排序方式: 共有22条查询结果,搜索用时 93 毫秒
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为准确估算管线敷设与风机室内气流相互作用对压降损失的影响,基于武汉市江夏区谭鑫培路地下综合管廊项目建立典型数值分析模型与分析流程。通过建立典型管线布置的GIL舱、高压舱与综合舱的计算流体动力学三维模型,分别对入口段与稳定段进行分析,并使用循环边界条件来考虑稳定段流体的充分发展,得到阻力系数随流量的变化规律;通过建立GIL舱典型排风口三维模型,分析风机室中不同风机的压降损失,并与规范估算值进行比较。研究结果表明: 管线敷设对压降损失的影响不可忽视;风机室风机相互作用显著,规范不能准确估算该相互作用导致的压降损失。 相似文献
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万磊张栋梁孙延超秦洪德曹禹 《中国舰船研究》2022,(5):148-156
[Objective]This paper proposes a fuzzy sliding mode controller based on T-S fuzzy logic for the vertical plane motion control of an autonomous underwater glider (AUG) with limited actuator capability. [Methods]In the fuzzy sliding mode controller, the fuzzy switching rate is used to replace the switching rate in the fixed time controller to effectively suppress buffeting. The fuzzy switching rate is obtained by fitting the switching rate of the fixed time controller with T-S fuzzy rules. Based on the limited capabilities of AUG actuators, a saturation auxiliary system is designed to improve the actuator saturation effect. Finally, the performance of the system is verified by Lyapunov stability analysis and numerical simulation. [Results]The results show that the AUG under the fuzzy sliding mode controller and the saturation auxiliary system can converge in finite time. The effectiveness of the fuzzy sliding mode controller and the saturation auxiliary system are verified by numerical simulation. [Conclusions]By making comparisons with the fixed-time controller, it is verified that the two controllers have similar control performance, and the buffeting of the fuzzy sliding mode controller is lesser. © 2022 Journal of Clinical Hepatology. All rights reserved. 相似文献
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欠驱动AUV的运动控制技术综述 总被引:4,自引:0,他引:4
欠驱动水下机器人由于在减轻系统质量、节约成本和能耗以及提高系统可靠性等方面的优点日益成为研究的热点。尤其是在水下机器人在海洋能源开发中发挥着不可或缺作用的今天,利用少于位形空间维数的控制输入控制欠驱动系统的运动具有非常重要的现实意义。结合水下机器人自身的运动特性,归纳了欠驱动AUV的控制特性,包括本质非线性、欠驱动特性、可控性、约束特性、平衡点特性等。综述了目前欠驱动AUV运动控制技术的主要研究成果,主要包括镇定控制和跟踪控制,并对今后欠驱动AUV的理论与应用发展方向进行了展望。 相似文献
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微小型潜器空间运动建模与仿真(英文) 总被引:3,自引:1,他引:2
对自主式潜器空间运动进行精确建模和仿真对研究其操纵和控制特性有重要意义,本文以开发的"MAUV-Ⅱ"微小型潜器为对象,基于动量定理和动量矩定理建立了潜器空间运动的非线性数学模型,将潜器受力分解为各个模块并表达为矩阵形式.在运动非线性数学模型的基础上,结合虚拟现实技术建立了运动仿真系统,针对所研究潜器的特点,采用S面控制方法对此"MAUV-Ⅱ"水下运动的艏向控制和深度控制进行了仿真研究,同时进行了基于目标规划的长距离航行仿真试验.仿真结果反映了潜器具有较好的空间操纵性能,也验证了控制软件的可行性和可靠性. 相似文献
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GDROV运动控制中模糊滑模控制方法的研究 总被引:2,自引:0,他引:2
GDROV是用于堤坝探测的水下机器人,设计上属于开架式机器人,其精确的数学模型很难获得.本文采用模糊逻辑与滑模控制相结合的方法,通过模糊逻辑动态调整滑模控制器的指数趋近律的参数,对水下机器人进行控制,解决了滑模控制中所存在的抖振现象和数学模型的不精确问题.首先建立了GDROV的水动力模型,然后在滑模控制的基础上提出用模糊逻辑来动态调整滑模控制器的指数趋近律的参数,最后通过仿真试验和水池试验验证了该控制器对模型的不确定性和外部扰动具有较强的鲁棒性,以及良好的跟踪性. 相似文献
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A method of underwater simultaneous localization and mapping (SLAM) based on on-board looking forward sonar is proposed. The
real-time data flow is obtained to form the underwater acoustic images and these images are pre-processed and positions of
objects are extracted for SLAM. Extended Kalman filter (EKF) is selected as the kernel approach to enable the underwater vehicle
to construct a feature map, and the EKF can locate the underwater vehicle through the map. In order to improve the association
efficiency, a novel association method based on ant colony algorithm is introduced. Results obtained on simulation data and
real acoustic vision data in tank are displayed and discussed. The proposed method maintains better association efficiency
and reduces navigation error, and is effective and feasible. 相似文献
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