ROV attitude control based on multi-motor cooperative propulsion北大核心CSCD

[目的]为了提高遥控水下航行器(ROV)在复杂水下环境中的姿态控制性能,开展多电机协同推进的ROV姿态控制研究。[方法]首先,针对多电机系统的结构和算法,分别提出一种基于PID速度补偿器的偏差耦合结构和一种新型非奇异终端滑模控制(SMC)算法,并设计一种新颖的基于多电机协同推进的ROV姿态控制方法;然后,建立ROV的运动学和动力学模型,开展推进器组推力建模分析、解耦简化ROV动力学模型研究;最后,设计一种ROV滑模姿态控制器。[结果]仿真结果表明,所提的结构和算法可提高多电机系统的抗干扰性、同步性和快速响应能力,进而提高ROV姿态控制系统的稳定性与鲁棒性。[结论]所提方法可为ROV姿态控制提供一种新的可用方案。     

Development and prospects of initial alignment method for strap-down inertial navigation system北大核心CSCD

Initial alignment technology is directly related to the navigation accuracy and startup time of the strap-down inertial navigation system (SINS), and has always been regarded as a challenging focal point in the research field of inertial navigation. This paper makes a comprehensive survey of SINS initial alignment technology, briefly introduces the basic principles of initial alignment without latitude, coarse alignment with known latitude and precise alignment, and points out their advantages, disadvantages and applicable conditions. The research and effects of existing initial alignment error suppression techniques are then analyzed and discussed. Finally, according to the problems of existing initial alignment methods and the development requirements of the carrier, the future research direction of SINS initial alignment technology is predicted. © 2022 Journal of Clinical Hepatology. All rights reserved.     

一种多功能非线性控制器的电路设计

给出一种多功能曲线模拟电路,它可在不改变电路结构的情况下实现多种类型的非线性控制,克服了目前一些曲线模拟器应用上的单一性问题,为一些不使用微机技术完成非线性控制的场合提供了一种简单实用的方法。     

Maritime education in cross cultural settings

Cross-cultural interaction is growing in our global economy. Expanding maritime trade in ports around the world reinforces the need for standardized training and education to cope with new global technologies and logistics systems. Working, studying and interacting in cross-cultural settings can lead to problems of misunderstandings and misinterpretations among people having different worldviews.     

地铁车辆不锈钢车体的强度分析

结合国内某地铁车辆不锈钢车体,在分析其结构特点和不锈钢材料的力学性能的基础上,建立了车体结构的有限元模型,并借鉴国内外的地铁车辆技术标准和实际运行状态确定了载荷工况,分析了车体结构在各个工况下产生的应力、变形和模态。结果表明该不锈钢车体的强度满足要求。     

轴对称回转体的CFD分析及厚边界层理论计算

本文采用CFD计算技术和厚边界层理论的积分法,对轴对称回转体周围的绕流场速度分布、表面压力、摩擦阻力系数以及边界层厚度分布进行了数值分析计算。本文提供了两种方法的计算结果,并与有关文献给出的试验结果进行了比较和验证。对比表明,计算结果和试验结果的趋势基本一致,在一定程度上验证CFD方法和厚边界层积分法的有效性和可靠性。     

基于疲劳强度的焊接结构设计细节

阐述了国内铁路货车焊接结构疲劳强度设计的现状,结合货车产品的设计和现场应用实例,从结构静强度设计、焊缝设计和焊缝工艺设计3方面提出了提高疲劳强度的设计细节,并分析了焊接结构疲劳强度设计的重要意义。     

对2006版《铁路线路修理规则》中有关曲线技术标准问题的探讨

曲线技术标准问题是当前主要干线提速的一个关键问题,本文就2006年10月1日开始执行的新版《铁路线路修理规则》对原《铁路线路维修规则》中有关曲线的技术标准修改情况,结合提速工作实践,从技术标准的修订角度以及执行角度进行了探讨。     

电子全站仪测距部性能的综合测试方法

目前，国内外对电子全站仪的科学、合理检测问题存在着各种各样的认识，争论的焦点在于电子全站仪测距部的检测。长期以来，人们一直认为电子全站仪测距部存在加常数误差、乘常数误差、周期误差。笔者及研究组的检测实践证明，电子全站仪测距部的乘常数误差、周期误差是不存在的，测距数据的挠动是有其深层次原因的。基于检测实践，笔者及研究组提出了电子全站仪测距部性能的综合测试方法，简述了综合测试方法的原理、工作过程。     

Patterns in diversity and community structure of epipelagic copepods from the Brazil–Malvinas Confluence area, south-western Atlantic

Diversity and structure of epipelagic copepod communities were investigated using 70 zooplankton samples collected from the top 50 m of the Brazil–Malvinas Confluence area between 35° and 55°S. Biogeographic patterns were investigated using multivariate analysis. Biodiversity patterns were examined using different univariate indexes. Representatives of 35 species of copepods from 23 genera and 13 families were found. Two zones were delimited based on their copepod composition, one in the subtropical waters of the Brazil current, and the other in the subantarctic waters of the Malvinas current. Both environments displayed contrasting patterns of biodiversity depending upon which element is measured (regional species richness as well as mean point species richness were significantly higher in the subtropical group of stations, whereas taxonomic distinctness was significantly higher in the subantarctic community). Based on these contrasting results, we suggest the use of both kind of indexes when defining priority areas for conservation.