一种基于状态方差阵对角相似分解的UKF 算法

在强非线性和复杂性的系统下，普通对称采样UKF 算法存在稳定性问题。为此，本文提出了基于状态方差阵对角相似分解的UKF 算法来保证算法的状态方差阵半正定。同普通对称采样UKF 算法比较，该算法降低了对状态方差阵的正定性要求。仿真试验验证了该方法的有效性。

基于自调整神经元的无人直升机航向控制方法

直升机航向动力学包含输入非线性、时变参数和主-尾旋翼之间的强耦合,传统的比例积分微分(Proportional integral differential,PID)方法很难达到良好的控制性能。基于以上原因,通过把自调整神经元与滑模控制相结合,提出一种能够解决带有输入非线性的航向自适应控制方法。与常规自适应控制相比,用滑模条件代替误差函数作为目标函数,使控制器在保证闭环稳定性的同时,能够进一步使跟踪误差满足期望精度。证明了该方法的稳定性,针对实际模型直升机试验平台航向动力学模型的仿真结果,以及与传统PID方法的比较都表明了该方法的有效性。

基于滑转率的六轮纵列式月球车驱动控制研究

基于车轮滑转率和车轮地面力学,研究了月球车在松软月面行驶时的车轮过度下陷问题.将月球车车轮下陷和车轮—土壤作用力表达为车轮滑转率的函数,结合车辆地面力学理论并考虑纵列式车轮多通过性土壤参数的修正,建立了月球车的动力学模型.判断车轮是否发生过度下陷的标准为土壤所提供给驱动轮的土壤推力能否克服土壤对车轮的阻力.利用建立的动力学模型,计算出能够保证车轮不会过度下陷的期望滑转率.考虑到月球车动力学系统的非线性和不确定性,设计了以车轮滑转率为状态变量的滑模驱动控制器.仿真结果表明,采用该控制器可以较快地跟踪期望滑转率,避免车轮的过度滑转下陷,保证月球车能够在软质路面上正常行驶.

模糊自适应PID在磁悬浮系统中的应用

针对EMS型磁悬浮列车悬浮系统的非线性、迟滞性及模型不确定的特点,本文采用了模糊自适应整定PID控制技术来满足其对动态和静态性能的要求。仿真结果表明模糊自适应整定PID控制器学习精度高、收敛速度快、在系统同时存在磁悬浮系统参数的变化和负载扰动时.具有较强的鲁棒性和抗干扰能力。

砂泥岩薄互层储层预测方法与应用研究

With the deeply development of exploration and development in petroleum in China, new increasing reserves are found in old oil fields and the verge of the old ones through re-study of geological property. It is more and more important to discovery and develop thin layer or thin inter-bedded layers reservoirs. All of the targets are thin sand-shale inter-bedded reservoirs and the core technology is reservoir predictions between wells in thin sand-shale inter-bedded layers. The continuity of the thin sand-shale inter-bedded layers in space or separating and heterogeneity is the key of reservoir geology research. The seismic reflection, high resolution analysis method and inversion method to thin sand-shale inter-bedded layers are thorough discussed and deeply studied in this paper to try to find the methods and resolutions of reservoir geology research. The below is followed. 1. Based on the pre-research of other people, five models are created: the sand sphenoid body, interlay sandstone and interlay shale of the equal thickness, interlay sandstone of the equal thickness and interlay shale of the unequal thickness, interlay sandstone of the unequal thickness and interlay shale of the unequal thickness, interlay sandstone of the changing thickness in sequence and interlay shale of the changing thickness in sequence. Then the study of the forward modeling are conducted on the thin layer and thin inter-bedded layers geological characters and seismic reflections including amplitude, frequency, phase, wave shape and time-frequency responding in the domains of time and frequency. The affect of petro-physics difference of layers, single thin layer thickness, thickness of inter-bedded, layer number of inter-bedded, incident wavelet domain frequency and types, sample interval to seismic reflection characters, frequency spectrum and time-frequency respond of reflectivity is theoretically discussed. 2. Qualitatively analyzing the sedimentary rhythm of the thin inter-bedded layers in vertical orientation and computing the single layer thickness or the average thickness with the method of generalized S transform. Identifying the reflecting interface or lithology interface using the amplitude value of amplitude spectrum domain frequency. 3. Based on the seismic respond of thin sand-shale inter-bedded layers, bring out the high resolution analysis method of seismic data in thin sand-shale inter-bedded layers using wavelet analysis and the idea of affecting low and high frequency with middle frequency. Then analyzing the effect to the method and testing some wavelets in the method. This method is applied to the theoretical models and the field data. 4. Bring forward one improved very fast simulated annealing method (IVFSA) to resolve the problem nonlinearity and multi-parameters of the inversion in thin inter-bedded layers. And IVFSA is more productive and higher precision than general ways. 5. New target constrained function is used in the inversion based on the property of the inversion in thin inter-bedded layers. 6. Making the full use of geological and logging information, IVFSA and the new function are applied in the non-linear inversion to improve reservoir prediction and evaluation in thin inter-bedded formations combined with the idea of logging and seismic inversion. This method was applied to the field data and got good results.

基于量子蒙特卡罗的地震波反演方法

The primary approaches for people to understand the inner properties of the earth and the distribution of the mineral resources are mainly coming from surface geology survey and geophysical/geochemical data inversion and interpretation. The purpose of seismic inversion is to extract information of the subsurface stratum geometrical structures and the distribution of material properties from seismic wave which is used for resource prospecting, exploitation and the study for inner structure of the earth and its dynamic process. Although the study of seismic parameter inversion has achieved a lot since 1950s, some problems are still persisting when applying in real data due to their nonlinearity and ill-posedness. Most inversion methods we use to invert geophysical parameters are based on iterative inversion which depends largely on the initial model and constraint conditions. It would be difficult to obtain a believable result when taking into consideration different factors such as environmental and equipment noise that exist in seismic wave excitation, propagation and acquisition. The seismic inversion based on real data is a typical nonlinear problem, which means most of their objective functions are multi-minimum. It makes them formidable to be solved using commonly used methods such as general-linearization and quasi-linearization inversion because of local convergence. Global nonlinear search methods which do not rely heavily on the initial model seem more promising, but the amount of computation required for real data process is unacceptable. In order to solve those problems mentioned above, this paper addresses a kind of global nonlinear inversion method which brings Quantum Monte Carlo (QMC) method into geophysical inverse problems. QMC has been used as an effective numerical method to study quantum many-body system which is often governed by Schrödinger equation. This method can be categorized into zero temperature method and finite temperature method. This paper is subdivided into four parts. In the first one, we briefly review the theory of QMC method and find out the connections with geophysical nonlinear inversion, and then give the flow chart of the algorithm. In the second part, we apply four QMC inverse methods in 1D wave equation impedance inversion and generally compare their results with convergence rate and accuracy. The feasibility, stability, and anti-noise capacity of the algorithms are also discussed within this chapter. Numerical results demonstrate that it is possible to solve geophysical nonlinear inversion and other nonlinear optimization problems by means of QMC method. They are also showing that Green’s function Monte Carlo (GFMC) and diffusion Monte Carlo (DMC) are more applicable than Path Integral Monte Carlo (PIMC) and Variational Monte Carlo (VMC) in real data. The third part provides the parallel version of serial QMC algorithms which are applied in a 2D acoustic velocity inversion and real seismic data processing and further discusses these algorithms’ globality and anti-noise capacity. The inverted results show the robustness of these algorithms which make them feasible to be used in 2D inversion and real data processing. The parallel inversion algorithms in this chapter are also applicable in other optimization. Finally, some useful conclusions are obtained in the last section. The analysis and comparison of the results indicate that it is successful to bring QMC into geophysical inversion. QMC is a kind of nonlinear inversion method which guarantees stability, efficiency and anti-noise. The most appealing property is that it does not rely heavily on the initial model and can be suited to nonlinear and multi-minimum geophysical inverse problems. This method can also be used in other filed regarding nonlinear optimization.

复杂应力环境下断续节理岩体真三轴实验研究及其工程应用

The great deal of joints and faults , existing in the rock mass , are the leading cause of discontinuous rock mass. Structural planes not only destroy the integrality of rock mass, but also lead nonlinearity、heterogeneity、anisotropy and failure mode on mechanical properties of rock mass. Therefore the selection of strength and deformation parameters was very difficult. In practical rock mass engineering, equivalent parameters of rock mass were selected by the method of expert experience and engineering analogy. Based on the fine description of discontinuous joints in the type Ⅳ and Ⅴ rock mass and geological survey datum in situ, models was obtained by generalizing the structure of rock mass by the method of statistical analysis. Model intensity and deformation test were carried out on the true triaxial apparatus. Intermediate principle stress effect, anisotropy and dimension effect of discontinuous rock mass were considered in the model test. 3-D correction to Hoek-Brown empirical criterion was done by analysed the test datum. Detailed works were listed as follows: (1) The factors influenced intensity and deformation of discontinuous joints rock mass were the value of 、continuity, density and included angle of joints and anisotropy of joint plane. True triaxial intensity and deformation tests were carried out by considering above factors. The influence rule was obtained and corresponding relation formulary was established； (2) Based on the true triaxial tests under different stress path and load modes, we obtain intensity and deformation rule of rock mass； (3) Based on a great deal of true triaxial tests and other test datum, correction to the Hoek-Brown empirical criterion was done in the chapter 4. The intermediate principle stress was considered in the corrected formulary. It indicated that the formulary was applicable under a certain condition. In addition, the yield plane form of corrected Hoek-Brown empirical criterion under principle stress space was described in the paper. And the question of corner of yield plane was discussed； (4) Based on the single discontinuity theory, the three-dimensional intensity formulary of discontinuous joint rock mass was established. Correction to the intensity formulary was done considering intermediate principle stress effect. We may obtain the conclusion that the intensity of the discontinuous joint rock mass was influenced on compositive factors. They were 、 、continuity、internal frictional angle and cohesiveness of joint plane and rock； (5) The results of the true triaxial model test was applied into parameters evaluation of dam foundation rock mass of JinPing hydropower station. For there were abundant ophicalcite in the dam foundation, the interval of intensity and formation parameters influenced on continuity were determined based on test datum. (6) Especial mould for prismatic jointing model was designed. True triaxial intensity and deformation tests by Basalt with prismatic jointing were carried out. The influence of intermediate principle stress, stress path, anisotropy effect and dimensional effect to intensity and deformation was discussed in the chapter 6. The work of (3)、(4)、(6) was significative supplement and innovation to current test and theory.

各向异性与非线性介质中弹性波场传播特征研究

The topic of this study is about the propagation features of elastic waves in the anisotropic and nonlinear media by numerical methods with high accuracy and stability. The main achievements of this paper are as followings: Firstly, basing on the third order elastic energy formula, principle of energy conservation and circumvolved matrix method, we firstly reported the equations of non-linear elastic waves with two dimensions and three components in VTI media. Secondly, several conclusions about some numerical methods have been obtained in this paper. Namely, the minimum suitable sample stepth in space is about 1/8-1/12 of the main wavelength in order to distinctly reduce the numerical dispersion resulted from the numerical mehtod, at the same time, the higher order conventional finite difference (CFD) schemes will give little contribution to avoid the numerical solutions error accumulating with time. To get the similar accuracy with the fourth order center finite difference method, the half truncation length of SFFT should be no less than 7. The FDFCT method can present with the numerical solutions without obvious dispersion when the paprameters of FCT is suitable (we think they should be in the scope from 0.0001 to 0.07). Fortunately, the NADM method not only can reported us with the higher order accuracy solutions (higher than that of the fourth order finite difference method and lower than that of the sixth order finite difference method), but also can distinctly reduce the numerical dispersion. Thirdly, basing on the numerial and theoretical analysis, we reported such nonlinear response accumulating with time as waveform aberration, harmonic generation and resonant peak shift shown by the propagation of one- and two-dimensional non-linear elasticwaves in this paper. And then, we drew the conclusion that these nonlinear responses are controlled by the product between nonlinear strength (SN) and the amplitude of the source. At last, the modified FDFCT numerical method presented by this paper is used to model the two-dimensional non-linear elastic waves propagating in VTI media. Subsequently, the wavelet analysis and polarization are adopted to investigate and understand the numerical results. And then, we found the following principles (attention: the nonlinear strength presented by this paper is weak, the thickness of the -nonlinear media is thin (200m), the initial energy of the source is weak and the anisotropy of the media is weak too): The non-linear response shown by the elastic waves in VTI media is anisotropic too; The instantaneous main frequency sections of seismic records resulted from the media with a non-linear layer have about 1/4 to 1/2 changes of the initial main frequency of source with that resulted from the media without non-linear layer; The responses shown by the elasic waves about the anisotropy and nonlinearity have obvious mutual reformation, namely, the non-linear response will be stronger in some directions because of the anisotropy and the anisotropic strength shown by the elastic waves will be stronger when the media is nonlinear.

疏水性有机污染物的非线性吸附过程及滞后现象的研究

该论文测定了疏水性有机污染物在地质吸附剂上的吸附-解吸等温线,选用合适的模型拟合了这些等温线,并且研究了非线性吸附过程、解吸滞后现象与壤/沉积物异质性之间的关系;得到以下几点认识:1、利用红外光谱仪和核磁共振谱仪研究了土壤/沉积物有机质、土壤胡敏酸的组成.2、测定了菲、蔡、1,3,5-三氯苯在土壤/沉积物及处理样品上的吸附等温线.所有地质吸附剂上的吸附等温线表现出明显的非线性.Freundlic上模型能很好的拟合了有机物的吸附等温线,双区位反应模型(DRDM)能很好的拟合有机物在部分土壤/沉积物及处理样品上的吸附等温线,并且DRDM模型清楚的反映出有机物在低浓度和高浓度下不同的吸附特征.3、对相同土壤/沉积物样品,萘的吸附等温线要比菲的吸附等温线的线性要好些,这与它们的物化性质有关.4、对碱提取后残留土壤测定了菲、茶、1,3,5-三氯苯的吸附-解吸等温线.5、菲和萘在土壤/沉积物及处理样品上的吸附-解吸过程存在明显的滞后现象.