双线性系统辨识及其在海洋机器人中的应用

本文用双线性系统的辨识方法对海洋机器人航向与侧推的控制系统建模,并对所得模型进行了计算机仿真,仿真结果表明了模型的有效性。

土石混合体细观结构力学及其边坡稳定性研究

Soil-rock mixture (S-RM) refers to one extremely uneven loose rock and soil materials system with certain stone content. Its formation has started since Quaternary and it is composed of block stone, fine grained soil and pore with certain project scale and high strength. S-RM has extensive distribution in nature, especially in southwest China where the geotectonic background is complicated, the fracture activity is developed and the geomorphological characteristics of high mountain and steep gorge area are protuberant. This kind of complicated geologic body has developed wider in these areas. S-RM has obvious difference with the general soil or rock (rock mass) in physical and mechanical properties because its two components-“soil” and “rock-block” has extreme differences in physical and mechanical properties. The proposition of S-RM and its deep research are needed in the modern engineering construction. It is also the necessity in the modern development of rock and soil mechanics. The dissertation starts from the meso-structural characteristics of soil-rock and takes a systematic research on its meso-structural mechanics, deformation and failure mechanism and the stability of S-RM slope. In summary, it achieves the following innovative results and conclusions. There are various views on the conception of S-RM and its classification system. Based on the large number of field tests, the dissertation makes the conception and classification of S-RM more systematic. It systematically proposed the conception of meso-structural mechanics of S-RM. Thus the dissertation has laid a foundation for its deep study. With the fast development of the computer technology and digital image processing theory, digital image processing technology has been successfully applied in many fields and provided reliable technology support for the quantitative description of the structural characteristics of S-RM. Based on the digital image processing technology, the dissertation systematically proposes and developed the quantitative analysis method and quantitative index for the meso-structure of S-RM. The results indicate that the meso-structure such as its internal soil-rock granularity composition, the soil-rock shape and the orientability has obvious self-organization in the macro statistical level. The dissertation makes a systematic research on the physical mechanical properties, deformation and failure mechanism of S-RM based on large field test. It proposes the field test for the underwater S-RM and deduces the 3D data analysis method of in-situ horizontal push-shear test. The result indicates that S-RM has significant phenomenon of shear dilatancy in the shearing process, and its dilatancy will be more obvious with the increased proportion of rock or the decreased confining pressure. The proportion of rock has great effect on the strength of S-RM and rock-block, especially the spatial position of particles with comparatively big size has great effect on the shape and spatial position of the sample shear zone. The dissertation makes some improvements in the single ring infiltration test equipment and its application on the permeability of S-RM. The results indicate that the increasing of rock-block would make it more difficult for the soil to fill in the vacuity between the rock-block and the proportion would increase which would result in the increased permeability coefficient. The dissertation builds the real meso-structural model of S-RM based on the digital image processing technology. By using geometric reconstruction technology, it transfers the structural mode represented by Binary image into CAD format, which makes it possible to introduce the present finite element analysis software to take research on numerical experimental investigation. It systematically realizes leaping research from the image，geometric mode, to meso-structural mechanics numerical experiment. By using this method, the dissertation takes large scale numerical direct-shear test on the section of S-RM. From the mesoscopic perspective, it reveals three extended modes about the shear failure plane of S-RM. Based on the real meso-structural model and by using the numerical simulation test, the character and mechanics of seepage failure of S-RM are studied. At the same time, it builds the real structural mode of the slope based on the analysis about the slope crosssection of S-RM. By using the strength reduction method, it takes the research on the stability of S-RM and gets great achievements. The three dimensional geometric reconstruction technology of rock block is proposed, which provides technical support for the reconstruction of the 3D meso-structural model of S-RM. For the first time, the dissertation builds the stochastic structure model of two-dimensional and three-dimensional polygons or polyhedron based on the stochastic simulation technique of monte carlo method. It breaks the traditional research which restricted to the random generation method of regular polygon and develops the relevant software system (R-SRM2D/3D) which has great effect on meso-structural mechanics of S-RM. Based on the R-SRM software system which randomly generates the meso-structural mode of S-RM according to the different meso-structural characteristics, the dissertation takes a series of research on numerical test of dual axis and real three-axis, systematically analyses the meso destroy system, the effects of meso-structural characteristics such as on the stone content, size composition and block directionality on the macro mechanical behavior and macro-permeability. Then it proposes the expression of the upper and lower limit for the macro-permeability coefficient of the inhomogeneous geomaterials, such as S-RM. By using the strength reduction FEM, the dissertation takes the research on the stability of the slope structural mode of the randomly formed S-RM. The results indicate that generally, the stability coefficient of S-RM slope increases with the increasing of stone content; on the condition of the same stone content, the stability coefficient of slope will be different with different size composition and the space position of large block at the internal slop has great effect on the stability. It suggests that meso-structural characteristics, especially the space position of large block should be considered when analyzing the stability of this kind of slope and strengthening design. Taking Xiazanri S-RM slope as an example, the dissertation proposes the fine modeling of complicated geologic body based on reverse engineering and the generation method of FLAC3D mode. It resolves the bottleneck problem about building the fine structural mode of three-dimensional geological body. By using FLAC3D, the dissertation takes research on the seepage field and the displacement field of Xiazanri S-RM slope in the process of reservoir water level rising and decreasing. By using strength reduction method, it analyses the three-dimension stability in the process of reservoir water level rising and decreasing. The results indicate that the slope stability firstly show downward trend in the process of reservoir water level rising and then rebound to increase; the sudden drawdown of reservoir water level has great effect on the slope stability and this effect will increase with the sudden drawdown amplitude rising. Based on the result of the rock block size analysis of S-RM, and using R-SRM2D the stochastic structure model of Xiazanri S-RM slope is built. By using strength reduction method, the stability of the stochastic structure model is analysis, the results shows that the stability factor increases significantly after considering the block.

鄂尔多斯盆地志丹地区延长组储层综合评价

Sedimentary provenance direction，sedimentary facies，reservoir geological characteristic，pore structure； physical property characteristic，reservoir classification and evaluation ，forthermore，favorable area area are forecasted of Yanchang formation in ZhiDan region， by mainly study on the data of field section observation ，core observation, well logging explaination and routine microscope slice identification，scanning Electron Microscope and reservoir analysis of lithology and physical property , Under the guidance of such advanced theories and methods as sedimentology，reservoir sedimentology，lithological oil pool and so on，in the thesis. The following fruits are mainly achieved in this paper： Yanchang formation stratum is divided and correlated in this entire region， and the characteristic of oil layer unit is detailed discussed , respectively. According to main marker bed and supplementary ones.and research result shows that the source of provenance direction during Yanchang Formation mianly is north-east. Delta and lake are mainly developed in study area ，sub-facies and micro-facies are divided，distribution of sedimentary micro-facies in plane and palaeogeographic evolution are described，and gentle slope type- shallow water delta depositional model is established. Fine-grain arkose sandstone is the main reservoir，and which have experienced such different degree diagenesis as compaction, cementation, replacement and dissolution, and in which compaction and cementation are mainly factors to reduce sandstone physical property and dissolution effectively improved physical property during burial diagenesis procedure. All reservoirs of Yanchang Formation have entered A period of late diagenetic stage according to scheme of diagenesis period division . Intergranular porosity，dissolution porosity，fissure porosity are main pore types. And porosity structure are analyse by mercury penetration capillary pressure parameter，fine-shortness type and fine- length throat type are mainly developed. as a whole，the reservoir， with the characteristic of porosity and permeability altering apparently，strong inhomogeneity ， is a medium- porosity and medium permeability one. In plane，higher- porosity and higher-permeability are corresponded well with distributary channel area， physical property and inhomogeneity are affected by both deposition and diagenesis，and distributary channel and underwater distributary channel are favorable facies . According to such characteristic as lithology，physical property，pore structure ，diagenesis and sandstone distribution, the sandy reservoir can be classified 4 types, and the main sandy in every oil layer unit are evaluated according to the standard. The analysis result of petroleum concentration rule shows that Yanchang Formation are with not only favourable oil source rock，reservoir，covering combination ，but also good entrapment condition in study area. Lithology and structure-lithology oil pool are mainly developed ，based on condition of favorable reservoir developments，accounting for deliverability and sandstone superface elevation，zone of profitabilitis are forecasted.

鄂尔多斯盆地三叠系延长组特低渗透储层分类评价

On the basis of the character of sedimentation and reservoir researching as well as diagenesis, using conventional and update testing measures, classificati-on and evaluation of the tesla low permeability reservoir in Ordos Basin is pr-esented. From Chang 8 to Chang 4+5 oil formations, four facies developed, includi-ng alluvial fan facies, delta facies, lake facies as well as density current. They were controlled by the northeastern, the southwest, the southern and the northwestern provenances. Distributary channel underwater and mouth bar of delta fr-ont are the main reservoirs. Detrital component has the different character in s-outh and in north. Sedimentary system in the northeastern part has more felds-par and less quartz. Sedimentary system in the southern part has more quartz and less feldspar. Because of sedimentation and diagenesis, the oil formations in region of interest formed the different features of pore array of the tesla l-ow permeability reservoirs. After researching, it is found that the active porosity and the main throat radius of Chang 4+5 are the highest, and they are positive correlation with per-meability. The exponent of flowing interval falls in the sortorder: Chang 8, Chang 4+5, Chang 6, Chang 7. Using clustering procedure and quaternion, the reservoirs of Yanchang for-mation in Ordos Basin are divided into five types. Ⅰ-good reservoirs and Ⅱ-appreciably good reservoirs occur in distributary channel and mouth bar. Ⅲ-poor reservoirs and Ⅳ-poorer reservoirs exist in natural levee, crevasse splay under-water and turbidity fan. It is forecasted that the oil area in Ⅰ-good reservoirs is about 4336.68 square kilometers, and the oil area in Ⅱ-appreciably good reservoirs is 28013.28 square kilometers or so, and the oil area in Ⅲ-poor rese-rvoirs is 28538.05 square kilometers more or less.

柴西南区下干柴沟组下段层序地层格架内沉积相展布及有利储集砂体分布研究

Lower member of the lower Ganchaigou Formation in the southwestern of Qaidam Basin is one of the main targeted exploration zones. With the advancement of exploration, the targets are gradually switching into the lithologic reservoirs and it is urgent to gain the more precise research results in distribution of sedimentary facies and sandstones. Guided by the theory of sequence stratigraphy and sedimentology as well as on the basis of many logging data, drillings, seismic data and chemical tests, the paper comprehensively analyzes the sedimentary facies and sandstones in the lower member of lower Ganchaigou Formation in the southern of Chaixi. According to the identification marks of the key interface in sequence stratigraphy, the key interfaces in lower member of lower Ganchaigou Formation in the southwestern of Qaidam Basin are identified as two third-order sequences SQ1、SQ2. By calibrating the synthetic seismogram, the seismic sequence, well drilling and logging sequences are united. Based on the works above, this paper chooses seven primary cross-sections and builds connecting-well stratigraphic correlation of seven main connecting-well sections. Ultimately, the high-resolution sequence stratigraphic frameworks in the lower member of the lower Ganchaigou Formation, which are uniform to logging and seismic data, are figured out. In terms of study on each sequence features, the main style of the base-level cycle overlay which forms the third-order sequence is confirmed. It contains asymmetric “becoming deep upward” style and symmetry style. Researching on the spreading characters of sequence stratigraphy indicates that SQ1 and SQ2 are rather thicker near northwest well Shashen 20 and Shaxin1 while they are quite thiner near Hongcan 1, Yuejin, Qie 4 and Dong8-Wu3, and the thickness of SQ1 is thicker than SQ2.Based on the deep analysis of the marks for depositional facies, it is proposed that the lake facies and braid river deltas facies mainly occurred in study areas. Besides, the sorts of sub-facies and micro-facies model are divided and described. Under the control of high-resolution sequence stratigraphic framework, three source directions from Arlarer Mountain、Qimantage Mountain and Dongchai Mountain are identified by using the features of heavy mineral assemblage and paleogeomorphy. In addition, regularities of distribution sedimentary facies in sequence stratigraphic framework are studied in accordance with research thinking of the "point" (single well) "line" (section) "face" (plane). In the stage of lower member in the lower Ganchaigou Formation in the southwestern of Qaidam Basin, it is at the early phrase of evolution of the lake basin with the gradual outspread and the rise of the lake level. Combined with physical analysis of reservoir sands formed in different sedimentary environment, the paper studies the style of favorable sandstone bodies that are underwater distributary channel of braided rive delta front, coarse sand in mouth bar and the sand body in sand flat of shore-shallow lacustrine facies. Finally, this article comprehensively analyzes the distribution relationship between sedimentary facies and favorable sandstone body and proposes the ideas that sequence SQ1 Yuejin area, well east 8-wu3 area, well qie4-qie1 area and well hongcan2 area are distributed areas of favorable sandstone.

西秦岭晚古生代弧前盆地沉积与成矿作用

The Western Qinling Orogenie belt in the Taibai-Fengxian and Xihe-Lixian areas can be subdivided into three units structurally from north to south, which are the island-arc, forearc basin and accretionary wedge, respectively. The forearc basin developed in the Late Paleozoic mainly controls sedimentation and some larger lead-zinc and gold deposits in the western Qinling. Stratigraphically, the island arc is dissected into the Liziyuan Group, the Danfeng Group and the Luohansi Group. The metavolcanic rocks include basic, intermediate and acidic rocks, and their geochemistry demonstrates that these igneous rocks generated in an island arc. Where, the basalts are subalkaline series charactered by low-medium potassium, with enriched LREE, negative Eu anomaly, and positive Nd anomaly. Cr-content of volcanic rocks is 2-3 times higher than that of island arc tholeiite all over the world. In addition, the lightly metamorphosed accretionary wedge in the areas of Huixian, Chengxian, Liuba and Shiqun is dominated by terrigenous sediments with carbonatite, chert, mafic and volcanic rocks. The age of the wedge is the Late Palaeozoic to the Trassic, while previous work suggested that it is the Silurian. The Upper Paleozoic between the island arc belt and accretionary wedge are mainly the sediments filled in the fore arc basin. The fillings in the forearc basin were subdivided into the Dacaiotan Group, the Tieshan Group, the Shujiaba Group and the Xihanshui Group, previously. They outcropped along the southern margins of the Liziyuan Group. The Dacaotan Group, the Upper Devonian, is close to the island arc complex, and composed of a suite of red and gray-green thick and coarse terrestrial elastics. The Shujiaba Group, the Mid-Upper Devonian, is located in the middle of the basin, is mainly fine-grained elastics with a few intercalations of limestone. The Xihanshui Group, which distributes in the southern of the basin, is mainly slates, phyllites and sandstones with carbonatite and reef blocks. The Tieshan Group, the Upper Devonian, just outcrops in the southwest of the basin, is carbonatite and clastic rocks, and deposited in the shallow -sea environment. The faults in the basin are mainly NW trend. The sedimentary characteristics, slump folds, biological assemblages in both sides of and within those faults demonstrate that they were syn-sedimentary faults with multi-period activities. They separated the forearc basin into several sub-basins, which imbricate in the background of a forearc basin with sedimentary characteristics of the piggyback basin. The deep hydrothermal fluid erupted along the syn-sedimentary faults, supported nutrition and energy for the reef, and resulted in hydrothermal-sedimentary rocks, reef and lead-zinc deposits along these faults. The sedimentary facies in the basin varies from the continental slope alluvial fan, to shallow-sea reef facies, and then to deep-water from north to south, which implies that there was a continental slope in the Devonian in the west Qinling. The strata overlap to north and to east respectively. Additionally, the coeval sedimentary facies in north and south are significantly different. The elastics become more and more coarser to north in the basin as well as upward coarsing. These features indicate prograding fillings followed by overlaps of the different fans underwater. The paleocurrent analyses show that the forearc basin is composed of thrust-ramp-basins and deep-water basins. The provenance of the fillings in the basin is the island arc in the north. The lead-zinc deposits were synchronous with the Xihanshui Group in the early stage of development of the forearc basin. They were strongly constrained by syn-sedimentary faults and then modified by the hydrothermal fluids. The gold deposits distributed in the north of the basin resulted from the tectonic activities and magmatism in the later stage of the basin evolution, and occurred at the top of the lead-zinc deposits spatially. The scales of lead-zinc deposits in the south of the basin are larger than that of the gold-deposits. The Pb-Zn deposits in the west of the basin are larger than those in the east, while the Gold deposits in the west of the basin are smaller than those in the east. Mineralizing ages of these deposits become younger and younger to west.

板北断块油藏储层均质特征与剩余油分布研究

With the growing development and perfection of reservoir describing technology, its research achievements have played an increasingly important role in old oilfields in recent years. Reservoir description quantitatively describes, characterizes and predicts every kind of reservoir characters in 3D space. The paper takes Banbei block reservoir as an object, studies the reservoir characters and residual oil distributing characteristics of gravity flow genetic reservoir, and definitudes potential adjustment direction of reservoir development. Main achievements are gained as follows. Through fine correlation of strati graphic sequence, the classification of layers and single sands of main payzones in Banbei block is ascertained, the classifying methods of sedimentary unit in gravity flow reservoir characterized with picked cyclical marker bed are formed. On the basis of comprehensive logging evaluation, depositional characters of Banbei block are studied, and classifying methods of sedimentary microfacies in gravity flow reservoir are described. The sedimentary background of main oil layers in Banbei block is open lake with shallow water, and belongs to lacustrine underwater gravity flow- lacustrine phase depositional system. Main microfacies types are underwater water course^ water course side-wing, underwater floodplain, between two water courses, and lacustrine mud, etc. Reservoir sands mainly are underwater water course sands. Influenced by distributing characters of gravity flow underwater water course, sand shapes in plane mainly are stripe, finger-shape, tongue-shape. Sand distribution shows obvious split property. Sands overlap each other. According to comprehensive analysis of lithologic data, logging parameters, and dynamic production data, the researching threads and methods of reservoir heterogeneous characters are perfected. The depositional characters of gravity flow underwater water course in Banbei block determine its high reservoir heterogeneity. Macroscopic heterogeneity is studied in many aspects such as the scale of layers, the scale of single sands, in-situ scale, the distribution of interlayer types, the interlayer scale, and heterogeneity in plane. Thus, heterogeneous characters of reservoir are thoroughly analyzed. Through microscopic research of reservoir, the types of porous structure and related parameters are determined. According to the analysis of dynamic production data, the reaction and inner influential factors of reservoir heterogeneity in waterflood development are further revealed. Started with the concept and classifying methods of flow unit, clustering classification which can better meet the requirements of production is formed. The flow unit of Banbei block can be classified into four types. According to comprehensive evaluation, the first and second type of flow unit have better percolating capability and reserving capability. Research thread of 3D model-building and reservoir numerical simulation combined as an integral is adopted. The types and characters of residual oil distribution are determined. Residual oil of Banbei block mainly distributes in the boundary of sands, near the faults, areas with non-perfect injection-production well pattern , undeveloped sands, vertically poor developed layers. On the basis of comprehensive reservoir study, the threads and methods of improving development effect towards reservoir with high water cut, high recovery percent, serious heterogeneity are ascertained. The whole waterflood development effect of Banbei block reservoir is good. Although its water cut and recovery percent is relatively high, there is still some potential to develop. According to depositional characters of gravity flow and actual production situation? effective means of further improving development level are as follows. We should drill new wells in every kind of areas abounding with residual oil, implement comprehensive measures such as increasing liquid discharge, cyclic waterflood, changing fluid direction when injection-production well pattern is perfected, improve water quality, enhance displacement efficiency in flooding.