Cooperative path following control of UAV and USV cluster for maritime search and rescue北大核心CSCD

［Objectives ］ This paper studies a three-dimensional (3D) cooperative path-following control problem in the process of maritime search and rescue for a heterogeneous unmanned cluster system composed of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs).［Methods ］ First, kinematic models of the UAVs and USVs are established under a fixed coordinate system and body coordinate system. In order to design a 3D path-following controller suitable for motion control, an air coordinate system is established, and the path tracking error models of the UAVs and USVs are established in the Serret-Frenet coordinate system. Next, a 3D line-of-sight (LOS) guidance law is designed at the kinematic level, and a cooperative path-following control method suitable for heterogeneous clusters of marine vehicles is proposed, allowing the UAVs and USVs to track the preset parameterized path. Finally, the stability of the control system is analyzed based on the Lyapunov stability theory.［Results］The simulation results verify the effectiveness of the proposed cooperative path-following control method for heterogeneous clusters of marine vehicles.［Conclusions］The results of this study can provide references for maritime search and rescue by using the proposed cooperative path-following control method. © 2022 Journal of Clinical Hepatology. All rights reserved.     

塔河油田稠油与凝析油混合结块机理分析及抑制剂研究

为研究塔河油田稠油与凝析油混输导致沥青质产生的机理,对凝析油组分进行了分析,研究了不同掺比下混合油的黏度和相的变化,并对自制沥青质抑制剂进行性能评价。研究表明,凝析油中主要是小分子的轻烃,碳数主要为C6~C11,由于稠油与凝析油极性相差太大,形成的是一种热力学不稳定的分散体系,导致两者不混溶;随着凝析油的增加,混合油的黏度大幅降低,分散在凝析油中的稠油重组分极易沉降;当混合液中加入3%以上的沥青质抑制剂时,沉淀物抑制率达到90%以上,可以实现稠油与凝析油的混输。