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21.
This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle’s unknown physical parameters. The proposed controller is designed using Lyapunov’s direct method, the popular backstepping and parameter projection techniques. The closed loop path following errors can be made arbitrarily small. Interestingly, it is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology. 相似文献
22.
For gravity wave trains propagating over an arbitrary wavy bottom, a perturbation expansion is developed to the second order so that the Bragg resonance effect of the ripple bottom on the free-surface wave can be analyzed. Both the resonant and non-resonant cases are treated and the singular behavior at resonance is avoided. This theory is successfully verified by reducing to simpler situations. Then, the analytical results for the special case of a unidirectional sinusoidal bottom are compared with experimental data for validation. 相似文献
23.
The determination of the drag and inertia coefficients, which enter into the wave force model given by Morison's equation, is particularly uncertain and difficult when a linear spectral model is used for ocean waves, and the structure is compliant and has nonlinear dynamic response. In this paper, a nonlinear System Identification method, called Reverse Multiple Inputs–Single Output (R–MISO) is applied to identify the hydrodynamic coefficients as well as the nonlinear stiffness parameter for a compliant single-degree-of-freedom system. Four different types of problems have been identified for use in various situations and the R–MISO has been applied to all of them. One of the problems requires iterative solution strategy to identify the parameters. The method has been found to be efficient in predicting the parameters with reasonable accuracy and has the potential for use in the laboratory experiments on compliant nonlinear offshore systems. 相似文献
24.
The stochastic properties of the drag force maxima on a circular cylinder subjected to nonlinear random waves are investigated. Unseparated laminar high Reynolds number flow is considered. A simplified approach based on second order Stokes waves is presented, including the sum-frequency effect only. It is demonstrated how a drag force formula valid for regular linear waves can be used to find the cumulative distribution function of individual drag force maxima for nonlinear irregular waves. Here the [Wang, 1968] drag force coefficient is used. 相似文献
25.
Numerical simulations of gravity waves with high-order nonlinearities in two-dimensional domain are performed by using the pseudo spectral method. High-order nonlinearities more than third order excite apparently chaotic evolutions of the Fourier energy in deep water random waves. The high-order nonlinearities increase kurtosis, wave height distribution and Hmax/H1/3 in deep water and decrease these wave statistics in shallow water. Moreover, they can generate a single extreme high wave with an outstanding crest height in deep water. High-order nonlinearities (more than third order) can be regarded as one cause of freak waves in deep water. 相似文献
26.
This work deals with parametric resonance which poses a great danger especially for container ships sailing in following or head seas. Important parameters that are effective in roll resonance are pointed out. For this purpose, a containership is taken as an example to analyze its stability in longitudinal waves based on the method worked out by American Bureau of Shipping (ABS). Unfavorable sailing conditions such as heading and speed, which directly depend on the environmental conditions, have been determined for this particular ship. These conditions may be reported to the master to guide him to keep his ship out of parametric resonance zones. Numerical details of the procedure have been worked out and provided as well. 相似文献
27.
外差激光雷达测量水体布里渊散射可行性研究 总被引:1,自引:0,他引:1
该文分析外差激光雷达测量水体布里渊散射的可行性。借助测量水体布里渊散射的频移 ,可得到水体声速或温度。文中利用两条 12 7I2 吸收线锁定激光输出频率 ,产生稳定的频差约为7.5 GHz发射激光和激光本振。通过对 12 7I2 吸收线稳定度、激光频率稳定度、系统信噪比和反演精度的分析和计算机模拟 ,得出水体深度 2 5 m以内水体布里渊散射频移的测量误差可以控制在2 .5 MHz以内 ,达到水中声速 0 .6 m/ s或温度 0 .1℃的测量精度。 相似文献
28.
Jan E. Vermaat Rene N. Rollon Cristina Day A. Lacap Claire Billot Filipe Alberto Hildie M.E. Nacorda Frank Wiegman Jorge Terrados 《Journal of Sea Research》2004,52(4):201
Flower and fruit production of the abundant, tall, long-lived, dioecious, surface-pollinating seagrass species Enhalus acoroides (L.) Royle were estimated at seven sites in the reef flats off Bolinao (NW Luzon, The Philippines) featuring different fragmentation of the seagrass meadows. Fragmentation of the seagrass meadow was quantified as cover of E. acoroides and all seagrass species present in 20×20 m plots. E. acoroides and overall seagrass cover were correlated positively. The proportion of female flowers of E. acoroides that developed a fruit increased sharply as overall seagrass cover was around 50%. Apparent sex ratio bore no relationship with overall seagrass cover. This threshold-type of relationship suggests that fragmentation of seagrass meadows can have a major effect on the reproductive output of this species. A possible mechanism underlying these results would be a non-linear increase of the efficiency of trapping the surface-dispersed pollen with increasing seagrass canopy density. This provides the first evidence based on real data that fragmentation can affect the population dynamics of seagrass species. 相似文献
29.
30.
Makoto Yoshikawa 《Celestial Mechanics and Dynamical Astronomy》1992,54(1-3):287-290
Motions of asteroids in mean motion resonances with Jupiter are studied in three-dimensional space. Orbital changes of fictitious asteroids in the Kirkwood gaps are calculated by numerical integrations for 105 – 106 years. The main results are as follows: (1) There are various motions of resonant asteroids, and some of them are very complicated and chaotic and others are regular. (2) The eccentricity of some asteroids becomes very large, and the variation of the inclination is large while the eccentricity is large. (3) In the 3:1 resonance, there is a long periodic change in the variation of the inclination, when (7 : ) is a simple ratio (7: longitude of perihelion, : longitude of node). (4) In the 7:3 resonance, the variation of the inclination of some resonant asteroids is so large that prograde motion becomes retrograde. Some asteroids in the 7:3 resonance can collide with the Sun as well as with the inner planets. 相似文献