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新型蓄能器浮标上浮运动水动力性能研究 总被引:1,自引:0,他引:1
基于深海大洋在地球气候系统中的重要作用,国际上陆续提出并实施了一系列以深海大洋为核心的重大研究计划,目前自沉式剖面浮标因具备高分辨率采样观测的能力,被广泛应用于对深海大洋环境的观测研究中。为了增大浮标在运动过程中体积变化范围,本文提出一种在普通APEX浮标上加装N_2蓄能器的改变浮标浮力的方式,给出其工作原理图,结合其工作环境推导出浮标匀速运动时的速度方程,得出普通浮标和氮气浮标上浮运过程中的瞬时加速度以及速度随时间的变化曲线,并比较分析蓄能器对浮标上浮运动的影响。 相似文献
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This paper presents a numerical investigation into the dynamics of marine cables which are extensively used in offshore industry. In this numerical study, the Euler-Bernoulli beam model is adopted to develop the governing equations of the cable. Bending stiffness is considered to cope with the low tension problem in local area of towing cable, and thus a more accurate solution with the consideration of the axial elongation can be given.The derived strongly-coupled and nonlinear governing equations are solved by a second-order accurate, implicit,and large time step stable central finite difference method. The quadratically convergent Newton-Raphson iteration method is applied to solving the discrete nonlinear algebraic equations. Then a towed array sonar system(TASS)problem is studied. The numerical solutions agree reasonably well with the experimental data and the simulated results of the references. The specified program of the present paper shows great robustness with high efficiency. 相似文献
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针对无人航行器操纵模型参数辨识精度受限于航向数据采集频率的问题,提出一种运用阿基米德螺旋(Archimedes spiral, AS)加密重构稀疏数据集进而改良辨识精度的思路。首先,选取不同采集频率的Z形操纵仿真试验数据集,基于最小二乘算法进行一阶线性KT方程的参数辨识,定量分析采样频率对辨识精度的影响,阐述重构稀疏数据的必要性。随后,提出预先应用AS插值加密优化的策略,重构光滑连续的加密数据集,并与初始稀疏集、基于三次样条插值的加密集完成对比分析。数值结果表明,基于AS的数据重构策略使KT辨识精度提高了31.1%,平均误差仅2.4%,较三次样条插值处理准确了1%。基于AS的加密重构技术弥补了实际数据采样频率相对较低时的不足,为无人航行器高精度操纵模型参数辨识提供了新思路。 相似文献
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[目的]针对智能浮标大深度浮潜模型难以精确量化的问题,提出一种抗数据饱和及测量噪声的最小二乘算法(ASNLS),以实现浮潜多参数识别及深度预测。[方法]首先,在智能浮标浮潜运动灰箱模型中引入其执行机构的非线性动作特性以契合实际模型,并将连续型浮潜运动方程转化为离散模式以匹配实际离散的数据采样方式;然后,将离散型运动方程构造为基于相关函数的表达形式,以减弱噪声对参数辨识的影响;最后,通过调整协方差矩阵的取值,实现该浮潜参数辨识算法的抗数据饱和功能。[结果]基于2021年智能浮标在南海的大深度试验数据,开展了浮潜运动模型参数辨识及深度预测,验证结果表明:相较于传统的最小二乘算法及支持向量机算法,ASNLS算法的收敛速度更快(较最小二乘算法提高了31.8%)、深度预测误差更小(不同深度下的平均绝对百分比误差均小于9%)。[结论]ASNLS算法可为智能浮标的深度控制和预报提供有效的浮潜模型支撑。 相似文献
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Underwater gliders are highly efficient and long-ranged autonomous underwater vehicles. The typical dynamic modeling in the vertical plane is of multi-input multi-output(MIMO), which is underactuated while easily affected by the ambient environment. To resolve the problems of MIMO, the dynamic model is transformed into a single-input single-output(SISO) system with two dubious parameters, and an adaptive backstepping controller is designed and applied in this paper. A Lyapunov function has been established with the total energy of the system converged in the controller. Contrast result of simulation has demonstrated that the derived nonlinear controller has higher tracking precision and faster response than the proportional-integral-derivative(PID) control method,which indicates its excellent capability to deal with the controlling problems of underwater gliders. 相似文献