Experimental Study of a Command Governor Adaptive Depth Controller for an Unmanned Underwater Vehicle

Unmanned Underwater Vehicles (UUVs) are increasingly being used in advanced applications that require them to operate in tandem with human divers and around underwater infrastructure and other vehicles. These applications require precise control of the UUVs which is challenging due to the non-linear and time varying nature of the hydrodynamic forces, presence of external disturbances, uncertainties and unexpected changes that can occur within the UUV’s operating environment. Adaptive control has been identified as a promising solution to achieve desired control within such dynamic environments. Nevertheless, adaptive control in its basic form, such as Model Reference Adaptive Control (MRAC) has a trade-off between the adaptation rate and transient performance. Even though, higher adaptation rates produce better performance they can lead to instabilities and actuator fatigue due to high frequency oscillations in the control signal. Command Governor Adaptive Control (CGAC) is a possible solution to achieve better transient performance at low adaptation rates. In this study CGAC has been experimentally validated for depth control of a UUV, which is a unique challenge due to the unavailability of full state measurement and a greater thrust requirement. These in turn leads to additional noise from state estimation, time-delays from input noise filters, higher energy expenditure and susceptibility to saturation. Experimental results show that CGAC is more robust against noise and time-delays and has lower energy expenditure and thruster saturation. In addition, CGAC offers better tracking, disturbance rejection and tolerance to partial thruster failure compared to the MRAC.     

基于经验模态分解的分数维地震随机噪声衰减方法

经验模态分解算法（EMD）是一种基于有效波和噪声尺度差异进行波场分离的随机噪声压制方法,但由于实际地震数据波场复杂,导致模态混叠较严重,仅凭该方法进行去噪很难达到理想效果.本文基于EMD算法对信号多尺度的分解特性,结合Hausdorff维数约束条件,提出一种用于地震随机噪声衰减的新方法.首先对地震数据进行EMD自适应分解,得到一系列具有不同尺度的、分形自相似性的固有模态分量（IMF）;在此基础上,基于有效信号和随机噪声的Hausdorff维数差异,识别混有随机噪声的IMF分量,对该分量进行相关的阈值滤波处理,从而实现有效信号和随机噪声的有效分离.文中从仿真信号试验出发,到模型地震数据和实际地震数据的测试处理,同时与传统的EMD处理结果相对比.结果表明,本文方法对地震随机噪声的衰减有更佳的压制效果.

     

地震计保温效能分析

为内蒙古自治区大沁塔拉地震台地震计安装保温罩,利用台基噪声计算软件,计算保温前后地震观测数据PSD概率密度函数,分析保温罩对地震计的效能,结果发现,保温罩安装后,地震计温度变化平稳,地震观测数据质量提高。     

多尺度阵列嵌套组合反演宾川气枪源区横波速度结构

本文基于多尺度阵列嵌套组合的方式,利用频率-贝塞尔变换法（Frequency-Bessel,F-J方法）提取背景噪声面波频散信息,通过多个阵列融合的频散曲线反演得到宾川气枪发射台周边不同深度的横波速度结构.结果显示：浅层一阶面波频散信息的加入,使得基阶反演结果更加收敛,反演深度加深到8 km;深度在8 km以下的结构的研究利用多尺度阵列（密集台阵-宾川气枪台网-云南区域地震台网）嵌套组合的方式,面波基阶低频信息从0.55 Hz拓宽到0.008 Hz,使横波速度结构的反演深度显著增加,同时对反演过程提供约束,使得70 km深度以上的横波速度更收敛.由此本文所得的横波速度结构为该区地下结构的探测提供基础,多尺度阵列嵌套组合频散谱的研究方式也为以后区域结构的研究提供一种新的方法和思路.

     

三维城市模型的构建及其在噪音污染分析中的应用

本文提出了综合利用二维矢量数据、航空影像和激光测距与距离修正数据建立三维城市模型的技术路线,并在此基础上探索了城市噪音污染信息在现有三维城市模型中的建模和可视化方法。     

BDS3新试验卫星测距信号质量分析

中国的北斗卫星导航系统按照“三步走”的发展战略稳步推进,目前正处于第二代区域卫星导航系统向第三代全球卫星导航系统发展的关键时期。在郑州设置实验测站,实地采集BDS3新试验卫星的数据,分别从卫星可见数、信号频点、载噪比、伪距观测噪声值、多路径效应等方面分析BDS3试验卫星测距信号的质量。结果表明:对于相同频点,不同卫星的载噪比、伪距噪声、多路径效应变化略有不同,一般而言,倾斜同步轨道卫星(IGSO)的性能优于中轨道卫星(MEO)的性能;相同轨道类型的卫星,载噪比、伪距噪声、多路径效应水平相似,并且载噪比、伪距噪声、多路径效应在各个频点的相对大小关系基本一致。     

A note on the useable dynamic range of accelerographs recording translation

Since the late 1970s, the dynamic range and resolution of strong motion digital recorders have leaped from 65 to 135 dB, opening new possibilities for advanced data processing and interpretation. One of these new possibilities is the calculation of permanent displacement of the ground or of structures, associated with faulting or with non-linear response. Proposals on how permanent displacements could be recovered from recorded strong motion have been published since 1976. The analysis in this paper concludes that permanent displacements of the ground and of structures in the near-field can be calculated provided all six components of strong motion (three translations and three rotations) have been recorded, and the records are corrected for transducer rotation, misalignment and cross-axis sensitivity.     

基于EMD小波阈值滤波的地磁数据去噪分析

采用小波阈值滤波、经验模态分解滤波和基于经验模态分解的小波阈值滤波3种方法,对磁通门磁力仪观测数据进行去噪,有效去除或抑制郫县地震台地磁数据的地电干扰.     

高稳定性数字钟的分析与实现

介绍一种高稳定、低功耗、多功能、小型化的数字钟 ,由数字钟插入相位噪声引起的 1pps输出信号相位抖动为 5 .3ps,前沿上升时间为 4 .6ns ,指标测量通过 2m长 5 0Ω高频同轴电缆并接 5 0Ω电阻性负载 ,输入信号为 10MHz正弦波信号 ,移相精度为 10 0ns,同步精度≤ 10 0ns,通过RS 2 32接口每秒一次的速率以ASCII码格式输出时间信息 (年、月、日、时、分、秒 ) ,在接数显钟面时其功耗为2W ,不接数显钟面时为 1.2W。     

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