-infinity robust control theory.Simulation results show better robustness improved by this control method for roll stabilizing of AUV navigating near water surface.     

钻孔水力采矿研究方法的探讨

综合分析工艺流程、喷射机理，水枪设计，升举效率和安全稳定性等，将钻孔水力采矿的众多技术问题归纳为5个方面析要点内容，为开展钻孔水力采矿的技术研究和技术开发工作提出基本思路。     

土体极限分析的基本方程与广义极限平衡法

对屈服条件与屈服函数的极值条件进行了讨论,在不需要流动法则的情况下建立了速度方程。平衡方程、屈服条件与屈服函数的极值条件、速度方程就是土体极限分析的基本方程。这样,对荷载、速度边界条件（包括荷载与速度边界同时存在）,均构成了完备的极限平衡问题。对边坡稳定问题的上、下限定理给出了严密的证明,并建立了求解极限平衡问题的广义极限平衡法,均质土的计算结果表明,圆弧滑动面的广义极限平衡法与对数螺旋面的上限解法基本一致。     

塔克拉玛干沙漠公路固沙植物立地条件分区评价

塔克拉玛干沙漠公路沿线气候恶劣、土壤和浅层地下水的含盐量高,沿线天然植被稀少,沙漠腹地仅发现12种能忍耐干旱和抗盐的植物种。经过科学试验,已经解决了沙漠腹地灌溉条件下固沙植物引种、选育和咸水灌溉等一系列人工绿地建设的技术难题,并且已经引种固沙植物50多种,建成沙漠公路固沙、基地绿化人工绿地43.3 hm2。沙漠人工植物栽培离不开灌溉。因此,主要从沿线土壤盐分状况,可利用水资源分布来评价植物固沙的立地条件。评价结果,在塔里木河近现代冲积平原有古河道淡水可以利用,昆仑山山前冲洪积扇普遍赋存可以利用的咸水。但全线可利用水资源的量不足以维持常规灌溉方式,必须采取节水灌溉,尽量节省资源,一些地方生物防沙要结合工程固沙,形成工程生物防沙体系,保证公路的畅通。     

水泥土强度的影响因素

水泥浆体搅拌地基加固技术是地基处理的技术方法之一,其水泥—土固结体的强度主要受地基土的含水量、水泥掺入量及地基土类别的影响。本文通过室内及工业性试验表明:土体的含水量对水泥土强度具有负作用;水泥土强度与水泥掺入比不是简单的单调上升关系;地基土的类别对水泥土强度的影响较大,淤泥及淤泥质土由于富含有机质,强度较低,粉质粘土、粘土形成的水泥土强度较高。      

Stabilization of swelling clays by Mg(OH)2. Changes in clay properties after addition of Mg-hydroxide

Stabilization of the swelling clay structure is attempted by intercalation of Mg(OH)₂ and the development of a brucite interlayer between the clay layers. The properties of the product obtained by applying the technique, formulated as described in a previous work, are considered here. The materials used were Wyoming bentonite (USA), Fuller's Earth (UK), kaolinite, illite, lignite, and silica gels. The Mg(OH)₂-clay products were examined by the methylene blue dye test, X-ray diffraction analysis (XRD), differential thermal analysis (DTA), and derivative thermogravimetry analysis (DTGA). From the results obtained it is concluded that: the Mg-hydroxide is adsorbed by swelling clays both on their external and internal surface, whereas it is adsorbed on the external surface by non-swelling clays. The internally adsorbed phase of Mg-hydroxide forms an ill-defined interlayer of brucite, retarding swelling, whereas the external phase covers the particles modifying drastically their surface properties, like the adsorption of the MB dye. The material produced after precipitation of Mg-hydroxide on swelling clays (smectites) did not re-expand on wetting or after glycolation. The adsorption of MB dye was also reduced by some 80–90%, due to coating effect, preventing the measurements of the external surface area of the clay by polar molecules. The principal forces involved in the process are believed to be physical adsorption on the external surface, along with chemisorption and some chemical bonding, mostly in the internal surface. Cementation due to crystallization and, in the long term, some pozzolanic reactions take also place. Internal adsorption of the Mg-hydroxide is postulated to be in the form of positively charged mono- and/or small polymers and it is, chiefly, diffusion controlled. Since Mg-hydroxide is internally adsorbed by swelling clays, whereas Ca-hydroxide(lime) is not, and the (Mg, Ca)-clay aggregates are more stable than the Ca-clay or the Mg-one, the combination of the two hydroxides could give better results in soil stabilization than each hydroxide alone.     

基于两阶段稳定图的随机子空间识别结构模态参数

基于振动的结构健康监测的前提是从振动测试信号中提取结构模态参数。随机子空间方法是近年来发展起来的一种线性系统辨识方法,可以有效地从环境激励的结构响应信号中提取结构模态参数。在随机子空间识别方法中,确定系统的阶数是该方法的关键工作,稳定图方法是一种比较新颖的确定系统阶次的方法。但是随机子空间方法容易产生虚假模态,这也是随机子空间方法的一个主要缺陷。因此针对于这一缺陷提出了一种基于两阶段稳定图的随机子空间识别结构模态参数方法,该方法的基本思想是将在现场采集的结构的输出信号进行分段,将各段信号用随机子空间结合稳定图进行识别,然后将所有各段所识别的模态参数再一次用稳定图方法进行分析,得出结构的模态参数。最后用一三跨连续梁的数值模型对该方法进行验证,结果表明该方法具有良好的识别效果。     

改性氢氧化镁对地下水中铅镉的稳定化性能研究

为研究OH-缓释剂对铅、镉污染地下水修复的可行性,通过室内实验制备改性氢氧化镁,并对其去除地下水中Pb和Cd的性能进行研究。实验结果表明,重金属的稳定化机理主要为沉淀反应。在去除单一重金属(Pb或Cd)实验中,Pb和Cd的去除率都可达到99%以上,反应符合一级反应动力学,反应速率常数分别为0.173 7 min-1和0.003 7 min-1。改性氢氧化镁在处理Pb和Cd的复合污染时Pb优先于Cd反应,Pb的存在会对Cd的沉淀起到抑制作用。     

随机镇定与反镇定概述

本文概述了随机镇定与反镇定理论的研究现状.主要回顾了一个微分方程的随机镇定与反镇定普遍理论及其发展,并围绕该理论的应用和扩展从四个方面阐述连续时间系统噪声镇定理论的当前发展概况.此外,本文还概述了离散时间系统随机镇定方面的最新进展.     

随机非完整系统控制问题综述和展望

随着随机非线性控制的发展,随机非完整系统的控制引起了学者们的注意.本文首先探讨了随机非完整控制系统的镇定问题,涉及严反馈链式系统的反馈镇定和不满足严反馈的移动机器人镇定等;其次,介绍了该系统跟踪控制及现状;最后,在总结现有结果的基础上,分析了随机非完整系统发展的趋势,给出了6个可能的研究方向.