期刊文献+
共找到2篇文章
< 1 >
每页显示 20 50 100
基于水下目标抓取的UVMS抗扰控制方法研究
1
作者 魏延辉 赵康康 谢吉顺 《中北大学学报(自然科学版)》 CAS 2024年第2期132-145,共14页
水下机器人-机械臂系统(UVMS)在水下作业过程中存在自身结构不确定性干扰、系统动力学耦合干扰以及海流干扰的问题,这对水下机器人的运动控制提出了更高的要求。本文以某欠驱动水下机器人系统作为研究对象,提出了一种误差受限的抗干扰... 水下机器人-机械臂系统(UVMS)在水下作业过程中存在自身结构不确定性干扰、系统动力学耦合干扰以及海流干扰的问题,这对水下机器人的运动控制提出了更高的要求。本文以某欠驱动水下机器人系统作为研究对象,提出了一种误差受限的抗干扰控制方法。基于视线法和设定性能函数得到UVMS的误差动力学模型,再基于此模型设计水下机器人(AUV)抗扰控制器。通过牛顿-欧拉方程估算机械臂对于AUV本体的耦合干扰并进行实时补偿。采用神经网络控制补偿AUV系统的结构性不确定性,并利用自适应控制来补偿神经网络估计误差、非结构性不确定性误差和机械臂耦合干扰的补偿误差。通过机械臂静止和定点作业两组工况下的仿真实验发现,运动控制任务符合设定预期时间和跟踪精度,同时也验证了分离式UVMS运动控制方案在水下定点作业任务中的可行性和有效性。本文方法具有很强的鲁棒性,且能够通过此抗扰控制方法来抑制这些不确定性干扰的影响。 展开更多
关键词 UVMS 抗扰控制器 水下定点作业 误差动力学方程
下载PDF
Comparison of SCS-CN Determination Methodologies in a Heterogeneous Catchment
2
作者 Andrzej WALEGA Boguslaw MICHALEC +1 位作者 Agnieszka CUPAK Magdalena GRZEBINOGA 《Journal of Mountain Science》 SCIE CSCD 2015年第5期1084-1094,共11页
The aim of this study was to assess the runoff amount from a catchment characterized by diverse land uses by using the Soil Conservation Service Curve Number(SCS-CN) method based on Curve Number(CN) defined for domina... The aim of this study was to assess the runoff amount from a catchment characterized by diverse land uses by using the Soil Conservation Service Curve Number(SCS-CN) method based on Curve Number(CN) defined for dominant homogeneous elementary sub-regions.The calculations employed the SCS-CN method,involving the division of the catchment in two homogeneous parts and determining the runoff amount.The obtained results were compared with the results provided by three other CN determination methods,i.e.the Hawkins function,the kinetics equation,and a complementary error function peak.The catchment is located in a mountain dominated by forest land cover.Empirical CN-Precipitation(CN_(emp)-P) data pairs were analyzed using the mentioned methods,and the highest quality score was achieved from model 1.The results suggest that dividing a catchment into two homogeneous areas and determining their separate CN parameters,used later on to calculate the runoff by means of the presented approach,could be an alternative to the standard methods.The described method is relatively easy,and as it does not require an adoption of numerous parameters,and it can be employed for designing hydraulic facilities. 展开更多
关键词 Asymptotic functions Curve Numberparameter Homogenous sub catchment Land cover Lumped model
下载PDF
上一页 1 下一页 到第
使用帮助 返回顶部