Fuzzy sliding mode control method for vertical motion of autonomous underwater gliders北大核心CSCD

［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.     

输气站场管道振动原因分析

输气站场管道异常振动会造成管系疲劳失效,给安全生产造成巨大的隐患。文中从振源方面将管道振动分为机械导致的振动和流体导致的振动,并对其进行原因分析。研究表明:机械导致的振动通常为转动设备本体设计不合理或安装质量问题导致的振动传递给管道;流体导致的振动通常是管内气流脉动引起的气柱共振或机械共振。利用研究结果对某输气站场管道振动原因进行分析,发现是气流脉动产生的机械共振所导致,建议在设计天然气站场工艺时要尽量避免流场的剧烈、频繁变化,以减少或避免流致振动。