Observation and modeling for terrestrial processes in alpine meadow

The water-heat transfer process between land and atmosphere in Haibei alpine meadow area has been systematically observed. A multi-layer coupling model for land-atmosphere interaction was presented with special attention paid to the moisture transfer in leaf stomata under unsaturated condition. A profound investigation on the physical process of turbulent transfer inside the vegetation has been performed with a revised formula of water absorption for root system. The present model facilitates the study of vertically distributed physical variables in detail. Numerical simulation was conducted according to the transfer process of Kinesia humility meadow in the area of Haibei Alpine Meadow Ecosystem Station, CAS. The calculated results agree well with observation.

全地形移动机器人轮-地几何接触角估计

研究全地形移动机器人在不平坦地形中轮-地几何接触角的实时估计问题.本文以带有被动柔顺机构的六轮全地形移动机器人为对象,抛弃轮-地接触点位于车轮支撑臂延长线上这一假设,通过定义轮-地几何接触角δ来反映轮-地接触点在轮缘上位置的变化和地形不平坦给机器人运动带来的影响,将机器人看成是一个串-并联多刚体系统,基于速度闭链理论建立考虑地形不平坦和车轮滑移的机器人运动学模型,并针对轮-地几何接触角δ难以直接测量的问题,提出一种基于模型的卡尔曼滤波实时估计方法.利用卡尔曼滤波对机器人内部传感器的测量值进行噪声处理,基于机器人整体运动学模型对各个轮-地几何接触角进行实时估计,物理实验数据的处理结果验证了本文方法的有效性,从而为机器人运动学的精确计算和高质量的导航控制奠定了基础.

基于主动建模的无人直升机增强LQR控制

为了解决无人直升机控制问题,通过把主动建模与LQR(Linear Quadratic Regulator)控制相结合,提出一种能补偿模型差的控制方法。该方法在悬停状态下,采用简化模型设计LQR控制器,并通过UKF(Un-scented-Kalman-Filter)在线估计简化模型与全状态模型的模型差,使用模型差作为补偿项对LQR控制增强。针对实际直升机动力学模型进行仿真,验证了基于UKF的估计和增强LQR控制的有效性。仿真实验结果证明,基于UKF的主动建模技术能够快速估计状态和参数变化,并且增强LQR控制能够使系统适应模型不确定性。

有缆水下机器人主动升沉补偿控制研究

针对母船的升沉运动影响有缆水下机器人的释放与回收的工程实际需求,提出了利用液压绞车降低中继器的升沉速度来实现水下机器人主动升沉补偿控制的方法,来提高水下机器人释放与回收的安全性能。建立液压绞车的数学模型并设计主动升沉补偿前馈控制器。水下机器人主动升沉补偿实验表明液压系统的非线性降低了液压绞车主动升沉补偿前馈控制的升沉补偿效率。针对液压绞车的非线性特性,设计了液压绞车主动升沉补偿预测控制算法,仿真实验表明基于液压系统参数辨识的液压绞车主动升沉补偿预测控制可以得到较高的升沉补偿效率。

森林资源模型仿真研究

A dynamic model is built up by means of system dynamics method for the development offorest resources in Liaoning province.Prediction and strategy research are made for the fo-rest ecology and timber production in 2000 in Liaoning.The impactions of various designson the development of forest resources are understood by adjusting different parameters andadding disturbances to the model.Various parameters are determined according to the dataprovided by Land Dept.and Forestry Dept.of Liaoning province,the data of provincialforest statistics in 1978 is taken as the original values for running model,which is perfor-med on IBM PC/X7 computer in DYNAMO language of system dynamics.

随机系统模型参数在线辨识的一种算法及负荷预报

本文提出了一种简化的多变量随机系统状态模型参数在线辨识方法。与最小二乘自适应递推算法比较,不仅需要辨识的参数减少,而且针对一类模型参数缓慢变化的系统,可以通过选择不同的遗忘因子序列来控制参数变化的幅度,解决了电力系统负荷预报中季节模型的老化问题。本方法基于带有随机噪声状态模型的典范型,大大节省了计算机的运算量和存贮容量,适于微处理机的在线应用。

油气输导体系研究及应用─以准噶尔盆地东部白家海凸起侏罗系为例

Baijiahai uplift is an important hydrocarbon accumulation belt in eastern Jungger Basin, on which Cainan oilfield and lithologic hydrocarbon reservoir named Cai 43 have been discovered and both of them share the same target formation of Jurassic. However, in the subsequent exploration at this region, several wells that designed for lithologic traps of Jurassic were eventually failed, and that indicates the controlling factors of lithologic reservoir distribution are far more complicated than our previous expectation. This dissertation set the strata of the Jurassic in well Cai 43 region as the target, and based on the integrated analysis of structure evolution、fault sealing ability、simulations of sedimentary microfacies and reservoir beds、distribution analysis of high porosity-high permeability carrier beds、drive forces of hydrocarbons、preferential conduit system and conduit model as well as critical values of the reservoir physical properties for hydrocarbon charging, a special method that different from the conventional way to predict favorable lithologic traps was established. And with this method the controlling factors of the hydrocarbon reservoirs formation are figured out, and further more, the favorable exploration targets are point out. At Baijiahai uplift, fault plays as a crucial factor in the process of the hydrocarbon reservoir formation. In this study, it is found out that the availability of a fault that work as the seal for oil and gas are different. The critical value of the lateral mudstone smear factor (Kssf), which is used to measure the lateral sealing ability of fault, for oil is 3.9 while that for gas is 2.1; and the critical value of vertical sealing factor (F), which similarly a measurement for the vertical sealing ability of fault, for oil is 7.3 while that for gas is 5.1. Dongdaohaizi fault belt that possessed well lateral sealing ability since later Cretaceous have bad vertical sealing ability in later Cretaceous, however, it turns to be well now. Based on the comparison of the physical properties that respectively obtained from electronic log calculating、conventional laboratory rock analysis and the additive-pressure bearing laboratory rock analysis, we established the functions through which the porosity and permeability obtained though conventional method can be converted to the values of the subsurface conditions. With this method, the porosity and permeability of the Jurassic strata at the time of previous Tertiary and that in nowadays are reconstructed respectively, and then the characteristics of the distribution of high porosity-high permeability carrier beds in the evolution processes are determined. With the result of these works, it is found that both well Cai 43 region and Cainan oilfield are located on the preferential conduit direction of hydrocarbon migration. This conclusion is consistent with the result of the fluid potential analysis, in which fluid potential of nowadays and that of later Cretaceous are considered. At the same times, experiment of hydrocarbon injection into the addictive-pressure bearing rock is designed and conducted, from which it is found that, for mid-permeability cores of Jurassic, 0.03MPa is the threshold values for the hydrocarbon charging. And here, the conception of lateral pressure gradient is proposed to describe the lateral driving force for hydrocarbon migration. With this conception, it is found that hydrocarbons largely distributed in the areas where lateral pressure gradient is greater than 0. 03MPa/100m. Analysis of critical physical properties indicated that the value of the critical porosity and critical permeability varied with burial depth, and it is the throat radius of a certain reservoir bed that works as a key factor in controlling hydrocarbon content. Three parameters are proposed to describe the critical physical properties in this dissertation, which composite of effective oil-bearing porosity、effective oil-bearing permeability and preferential flow coefficient. And found that critical physical properties, at least to some extent, control the hydrocarbon distribution of Jurassic in Baijiahai uplift. Synthesize the content discussed above, this dissertation analyzed the key factors i.e., critical physical properties、driving force、conduit system and fluid potential, which controlled the formation of the lithologic reservoir in Baijiahai uplift. In all of which conduit system and fluid potential determined the direction of hydrocarbon migration, and substantially they are critical physical properties of reservoir bed and the lateral pressure gradient that controlled the eventually hydrocarbon distribution. At the same times, sand bodies in the major target formation that are recognized by reservoir bed simulation are appraised, then predict favorite direction of the next step exploration of lithologic reservoir.

降雨触发滑坡的非线性模型与斜坡演化的混沌效应

This paper analyzes landsliding process by nonlinear theories, especially the influence mechanism of external factors (such as rainfall and groundwater) on slope evolution. The author investigates landslide as a consequence of the catastrophic slide of initially stationary or creeping slope triggered by a small perturbation. A fully catastrophe analysis is done for all possible scenarios when a continuous change is imposed to the control parameters. As the slip surface continues and erosion due to rainfall occurs, control parameters of the slip surface may evolve such that a previously stable slope may become unstable (e.g. catastrophe occurs), when a small perturbation is imposed. Thus the present analysis offers a plausible explanation to why slope failure occurs at a particular rainfall, which is not the largest in the history of the slope. It is found, by analysis on the nonlinear dynamical model of the evolution process of slope built, that the relationship between the action of external environment factors and the response of the slope system is complicatedly nonlinear. When the nonlinear action of slope itself is equivalent to the acting ability of external environment, the chaotic phenomenon appears in the evolution process of slope, and its route leading to chaos is realized with bifurcation of period-doublings. On the basis of displacement time series of the slope, a nonlinear dynamic model is set up by improved Backus generalized linear inversion theory in this paper. Due to the equivalence between autonomous gradient system and catastrophe model, a standard cusp catastrophe model can be obtained through variable substitution. The method is applied to displacement data of Huangci landslide and Wolongsi landslide, to show how slopes evolve before landsliding. There is convincing statistical evidence to believe that the nonlinear dynamic model can make satisfied prediction results. Most important of all, we find that there is a sudden fall of D, which indicates the occurrence of catastrophe (when D=0).

孤北洼陷沙三-沙四段隐蔽油藏形成机制及其预测

Based on the study of sequence stratigraphy, modern sedimentary, basin analysis, and petroleum system in Gubei depression, this paper builds high resolution sequence stratigraphic structure, sedimentary system, sandbody distribution, the effect of tectonic in sequence and sedimentary system evolution and model of tectonic-lithofacies. The pool formation mechanism of subtle trap is developed. There are some conclusions and views as follows. 1.With the synthetic sequence analysis of drilling, seismic, and well log, the highly resolution sequence structure is build in Gubei depression. They are divided two secondary sequences and seven three-order sequences in Shahejie formation. They are include 4 kinds of system traces and 7 kinds of sedimentary systems which are alluvial fan, under water fan, alluvial fan and fan-delta, fan-delta, lacustrine-fan, fluvial-delta-turbidite, lakeshore beach and bar, and deep lake system. Sandbody distribution is show base on third order sequence. 2.Based on a lot of experiment and well log, it is point out that there are many types of pore in reservoir with the styles of corrosion pore, weak cementing, matrix cementing, impure filling, and 7 kinds of diagenetic facies. These reservoirs are evaluated by lateral and profile characteristics of diagenetic facies and reservoir properties. 3.The effect of simultaneous faulting on sediment process is analyzed from abrupt slope, gentle slope, and hollow zone. The 4 kinds of tectonic lithofacies models are developed in several periods in Gubei depression; the regional distribution of subtle trap is predicted by hydro accumulation characteristics of different tectonic lithofacies. 4.There are 4 types of compacting process, which are normal compaction, abnormal high pressure, abnormal low pressure and complex abnormal pressure. The domain type is normal compaction that locates any area of depression, but normal high pressure is located only deep hollow zone (depth more than 3000m), abnormal low pressures are located gentle slope and faulted abrupt slope (depth between 1200~2500m). 5.Two types dynamic systems of pool formation (enclosed and partly enclosed system) are recognized. They are composed by which source rocks are from Es3 and Es4, cap rocks are deep lacustrine shale of Esl and Es3, and sandstone reservoirs are 7 kinds of sedimentary system in Es3 and Es4. According to theory of petroleum system, two petroleum systems are divided in Es3 and Es4 of Gubei depression, which are high or normal pressure self-source system and normal or low pressure external-source system. 6.There are 3 kinds of combination model of pool formation, the first is litholgical pool of inner depression (high or normal pressure self-source type), the second is fault block or fault nose pool in marginal of depression (normal type), the third is fault block-lithological pool of central low lifted block (high or normal pressure type). The lithological pool is located central of depression, other pool are located gentle or abrupt slope that are controlled by lithological, faulting, unconfirmed. 7.This paper raise a new technique and process of exploration subtle trap which include geological modeling, coring description and logging recognition, and well log constrained inversion. These are composed to method and theory of predicting subtle trap. Application these methods and techniques, 6 hydro objects are predicted in three zone of depression.

陡坡带砂砾岩体油气成藏模式研究——以东营凹陷西北部陡坡带为例

Based on the study of sequence stratigraphy, modern sedimentary, basin analysis, and petroleum system in abrupt slop of depression, this paper builds sedimentary system and model, sandy bodies distribution, and pool-forming mechanism of subtle trap. There are some conclusions and views as follows. By a lot of well logging and seismic analysis, the author founded up the sequence stratigraphic of the abrupt slope, systematically illustrated the abrupt slope constructive framework, and pointed out that there was a special characteristics which was that south-north could be divided to several fault block and east-west could be carved up groove and the bridge in studying area. Based all these, the author divided the studying area to 3 fault block zone in which because of the groove became the basement rock channel down which ancient rivers breathed into the lake, the alluvial fan or fan delta were formed. In the paper, the author illustrated the depositional system and depositional model of abrupt slope zone, and distinguished 16 kinds of lithofacies and 3 kinds of depositional systems which were the alluvial fan and fan-delta system, lake system and the turbidite fan or turbidity current deposition. It is first time to expound completely the genetic pattern and distributing rule of the abrupt slope sandy-conglomeratic fan bodies. The abrupt slope sandy-conglomeratic fan bodies distribute around the heaves showing itself circularity shape. In studying area, the sandy-conglomeratic fan bodies mainly distribute up the southern slope of Binxian heave and Chenjiazhuang heave. There mainly are these sandy-conglomeratic fan body colony which distributes at a wide rage including the alluvial fan, sub-water fluvial and the turbidite fan or the other turbidity current deposition in the I fault block of the Wangzhuang area. In the II fault block there are fan-delta front and sub-water fluvial. And in the Binnan area, there mainly are those the alluvial fan (down the basement rock channel) and the sandy-conglomeratic fan body which formed as narrowband sub-water fluvial (the position of bridge of a nose) in the I fault block, the fan-delta front sandy-conglomeratic fan body in the H fault block and the fan-delta front and the turbidity current deposition sandy-conglomeratic fan body in the m fault block. Based on the reservoir outstanding characteristics of complex classic composition and the low texture maturity, the author comparted the reservoir micro-structure of the Sha-III and Sha-IV member to 4 types including the viscous crude cementation type, the pad cementation type, the calcite pore-funds type and the complex filling type, and hereby synthetically evaluated 4 types sandy- conglomeratic fan body reservoir. In the west-north abrupt slope zone of Dongying Depression, the crude oil source is belonging to the Sha-III and Sha-IV member, the deep oil of Lijin oilfield respectively come from the Sha-III and Sha-IV member, which belongs to the autogeny and original deposition type; and the more crude oil producing by Sha-IV member was migrated to the Wangzhuan area and Zhengjia area. The crude oil of Binnan oil-field and Shanjiasi oil-field belongs to mixed genetic. It is the first time to illustrate systematically the genetic of the viscous crude that largely being in the studying area, which are that the dissipation of the light component after pool-forming, the biological gradation action and the bath-oxidation action, these oil accumulation belonging to the secondary viscous crude accumulation. It is also the first time to compart the studying area to 5 pool-forming dynamical system that have the characteristic including the common pressure and abnormal pressure system, the self-fountain and other-fountain system and the closing and half-closing system etc. The 5 dynamical systems reciprocally interconnected via the disappearance or merger of the Ethology and the fluid pressure compartment zone, the fault and the unconformity surface, hereby formed duplicated pattern oil-gas collecting zone. Three oil-gas pool-forming pattern were founded, which included the self-fountain side-direction migrated collecting pattern, the self-fountain side-direction ladder-shape pool-forming pattern and the other-fountain pressure releasing zone migrated collecting pattern. A series of systemic sandy-conglomeratic fan bodies oil-gas predicting theory and method was founded, based on the groove-fan corresponding relation to confirm the favorable aim area, according as the characteristic of seismic-facies to identify qualitatively the sandy-conglomeratic fan bodies or its scale, used the temporal and frequency analysis technique to score the interior structure of the sandy- conglomeratic fan bodies, applied for coherent-data system analysis technology to describe the boundary of the sandy-conglomeratic fan bodies, and utilized the well logging restriction inversion technique to trace quantificational and forecast the sandy-conglomeratic fan bodies. Applied this technique, totally 15 beneficial sandy-conglomeratic fan bodies were predicted, in studying area the exploration was preferably guided, and the larger economic benefit and social benefit was acquired.