Robust sliding mode control of a mini unmanned underwater vehicle equipped with a new arrangement of water jet propulsions: Simulation and experimental study

This paper presents dynamical modeling and robust control of a Mini Unmanned Underwater Vehicle (MUUV) equipped with a new arrangement of water jet propulsion. The water jet propulsion includes some advantages comparing with a propeller one, such as, reducing the number of required motors, desired number and arrangement of the propulsions, removing adverse torque and cavitation due to propeller rotation and etc. In order to model the proposed MUUV, the gray box method is used in such a way that the dynamical equation of motion is derived analytically by Euler-Lagrangian method, and then the hydrodynamic coefficients (such as added mass and drag coefficients) are derived by performing some tests in a Computational Fluid Dynamic (CFD) software. The dynamical model is used to simulate the MUUV system and also to design the proposed controllers, which are Feedback Linearization Controller (FLC) and Sliding Mode Controller (SMC). In order to investigate and compare the performance of the MUUV and the applied controllers, three types of tests including a desired signal tracking case and two desired path tracking cases are designed. To do so, a method is presented to obtain the desired signals from a desired path under predetermined conditions. Then, an MUUV prototype is designed and constructed in order to investigate the performance of the proposed water jet propulsions and controllers for regulation and tracking desired signal purpose, experimentally. As it is expected, the simulation and experimental results show better performance of the SMC compared to FLC. Furthermore, the experimental results reveal that the water jet propulsion is implementable to practical prototypes and also can be produced in an industrial level.     

非线性系统中卡尔曼滤波的一种新线性化方法

针对测量领域非线性系统卡尔曼滤波的线性化，在分析两种传统线性化方式的基础上．提出了一种新的基于最优估计值的线性化方式。     

共线条件方程线性化

给出一种新的共线条件方程线性化方法 ,使共线条件方程线性化过程简明易懂 ,便于掌握。     

Studies on structural vibration control with MR dampers using μGA

A new approach to reducing the seismic response of spatial structures with magneto-rheological (MR) dampers is presented in this paper. The Genetic Algorithm with small populations (μGA) is used to optimize the control for the MR dampers to reduce structural vibration, which is difficult to achieve using classical optimal control. The advantages of μGA are the use of global properties and that fewer conditions are required to obtain the optimal function. Numerical results demonstrate the effectiveness of the proposed method in reducing the seismic response of structures.     

地基非线性波动问题中黏-弹性人工边界研究

建立了考虑地基动力非线性效应的波动模拟的二维和三维黏-弹性人工边界条件。引入考虑动力非线性特征的土体等效线性模型中的动模量变化模式,推导了新的平面内法向、平面内切向以及出平面切向的黏-弹性人工边界公式,同时也给出了新的三维法向、切向黏-弹性人工边界公式,并在实际应用中采用等效线性化方法处理,进行了数值算例分析,结果表明,新的黏-弹性人工边界具有更好的精度,可以用于地基非线性波动问题的研究。     

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基于DEEPSOIL的软土场地地震反应研究

软土场地地震反应分析是目前工程场地地震安全性评价中的重要组成部分,对场地设计地震动参数的确定具有重要意义。利用一维场地地震反应分析软件DEEPSOIL,可进行场地线性、等效线性化和时域非线性等多种分析,并可考虑孔隙水压的影响。笔者根据土层计算参数,编制了DEEPSOIL软件场地模型输入文件的自动生成程序,可高效、快速地完成对场地的建模。通过数值算例验证了DEEPSOIL软件的精度。同时通过对某典型Ⅲ类软土场地的地震反应分析,研究了拟合参数的敏感性以及等效线性化方法和时域非线性方法对峰值加速度和地表加速度反应谱的影响,并指出了等效线性化方法在分析软土场地地震反应中的不足。对于软土场地建议采用DEEPSOIL软件进行时域非线性分析,因为其参数简单并容易确定,适合建模快速和使用方便的要求。     

Exact linearization of non-planar intermediary orbits in the satellite theory

In this paper we consider the reduction of the equations of motion for non-planar perturbed two body problems into linear form. It is seen that this can be easily accomplished for any element of the class of radial intermediaries to the satellite problem proposed by Deprit in 1981, since they have a functional dependence suitable for linearization. The transformation is worked out by using an adequate set of redundant variables. Four harmonic oscillators are obtained, of which two are coupled through gyroscopic terms. Their constant frequencies contain the secular contribution of the main problem of artificial satellite theory up to the order of the considered intermediary. Therefore, this result may well be interesting in relation to the study and prediction of accurate long-term solutions to satellite problems.     

利用Mathematica实现共线条件方程自动线性化的教学实践

中心投影构像方程通常称为共线条件方程,它是摄影测量学的理论基石。共线条件方程线性化是建立摄影测量平差数学模型的前提,对初学者掌握解析空中三角测量的基本原理具有重要意义。针对专业课教学中人工线性化工作量大、容易出错、枯燥乏味等不足,本文采用Mathematica科学计算软件设计了计算机自动线性化方案。实践表明,该方案具有简便、准确、灵活等特点,能帮助初学者迅速掌握线性化技巧,教学效果良好。提出的思路和方法为提升专业课教学质量、促进教学改革探索了有效途径。     

基于MSC.Marc二次开发的土体静力和地震非线性分析方法

本文在MSC.M arc提供良好的用户二次开发环境下,利用用户使用的应用编程接口USER SUB.HYPELA,添加了多层土的静力Duncan-Chang本构关系模型和动力等效线性化本构关系模型,并通过两个算例验证了本文二次开发的可靠性。