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.     

南海北部水合物富集区水道特征对比与成因分析

天然气水合物作为现今乃至未来的重要清洁能源之一,其沉积环境和成矿条件的研究一直是国内外地质学家关注的热点问题,我国2007年、2013年及2015年已先后在神狐、和东沙海域多次成功钻获了天然气水合物实物样品。由此南海北部陆坡成为探讨天然气水合物沉积成因与成矿条件的重要试验区。然而,南海北部陆坡区的神狐、东沙及琼东南三个海域均有不同程度的天然气水合物发现,其各自的水深、沉积特征、气源成因及水合物成矿条件各有特点。本文利用地震沉积学原理,结合不同沉积相和沉积演化和古地貌、海平面变化和构造运动等因素,识别出不同类型的地震相。通过对比南海北部陆坡区域的水道系统的MTDs,认为其发育位置、展布和控制因素的不同影响了沉积展布。其中东沙区域位于近物源的上陆坡,神狐区域位于正常的缓陆坡区域,琼东南区域位于远离物源的海底平原区域。并且,水道系统可以分成侵蚀型,侵蚀-加积型和加积型,MTDs也可以分成头部拉张型,中部过渡型和趾部挤压型。     

河套盆地北缘色尔滕山河流地貌参数特征及其成因分析

地貌形态是构造和地表过程相互作用的复杂产物,主要通过构造活动和岩石的抗侵蚀能力等来调节。构造活动相对较弱的古老造山带往往可以忽略构造驱动的岩石抬升,使得研究岩石抗侵蚀能力对其地貌雕刻的贡献成为可能。但是目前大多数活动造山带地貌研究的结果显示地貌主要受控于活动构造,关于岩性对地貌演化影响的报道较少。色尔滕山山前断裂为河套盆地北缘的一条重要控盆断裂,全新世以来该断裂的活动性较强,曾发生过两次较大震级地震（M6. 4和M5. 9）。前人活动构造研究表明该断裂的活动性具有空间差异,中部乌加河镇活动性最强,两端逐渐减弱。但相对河套盆地北缘其他大型断裂（如狼山山前断裂、乌拉山北缘断裂和大青山山前断裂）,该断裂的地貌参数研究较少。同时其地貌演化特征及发育机理仍然不清楚,这些均制约了对该断裂的变形动力学理解。本文基于30 m分辨率的DEM数据对该断裂进行详细的河流地貌学参数研究,包括使用Arcgis和Matlab脚本提取色尔滕山山前33条河流的子流域盆地面积 高程积分（HI）和相应河道陡峭指数（Ksn）、河道纵剖面及其裂点等地貌学参数。结果表明研究区河流HI值大部分处于0. 40~0. 66之间,其中乌加河镇附近具有高值,流域盆地处于发育的壮年期。瞬态河道和稳态河道均沿着色尔滕山山前断裂走向分布,可能表明色尔滕山山前大部分河道目前处于瞬时地貌向均衡地貌演化阶段,并且通过对比发现瞬态河道裂点成因存在岩性和构造共同控制的现象。河道陡峭指数空间分布差异性较大,乌加河镇附近（S13~S20）陡峭指数较大,向两边陡峭指数逐渐减小,在S8河流以西又有增大的趋势。通过结合岩性和降雨情况分析发现,河道陡峭指数除了受岩性抗侵蚀能力影响外,其分布还与色尔滕山山前断裂垂直滑移速率分布和垂直位错分布基本一致。综合来看,地貌参数的空间分布是岩性差异和色尔滕山山前断裂活动分段差异性共同控制的结果,表明该地区岩性和构造对地貌的协同塑造作用。     

水下收缩裂隙形成过程及裂缝充填模式研究

通过野外实地考察测试,对水下收缩裂隙整体形成过程、裂隙内充填物沉积模式、影响因素等进行了详细讨论,并且建立了相应的地质理论模型。水下收缩裂隙的形成共分4个阶段,依次为:泥水混合物进入低洼地带的初始混浊状态;沉积压实稳定阶段;水位线下降,盐度增大,裂隙形成阶段;沉积裂隙充填阶段。其中“异常高压作用”,对于初始裂隙的形成、沉积物孔隙水的有效排出以及主要渗流通道的发育起到了重要作用。单一泥质地层裂隙内充填物沉积模式与沙泥互层的多旋回地层略有差异,主要表现为沙层的润滑作用以及对早期裂隙内充填物类型的影响。上述两种地层裂隙内充填物沉积特征均与后期充注期次相对应,表现出很好的韵律性。裂隙纵剖面中生物发育层的出现,对裂隙内充填物的物理、化学性质将产生重要影响。     

温差能驱动的水下滑翔器设计与实验研究

论文设计开发了一种新型的温差能驱动的水下滑翔器,并对它做了水域实验研究。文章讨论了温差能驱动的滑翔器运动机理及其在垂直剖面的运动分析,得到稳态运动的参数解。结合能够把水域温差能转变为机械能的热机设计以及滑翔器的主要机械结构和控制硬件系统设计,完成了滑翔器的初步设计与开发。滑翔器在千岛湖进行了水域实验,实验结果表明,此水下滑翔器完全能够利用温差能实现预定的滑翔运动。     

水下滑翔机器人运动分析与载体设计

水下滑翔机器人是一种新型水下机器人,具有噪声低、航行距离远、续航时间长、成本低等特点。分析了水下滑翔机器人的驱动机理和运动实现,给出了水下滑翔机器人典型运动的仿真结果,并以正在设计的一水下滑翔机试验样机为研究对象,描述了样机的整体结构布局,详细研究了浮力调节机构、俯仰调节机构和横滚调节机构的实现方法,并就样机中各执行机构的设计实现进行了论述。     

水下运载器外挂负载的系统测试方案及仿真

研究水下运载器外挂负载的测试问题,根据负载功能,建立了负载的系统模型。考虑到系统可测性,模型中增设一些辅助元件和电路,测试计算机通过与负载的自动驾驶计算机通讯,由自动驾驶计算机施加激励和采集响应,完成测试。最后,对测试方案进行了仿真试验,并分析了仿真结果。     

高压水射流与潜水员水下作业安全研究

从高压水射流技术在水下工程中应用及高压水射流的作用效应和伤害特征着手,分析影响水下高压水射流作业安全的因素,总结各国制订高压水射流作业的安全标准规程现状,提出制订我国水下高压水射流作业安全规程若干认识和设想。     

EXPERIMENTAL INVESTIGATION AND ANALYSIS OF HEC-6 RIVER MORPHOLOGICAL MODEL

Only comparatively few experimental studies have been carried out to investigate the performance of the HEC-6 river morphological model. The model was developed by the Hydrologic Engineering Center of the US Army Corps of Engineers. In this study, experiments were carried out in a 20 m long concrete flume 0.6 m wide with varying rectangular cross-sections. The channel bed is paved with uniform sand of D₅₀ = 0.9 mm and D₉₀ = 1.2 mm within the test reach of 12 m. Two types of experiments were carried out with sediment transport, one under steady uniform flow and another under steady non-uniform flow conditions. Nine steady uniform flow experiments were carried out to compare the measured equilibrium relationship of flow and sediment transport rate with two bedload formulae, namely, Du Boys and Meyer–Peter and Muller, and with three total load formulae, namely, Toffaleti, Laursen and Yang. It was found that even though the sediment transport consists of a certain portion of bedload, the total load formulae give satisfactory results and better agreement than the two bedload formulae. Five steady non-uniform flow experiments were carried out under various conditions of varying bed profile and channel width and also with sediment addition and withdrawal. The measured transient water surface and bed profiles are compared with the computed results from the HEC-6 model. It was found that the Toffaleti and Yang total load formulae used in the HEC-6 model give the most satisfactory prediction of actual bed profiles under various conditions of non-uniform flow and sediment transport. The effects of Manning's n, variations of sediment inflow, various sediment transport formulae, sediment grain size and the model numerical parameters, i.e. distance interval Δx and numerical weighting factor, on the computed water surface and bed profiles were determined. It was found that the selection of the sediment transport formulae has the most significant effect on the computed results. It can be concluded that the HEC-6 model can predict satisfactorily a long-term average pattern of local scour and deposition along a channel with either a small abrupt change in geometry or gradually varying cross-sections. However, the accuracy of the model prediction is reduced in the regions where highly non-uniform flow occurs.     

不同水沙条件下黄河下游二级悬河的发展过程

以大量实测横断面资料为基础,研究了1973~1997年不同水沙过程对黄河下游二级悬河形成过程的影响。发现花园口至高村河段二级悬河集中形成于1985~1997年的枯水阶段。高村以下河段二级悬河的形成可分两个阶段,1973~1985年大水条件下是冲刷主槽和淤积滩地的时期,但是由于泥沙主要堆积在靠近滩唇的部位,造成河床横比降增大;1985~1997年枯水条件下泥沙在主槽中大量淤积,导致二级悬河的形势更加严重。生产堤限制了泥沙的堆积范围,导致生产堤内滩地平均高程增长速度明显快于生产堤外滩地平均高程增长速度,生产堤距较窄的河段生产堤内滩地平均高程增长速度较快,显示了生产堤对二级悬河的发展有促进作用。