Design of an adaptive controller for dive-plane control of a torpedo-shaped AUV

Underwater vehicles operating in complex ocean conditions present difficulties in determining accurate dynamic models. To guarantee robustness against parameter uncertainty, an adaptive controller for dive-plane control, based on Lyapunov theory and back-stepping techniques, was proposed. In the closed-loop system, asymptotic tracking of the reference depth and pitch angle trajectories was accomplished. Simulation results were presented which show effective dive-plane control in spite of the uncertainties in the system parameters.     

潜艇水压平衡式发射装置内弹道仿真建模

通过对潜艇水压平衡式发射装置工作原理的分析,基于发射装置各部分之间的联立关系,建立了发射装置发射气瓶及发射阀部分、活塞组件部分、发射管武器部分等各子系统的数学模型。应用Simulink对潜艇水压平衡式发射装置武器发射内弹道的全过程进行仿真研究,Simulink仿真结果与武器发射的实际情况相符合,表明数学模型的可行性和正确性。所建仿真模型可用于潜艇水压平衡式发射装置内弹道的动态分析及相关问题研究。     

基于Simulink的飞航式火箭助飞鱼雷空中弹道仿真

为研究飞航式火箭助飞鱼雷空中弹道参数设计问题,首先分析其空中运动过程,根据空中弹道的特点,建立了纵向运动方程组。采用MATLAB/Simulink软件建立了仿真模型,并就发射倾角、雷箭分离条件等对空中弹道的影响进行仿真计算。本文的研究成果对飞航式火箭助飞鱼雷空中弹道设计及作战效能研究有一定的参考价值。     

溢油漂移轨迹回推技术在海事调查中的应用

海上油污染事故调查是海事监管的重要职责。近年来,屡有不明来源油污事件发生,溢油时间不明,调查难度大。基于大气、水动力模型和溢油模型的溢油漂移轨迹回推技术能够实现对不明来源油污的回推溯源,通过回推结果指导海事调查的方向,缩小排查范围,在实际应用中取得了良好的效果。     

基于有趣地点压缩的时空轨迹聚类

研究移动物体时空轨迹局部关键地点时空相似的聚类问题.根据移动物体的运动状态提取轨迹中的有趣地点,利用最小包围盒技术对这些有趣地点进行描述,得到基于有趣地点压缩的轨迹表示形式;然后给出一个时空属性相结合的相似性度量公式,对压缩表示的轨迹进行相似性度量;基于这个相似性度量公式对轨迹进行聚类,聚类方法采用层次聚类法.实验结果表明,本文提出的方法能有效地对移动物体时空轨迹进行聚类,由于采用了增量式的轨迹压缩方法,不仅提高了聚类的速度,而且还实现了增量式的轨迹聚类.     

重型货运车辆出行时空差异性和影响因素分析

重型货运车辆能促进城市经济生产和物流效率,但也因显著的排放、噪声和拥堵等外部属性对城市空间品质有明显影响,对其活动时空特征和影响因素分析是当前城市空间品质提升和交通管理精细化的迫切需求。基于深圳注册的12 t以上重型货车GPS轨迹数据,考虑不同类型货运车辆作业差异,提出利用统计抽样中最小样本量的观察结果确定不同类型重型货车轨迹数据出行切割阈值水平的方法;针对5类重型货车,分析出车强度和出行时段的差异性,与小客车进行对比分析发现,重型货车出行活动与小客车出行在时间上存在错峰特征,且夜间出行比例较高;重型货车的活动空间具有组内差异性,集装箱卡车具有显著的跨城市活动需求,更多承担中长距离运输功能,而土方车和重型罐式车更多承担本地化运输服务功能;重型货车的活动空间具有集聚特征,出行活动的节点强度具有无标度幂律分布特征;利用广义加性模型分析两类典型货车活动空间的影响因素,集装箱卡车活动与港口及交通仓储园区等物流设施呈现非线性关系,而普通大货车与工业园区等产业用地具有紧密关系。本文可以为重型货车交通精细化管理和交通需求模型建设提供新的思路和方法。     

发射内弹道计算模型研究

对以燃气-蒸汽式发射动力装置为动力源的导弹冷弹射过程进行了分析，对冷却水汽化机理进行了研究，针对不同状态的冷却水，提出了不同汽化方式组合的冷却水汽化模型，在此基础上将弹射过程划分为4个阶段，并推导出各个阶段的汽化方程和能量平衡方程，建立了发射内弹道基本方程组。计算模型改进后，发射内弹道的计算精度有很大提高。     

基于手机信令数据的游客识别与出行轨迹匹配方法

为统计旅游交通的客运量，分析公路交通运输需求，优化运输组织，合理构建“快进慢游”综合交通旅游网络，研究提出基于手机信令数据的游客识别与出行轨迹匹配方法。通过划定景区边界，设置停留时间阈值，识别手机用户的游客身份；同时，借助地图工具批量计算信令发生位置间的出行路线与行程时间，匹配实际公路网。实例分析结果表明，手机信令数据能呈现手机用户的出行轨迹，且信令数据的位置轨迹与公路线位走向结合密切。在人们越来越依赖地图导航软件规划出行路径的背景下，利用该方法能更准确地识别景区游客并估计游客往来景区的出行路径。     

Models and methodology for optimal trajectory generation in safety-critical road–vehicle manoeuvres

There is currently a strongly growing interest in obtaining optimal control solutions for vehicle manoeuvres, both in order to understand optimal vehicle behaviour and, perhaps more importantly, to devise improved safety systems, either by direct deployment of the solutions or by including mimicked driving techniques of professional drivers. However, it is non-trivial to find the right combination of models, optimisation criteria, and optimisation tools to get useful results for the above purposes. Here, a platform for investigation of these aspects is developed based on a state-of-the-art optimisation tool together with adoption of existing vehicle chassis and tyre models. A minimum-time optimisation criterion is chosen for the purpose of gaining an insight into at-the-limit manoeuvres, with the overall aim of finding improved fundamental principles for future active safety systems. The proposed method to trajectory generation is evaluated in time-manoeuvres using vehicle models established in the literature. We determine the optimal control solutions for three manoeuvres using tyre and chassis models of different complexities. The results are extensively analysed and discussed. Our main conclusion is that the tyre model has a fundamental influence on the resulting control inputs. Also, for some combinations of chassis and tyre models, inherently different behaviour is obtained. However, certain variables important in vehicle safety-systems, such as the yaw moment and the body-slip angle, are similar for several of the considered model configurations in aggressive manoeuvring situations.     

Three-dimensional vortex-induced vibrations of a circular cylinder predicted using a wake oscillator model

This paper reports a numerical study based on a wake oscillator model, to determine the three-dimensional vortex-induced vibration (VIV) responses on a flexible cylinder with pinned-pinned boundary conditions subjected to a uniform flow. Four different aspect ratios have been selected for the study. The coupling equations of the structural oscillator models and wake oscillator models in both the cross-flow (CF) and in-line (IL) directions have been solved using a standard central difference method of the second order. The structural displacement, structural frequency, response wave pattern, response trajectory, and lift force coefficient, for four aspect ratios, have been compared. The numerical results establish that, for a small aspect ratio, the CF displacements have absolute standing wave behaviors without travelling wave behaviors, and the IL displacements have dominant standing wave behaviors with slight travelling wave behaviors. Further, the VIV trajectory is repeatable and displays figure-eight shapes. However, for a large aspect ratio, the CF displacements display identical characteristics with the IL displacements for a small aspect ratio, and the IL displacements for a large aspect ratio are simultaneously dominated by standing and travelling wave behaviors. Moreover, the VIV trajectory is apparently aperiodic and shows chaotic shapes.