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排序方式: 共有233条查询结果,搜索用时 15 毫秒
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This paper addresses an important problem in ship control application—the robust stabilization of underactuated ships on a linear course with comfort. Specifically, we develop a multivariable controller to stabilize ocean surface ships without a sway actuator on a linear course and to reduce roll and pitch simultaneously. The controller adapts to unknown parameters of the ship and constant environmental disturbances induced by wave, ocean current and wind. It is also robust to time-varying environmental disturbances, time-varying change in ship parameters and other motions of the ship such as surge and heave. The roll and pitch can be made arbitrarily small while the heading angle and sway are kept to be in reasonably small bounds. The controller development is based on Lyapunov’s direct method and backstepping technique. A Lipschitz continuous projection algorithm is used to update the estimate of the unknown parameters to avoid the parameters’ drift due to time-varying environmental disturbances. Simulations on a full-scale catamaran illustrate the effectiveness of our proposed controller. 相似文献
3.
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
4.
This study investigates experimentally the breaking wave height of multi-directional random waves passing over an impermeable submerged breakwater. Experiments have been conducted in a three-dimensional wave basin equipped with a multi-directional random wave generator. A special type of wave gauge has been newly devised to record the water surface elevations in the breaker zone as accurately as possible. The records are analyzed to estimate the location and limit of wave breaking. Comparisons have also been made with the results of regular waves. The influence of the incident wave conditions on the breaking wave height normalized by the breakwater dimensions has been investigated. Empirical formulae have been presented to estimate the breaking limit of multi-directional random waves based on the experimental records. The formulae have been tested and found to work well not only for multi-directional random waves, but for regular waves as well. 相似文献
5.
Ben K. H. Soon Steve Scheding Hyung-Kuen Lee Hung-Kyu Lee Hugh Durrant-Whyte 《GPS Solutions》2008,12(4):261-271
This paper presents a simple and effective approach that incorporates single-frequency, L1 time-differenced GPS carrier phase
(TDCP) measurements without the need of ambiguity resolution techniques and the complexity to accommodate the delayed-state
terms. Static trial results are included to illustrate the stochastic characteristics and effectiveness of the TDCP measurements
in controlling position error growth. The formulation of the TDCP observation model is also described in a 17-state tightly-coupled
GPS/INS iterative, extended Kalman filter (IEKF) approach. Preliminary land vehicle trial results are also presented to illustrate
the effectiveness of the TDCP which provides sub-meter positional accuracies when operating for more than 10 min. 相似文献
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Environmental pulmonary health problems related to mineral dusts: Examples from central Anatolia, Turkey 总被引:1,自引:0,他引:1
M. Doğan 《Environmental Geology》2002,41(5):571-578
There are a number of benign disorders including pleural thickening (PT), calcified pleural plaques (CPP), and malignant diseases such as malignant pleural mesothelioma (MPM) in central Anatolia. Earlier studies suggested tremolite was the main cause, and there was no explanation why some of the population did not have malignant cases, and plaques were by far the most frequent manifestation of asbestos-induced injury. In this study, geological, mineralogical and environmental data were evaluated. While the prolonged continuous exposure to high or low doses of long (8-30 µm) and thin (less than 0.25 µm) mixed fibers such as chrysolite, and/or anthophyllite or tremolite, and also silica particles may be the cause of MPM in central Anatolia, two different reasons for the CPP and PT are suggested. The first one is short (less than 8 µm) and thin mixed-type mineral fibers. The second reason is low doses of long, but thick, splintery tremolite fibers. 相似文献
8.
This paper proposes a numerical approach to the hyperstatic reaction method (HRM) for the analysis of segmental tunnel linings. The influence of segmental joints has been considered directly using a fixity ratio that is determined on the basis of the rotational stiffness. The parameters necessary for the calculation are presented. A specific implementation has been developed using a FEM framework. This code is able to consider the three‐dimensional (3D) effect of segment joints in successive rings on the tunnel lining behaviour. The present HRM allows one to take an arbitrary distribution of segment joints along the tunnel boundary into consideration. In addition, the rotational stiffness of segment joints has been simulated using nonlinear behaviour, as it is closer to the true behaviour of a joint than linear or bilinear behaviour. The numerical results of three hypotheses on ring interaction, which allow the 3D effect of a segmental tunnel lining to be taken into account, have been compared with data obtained from the shield‐driven tunnel of the Bologna–Florence high‐speed railway line project. The numerical results presented in the paper show that the proposed HRM can be used to effectively estimate the behaviour of a segmental tunnel lining. Copyright © 2014 John Wiley & Sons, Ltd. 相似文献
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