Accurate and practical thruster modeling for underwater vehicles

The thruster is the crucial factor of an underwater vehicle system, because it is the lowest layer in the control loop of the system. In this paper, we propose an accurate and practical thrust modeling for underwater vehicles which considers the effects of ambient flow velocity and angle. In this model, the axial flow velocity of the thruster, which is non-measurable, is represented by ambient flow velocity and propeller shaft velocity. Hence, contrary to previous models, the proposed model is practical since it uses only measurable states. Next, the whole thrust map is divided into three states according to the state of ambient flow and propeller shaft velocity, and one of the borders of the states is defined as critical advance ratio (CAR). This classification explains the physical phenomenon of conventional experimental thrust maps. In addition, the effect of the incoming angle of ambient flow is analyzed, and Critical Incoming Angle (CIA) is also defined to describe the thrust force states. The proposed model is evaluated by comparing experimental data with numerical model simulation data, and it accurately covers overall flow conditions within ±2 N force error. The comparison results show that the new model's matching performance is significantly better than conventional models'.     

考虑盾构铰接作用的小半径曲线隧道开挖诱发地层沉降分析

目前针对小半径曲线隧道开挖诱发地层沉降的理论研究均将盾构机视为一个连续的整体,未考虑盾构机铰接装置带来的影响,由此不能正确评估小曲率盾构开挖路径变化带来的超挖效应等。首先,根据盾构机铰接位置以及盾构机与小曲率隧道开挖路径的几何位置关系,得到了小曲率隧道开挖过程中不同盾构铰接位置超挖量及盾构铰接角计算公式;其次,基于镜像法及Mindlin解,求解了铰接盾构施工时因超挖地层损失、盾尾地层损失、开挖面不均匀推力、盾壳不均匀摩擦力及盾尾处注浆压力等共同影响的地层沉降;最后,采用工程监测数据与理论解进行对比验证,得到较好的一致性。此外,针对隧道转弯半径、前盾长度、盾构铰接角及超挖量等进行了参数分析。分析结果表明：不考虑盾构铰接装置的影响将过高估计地层损失而导致地层沉降预测值偏大。随着转弯半径的减小,前盾长度、盾构铰接角及超挖量的增加,地层沉降增大,但其值变化均对开挖面前方沉降影响较小,对开挖面后方沉降影响较大。在开挖面后方,随着与开挖面距离的增大,当转弯半径取值较小,前盾长度、盾构铰接角及超挖量取值较大时,纵向地表沉降呈先增大后减小趋势。     

基于声发射多重分形特征的层状板岩失稳前兆研究

为探究层状板岩失稳前兆,开展了5组不同层理倾角（0°、30°、45°、60°、90°）板岩的单轴压缩试验,分析了其破坏形态、声发射参数及多重分形特征,讨论了多重分形谱宽Δα与损伤演化的关系,得到了基于多重分形的破坏前兆及预警时间。结果表明：当层理倾角由0°增加到90°时,板岩先由张拉劈裂破坏向劈裂剪切破坏转变,接着变为剪切滑移破坏,最终转变为张拉劈裂破坏;振铃计数突增以及低频-高幅信号比例的持续增加可作为板岩失稳前兆,且层状板岩在裂纹贯通阶段低频-高幅信号占比随层理倾角的增大呈先减后增的变化过程;多重分形谱宽?α先突减再突增也可作为不同层状板岩的失稳前兆,且Δα的突增时间提前于损伤突变,Δα预警时间随层理倾角的增大呈先增后减再增的变化过程,层理倾角为30°时预警时间最长。     

自适应抗差Kalman滤波在多天线原始观测值瞬时姿态确定中的应用

由载波相位观测值直接解算姿态能实现观测及姿态约束信息的最优利用。本文推导了基于失准角及乘性误差四元数的载波相位观测模型,分别建立了有外部角速度传感器和无外部传感器辅助下姿态参数估计的状态模型;利用自适应抗差滤波估计姿态误差,借鉴分类自适应因子的思想,分别确定模糊度和姿态误差参数的自适应因子,其中姿态自适应因子由Ratio值构造的三段函数确定。自适应抗差滤波能够充分利用约束信息和历史信息,将其融合在浮点解计算过程中,极大提高模糊度浮点解精度及其协方差的结构,在此基础上使用整数最小二乘模糊度降相关平差法(least-squares ambiguity decorrelation adjustment,LAMBDA)方法即能快速搜索出固定解,满足实时性需求。采用实测舰载GNSS 3天线测姿算例对方法进行了验证,结果表明,基于自适应抗差滤波的观测值直接定姿方法效率高、可靠性好。     

基于ASTER的蛇绿混杂岩带岩性识别

本文运用ASTER遥感数据识别与提取新疆南天山铜花山地区蛇绿混杂岩带岩性信息。首先,利用比值法快速区别岩性,并比较了识别同一种岩性的不同指数的性能;然后,将对数残差算法应用在ASTER数据的短波红外波段上,在区域尺度上把蛇绿岩杂岩体同围岩区分开来;最后,运用标准光谱数据和光谱角填图法识别出多种蛇绿岩成分及其空间分布。现有地质图和野外验证反映出该方法有一定效果。利用混淆矩阵对光谱角填图法分类结果定量评价,结果表明,把ASTER的可见光-近红外、短波红外波段数据结合在一起进行岩性分类,可以达到比单独用短波红外数据分类更高的分类精度。     

车载测量系统几何标定的探讨

文章针对移动车载测量系统的各项系统误差来源进行了分析,建立了相机畸变模型,以地面高精度三维控制场为依托对各项系统误差(相机畸变、GPS偏心矢量、IMU视准轴偏心角)进行了标定,并对标定后系统的直接定位绝对精度进行了评估。实验证明,系统几何标定之后具有较高的直接定位绝对精度,能够满足移动测量的需求。整个标定方案对于其他移动测量系统也具有一定的借鉴意义。     

深井钻进时井底参数自动遥控系统用传感器的设计研究

我国正在计划打一口13000 m的特深地质井,以超过目前世界上最深的俄罗斯12262m科拉超深井,意义重大。深井、特别是超深井钻进中,除了钻井设备、钻具(含钻头)之外,钻井工艺和操作技术也非常重要。钻井工艺和操作技术目前主要是利用地面仪表显示的井底参数数据来进行指导的。但是这些数据与井底钻井参数的实际情况可能有较大差异,直接影响技术经济指标的提高。俄罗斯阿斯特拉罕国立技术大学В.Н.Есауленко教授等人,设计出了井底参数自动测量控制系统,其中传感器是必不可少的关键器具。现以方位角传感器设计计算为例对其进行讨论和分析,或许对我国打此特深地质井有一定的参考价值。     

几种常见矿物的油-水-矿物接触角测量及其讨论

采用测量水中油滴在矿物表面接触角的方法,利用接触角测量仪测量了不同矿化度水中,不同单组分油和混合组分油在不同矿物表面的接触角,提出了一套合理的测量方法,保证了测量结果的准确性。经过测量润湿角的大小,对比发现水中矿物的亲油性由强到弱依次为：云母＞黄铁矿＞方解石＞白云石＞石英。矿物类型、油组分类型和水的矿化度都对接触角有较大影响：不同的矿物表面油水的润湿性不同;随着油滴中正十八烷含量的增多,油滴在云母表面的接触角变小,润湿性变好,在其它矿物表面的润湿性略有不同;随着水矿化度的提高,油滴在云母表面的接触角呈现出明显变大的趋势,润湿性逐渐变差,在其它矿物表面的润湿性略有不同。     

The Dihedral Angle and Intersection Processes of a Conjugate Strike‐Slip Fault System in the Tarim Basin,NW China

Recent studies, focused on dihedral angles and intersection processes, have increased understandings of conjugate fault mechanisms. We present new 3-D seismic data and microstructural core analysis in a case study of a large conjugate strike-slip fault system from the intracratonic Tarim Basin, NW China. Within our study area, "X" type NE and NW trending faults occur within CambrianOrdovician carbonates. The dihedral angles of these conjugate faults have narrow ranges, 19° to 62° in the Cambrian and 26° to 51° in the Ordovician, and their modes are 42° and 44° respectively. These data are significantly different from the ～60° predicted by the Coulomb fracture criterion. It is concluded that:(1) The dihedral angles of the conjugate faults were not controlled by confining pressure, which was low and associated with shallow burial;(2) As dihedral angles were not controlled by pressure they can be used to determine the shortening direction during faulting;(3) Sequential slip may have played an important role in forming conjugate fault intersections;(4) The conjugate fault system of the Tarim basin initiated as rhombic joints; these subsequently developed into sequentially active "X" type conjugate faults; followed by preferential development of the NW-trending faults; then reactivation of the NE trending faults. This intact rhombic conjugate fault system presents new insights into mechanisms of dihedral angle development, with particular relevance to intracratonic basins.     

共轭伸展褶劈理夹角的定量解析

通过静力和动力学解析,共轭伸展褶劈理面对最大主应力方向的理想夹角为１０９°２８′,与实际观测值一致。共轭伸展褶劈理的取向取决于形成时剪切作用类型,纯剪切时以糜棱面理为对称面,但在一般剪切时则与之不对称。同向褶劈理与糜棱面理间的夹角变化于－ ９°４４′～３５°１６′之间,取决于简单剪切与纯剪切的相对组分。共轭两组常不同等发育。Ｐ方向的同向剪切趋势抑制反向褶劈理的形成。同向伸展褶劈理的扩展是导致低角正断层形成的有效机制