Nonlinear pitch control of an underwater glider based on adaptive backstepping approach

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.     

基于dSPACE的AMT电控操纵系统试验台设计

以AMT为研究对象,以实现电控操纵选换挡为目标,设计电控操纵系统试验台。由d SPACE控制变速器试验台操纵机构自动完成选换挡动作,通过运动模拟软件计算和试验验证两种方法获得换挡操纵杆运动过程中操纵杆特定点位的空间位置、速度和定向载荷及其变化率等系列参数。对比验证表明该设计方案合理可行,对开发AMT操纵系统测试装置具有借鉴意义。     

摩托车发动机诊断分析系统在整车性能提升中的应用(2)

(上接2015年第1期)图9~图11为发动机前端补气中,发动机NO_x、HC和CO随二次补气管前端管长度的变化情况(发动机转速为6 900 r/min)。试验结果表明,前端管长度对NO_x排放的影响并不显著,而对HC和CO的影响较为明显,与原机相比,增长和缩短前端管长度都不利于高负荷条件下HC的排放控制,而对于中低负荷条件下的CO排放却有明显抑制作用。图12~图14为发动机后端补气中,发动机NO_x、     

南海海底管道冲刷深度预测（英文）

Scour depth prediction of offshore pipelines is of great significance to the design and construction of the submarine pipeline projects. In this paper, based on the CFD software package FLUENT and User Defined Function(UDF), an Eulerian two-phase model, which includes an Euler-Euler coupled model for water and sediment phases, and a turbulent model for the fluid phase, is adopted to predict the scour depth around pipelines. The model is verified by observation data obtained from laboratory experiments. On the basis of the simulations, the factors affecting the scour depth, including the effects of incipient velocity, pipe diameter and sediment particle size and so on, were investigated. Meanwhile, according to formulas of incipient velocity of various sediments, approximate calculation on theoretical scour depths is developed for pipelines of seven stations in the South China Sea, where engineering application information is available.     

有效冗余备份构建可靠的TDCS通信网络

随着TDCS网络建设规模的不断扩大，通信网络的重要地位也变得更加突出。在如何保证网络通信正常的诸多选择中，对构成网络通信的重要设备进行相应的冗余备份，是其中行之有效的方法之一。为此针对实际应用中如何通过有效冗余备份保证TDCS网络通信稳定可靠进行研究。     

超前微型钢管桩在基坑围护中的应用

某地下室基坑开挖深度超过4 m,既有围墙距基坑边仅0.6 m,由于特殊原因,既不能拆除围墙,又要保证围墙的安全。施工中采用了超前微型钢管桩加土钉喷锚支护的施工方法,成功地解决了围墙垂直、水平位移等问题。     

38500 DWT系列船DNV压载舱过压压头计算

本文主要介绍38 500 DWT系列船DNV压载舱过压压头计算方法,以及具体数据的取值方法.     

探索通霍线挖潜扩能的途径

通霍线是连接全国五大露天煤矿之一的内蒙古霍林河煤矿和东北大区的一条运煤专线,随着霍林河煤业集团生产能力的不断提高,通霍线的运输能力日趋紧张。沈阳铁路局探索通霍线挖潜扩能的途径,通过开行万吨重载列车、增加中间站到发线有效长以保证会让、加大列车开行密度等对策,有效利用了区间能力,实现了低投入、高产出,通霍线运输能力得到了快速增长。     

天津滨海快速轨道车辆运用与维修模式

津滨快轨车辆的硬件配备、运营管理体系、维修模式的建立及其合理的车辆运用及维护质量控制为车辆安全、稳定的运营打下了良好的基础。     

传统基坑支护方式进行地下明挖车站装配的可行性研究

对采用传统基坑支护方式进行地下明挖车站装配进行可行性分析和研究，从拆撑方式和主体结构预制构件的安装等方面进行详述，认为方案是可行的。