远程AUV航行控制算法的应用研究

本文针对我国正在研制开发的长航程自治潜水器的特性及其对航行控制的要求，进行了以下研究：自适应模糊PID控制方法和单神经元自适应PID控制方法在航向控制回路的应用研究，以及沿规划路径航行的6自由度仿真。 本文首先介绍了远程AUV航行控制系统的组成，然后根据自治潜水器的各项参数建立了水平面和垂直面的数学模型，并对水平面和垂直面的数学模型进行了验证。 将PID控制与模糊控制的简便性、灵活性以及鲁棒性结合起来，为AUV设计了可在线修改PID参数的自适应模糊PID控制器，仿真结果证明了该种控制方法不但提高了AUV系统的动态特性，而且可在参数摄动和外界扰动时获得较好的控制性能。 将单神经元自适应PID控制方法应用在了航向控制回路。仿真实验表明，该控制器是一种设计简单、实现方便的智能控制器，具有动态性能好、稳态精度高、抗干扰性能强等特点。尤其对那些时变的、非线性的、滞后的被控对象，具有良好的控制效果，能有效的克服海流、波浪等扰动，提高AUV系统的动态特性。该方法适用于其它非线性、时变、强干扰的不确定复杂系统。 最后本文建立了基于Simulink的沿规划路径航行控制回路，进行了6自由度模型的仿真。在仿真中设定起始点和目的点，就可得到仿真的路径和达到目的点的时间。 关键词：自治潜水器；自适应模糊PID控制；单神经元自适应PID控制；自治水下机器人仿真

地震波传播模拟的边界元―体积元积分方程法及其近似求解

To improve the efficiency of boundary-volume integral equation technique, this paper is involved in the approximate solutions of boundary-volume integral equation technique. Firstly, based on different interpretations of the self-interaction and extrapolation operators of the resulting boundary integral equation matrix, two different hybrid BEM+Born series modeling schemes are formulated and validated through comparisons with the full-waveform BE numerical solutions for wave propagation simulation in a semicircular alluvial valley and a complex fault model respectively. Numerical experiments indicate that both the BEM+Born series modeling schemes are suitable for complex geological structures and significantly improve computational efficiency especially for the cases of high frequencies and multisource seismic survey. Then boundary-volume integral equation technique is illuminated in detail and verified by modeling wave propagation in complex media. Furthermore, the first-order and second-order Born approximate solutions for the volume-scattering waves are studied and quantified by numerical simulation in different random medium models. Finally, preconditioning generalized minimal residual method is applied to solve boundary-volume integral equation and compared with Gaussian elimination method. Numerical experiments indicate this method makes the calculations more efficient.

准噶尔盆地三个泉凸起油气成藏条件及动力学研究

Sangequan Uplift in Junggar Basin is an inherited positive structure, which has undergone many times of violent tectonic movements, with high tectonic setting, and far away from the oil-source sag, reservoir forming condition is complex. Combining sequence stratigraphy, depositional facies, reservoir formation theory with seismic and well logging analysis, this paper conducted integrated study on the hydrocarbon migration, accumulation, entrapment conditions, the reservoir forming dynamics and the forming model, and acquired the following recognition: (1) The special reservoir formation conditions that enable Sangequan Uplift to form a giant oil-gas field of over 100 million tons of reserves are as follows: (D Deltaic frontal sandbody is developed in Jurassic Xishanyao Formation, Toutunhe Formation and Lower Cretaceous Hutubihe Formation, with good reservoir quality;? Abundant hydrocarbon resources are found in Western Well Pen-1 Sag, which provides sufficient oil sources for reservoir formation of Sagequan Uplift; ?The unconformity-fault-sandbody system has formed a favorable space transporting system and an open conduit for long-distance hydrocarbon migration; ?fault, low amplitude anticline and lithological traps were well developed, providing a favorable space for hydrocarbon accumulation. (2) The most significant source beds in the Western Well Pen-1 Sag are the Mid-Permian Lower Wuerhe Formation and Lower-Permian Fengcheng Formation. The oil in the Well Block Lu-9 and Shinan Oilfield all originated from the hydrocarbon source beds of Fengcheng Formation and Lower Wuerhe Formation in the Western Well Pen-1 Sag and migrated through Jidong and Jinan deep faults linking unconformity of different regions from sources to structural highs of the uplift and shallow horizons. (3) There were 2 reservoir formation periods in District Sangequan: the first was in late Cretaceous during which the upper part of Xishanyao Formation and Toutunhe Formation; the second was in Triassic, the main resources are high-maturity oil and gas from Fengcheng Formation and Wuerhe Formation in Western Pen-1 Well sag and the gas from coal measure strata of Xishanyao Formation, that were accumulated in Hutubihehe Formation. (4) Model of the hydrocarbon migration, accumulation, reservoir formation of the study area are categorized as three types starting from the hydrocarbon source areas, focusing on the faults and unconformity and aiming at reservoirs: ① Model of accumulation and formation of reservoir through faults or unconformities along the "beam" outside source; ②Model of migration, accumulation and reservoir formation through on-slope near source;③Model of migration, accumulation and reservoir formation of marginal mid-shallow burial biogas-intermediate gas. (5) Pinchout, overlap and lithologic traps are developed in transitional zones between Western Well Pen-1 sag and Luliang uplift. Many faulted blocks and faulted nose-like traps are associated with large structures on Sangequan uplift. Above traps will be new prospecting areas for further hydrocarbon exploration in future.

Numerical simulation of an adaptive optics system with laser propagation in the atmosphere

A comprehensive model of laser propagation in the atmosphere with a complete adaptive optics (AO) system for phase compensation is presented, and a corresponding computer program is compiled. A direct wave-front gradient control method is used to reconstruct the wave-front phase. With the long-exposure Strehl ratio as the evaluation parameter, a numerical simulation of an AO system in a stationary state with the atmospheric propagation of a laser beam was conducted. It was found that for certain conditions the phase screen that describes turbulence in the atmosphere might not be isotropic. Numerical experiments show that the computational results in imaging of lenses by means of the fast Fourier transform (FFT) method agree well with those computed by means of an integration method. However, the computer time required for the FFT method is 1 order of magnitude less than that of the integration method. Phase tailoring of the calculated phase is presented as a means to solve the problem that variance of the calculated residual phase does not correspond to the correction effectiveness of an AO system. It is found for the first time to our knowledge that for a constant delay time of an AO system, when the lateral wind speed exceeds a threshold, the compensation effectiveness of an AO system is better than that of complete phase conjugation. This finding indicates that the better compensation capability of an AO system does not mean better correction effectiveness. (C) 2000 Optical Society of America.

Dependence of collision frequency on distance between two hard-sphere particles estimated by computer simulation

A Monte Carlo simulation is performed to study the dependence of collision frequency on interparticle distance for a system composed of two hard-sphere particles. The simulation quantitatively shows that the collision frequency drops down sharply as the distance between two particles increases. This characteristic provides a useful evidence for the collision-reaction dynamics of aggregation process for the two-particle system described in the other reference.

Numerical-simulation of low supersonic-flow around a sphere

The controlled equations defined in a physical plane are changed into those in a computational plane with coordinate transformations suitable for different Mach number M(infinity). The computational area is limited in the body surface and in the vicinities of detached shock wave and sonic line. Thus the area can be greatly cut down when the shock wave moves away from the body surface as M(infinity) --> 1. Highly accurate, total variation diminishing (TVD) finite-difference schemes are used to calculate the low supersonic flowfield around a sphere. The stand-off distance, location of sonic line, etc. are well comparable with experimental data. The long pending problem concerning a flow passing a sphere at 1.3 greater-than-or-equal-to M(infinity) > 1 has been settled, and some new results on M(infinity) = 1.05 have been presented.

Cone Effect in Astronomical Adaptive Optics System Investigated by a Pure Numerical Simulation

It is well-known that cone effect or focus anisoplanatism is produced by the limited distance of a laser guide star (LGS) which is created within the Earth atmosphere and consequently located at a finite distance from the observer. In this paper, the cone effect of the LGS for different vertical profiles of the refractive index structure constant Cn2 is numerically investigated by using a revised computer program of atmospheric propagation of optical wave and an adaptive optics (AO) system including dynamic control process. According to the practice, the overall tilt for the tilt-correction mirror is obtained from a natural star and the aberrated wavefront for phase correction of the deformable mirror is obtained from a LGS in our numerical simulation. It is surprisingly found that the effect of altitude of the LGS on the AO phase compensation effectiveness by using the commonly-available vertical profiles of Cn2 and the lateral wind speed in the atmosphere is relatively weak, and the cone effect for some Cn2 profiles is even negligible. It is found that the cone effect does not have obvious relationship with the turbulence strength, however, it depends on the vertical distribution profile of Cn 2 apparently. On the other hand, the cone effect depends on the vertical distribution of the lateral wind speed as well. In comparison to a longer wavelength, the cone effect becomes more obvious in the case of a shorter wavelength. In all cases concerned in this paper, an AO system by using a sodium guide star has almost same phase compensation effectiveness as that by using the astronomical target itself as a beacon. Effect of dynamic control process in an AO system on the cone effect is studied in this paper for the first time within our knowledge.

Single-mode behaviour judgment of optical waveguides by imaginary-distance beam propagation method under perfectly matched layer boundary condition

Imaginary-distance beam propagation method under the perfectly matched layer boundary condition is applied to judge single-mode behaviour of optical waveguides, for the first time to our knowledge. A new kind of silicon-on-insulator-based rib structures with half-circle cross-section is presented. The single-mode behaviour of this kind of waveguide with radius 2mum is investigated by this method. It is single-mode when the slab height is not smaller than the radius.

3D quench simulation using finite element method for CR superconducting magnet's strand

The CR superconducting magnet is a dipole of the FAIR project of GSI in Germany. The quench of the strand is simulated using FEM software ANSYS. From the simulation, the quench propagation can be visualized. Programming with APDL, the value of propagation velocity of normal zone is calculated. Also the voltage increasing over time of the strand is computed and pictured. Furthermore, the Minimum Propagation Zone (MPZ) is studied. At last, the relation between the current and the propagation velocity of normal zone, and the influence of initial temperature on quench propagation are studied.

Wave Propagation Analysis in a Pressure-Wave-Refrigerator

Pressure wave refrigerators (PWR) refrigerate the gas through periodical expansion waves. Due to its simple structure and robustness, PWR may have many potential applications if the efficiency becomes competitive with existing alternative devices. In order to improve the efficiency, the characteristics of wave propagation in a PWR are studied by experiment, numerical simulation and theoretical analysis. Based on the experimental results and numerical simulation, a simplified model is suggested, which includes the assumptions of flux-equilibrium and conservation of the free energy. This allows the independent analysis of the operation parameters and design specifics. Furthermore, the optimum operation condition can be deduced. Some considerations to improve the PWR efficiency are also given.

Monte-Carlo simulation of surface crack growth rate for offshore structural steel E36-Z35

The Monte- Carlo method is used to simulate the surface fatigue crack growth rate for offshore structural steel E36-Z35, and to determine the distributions and relevance of the parameters in the Paris equation. By this method, the time and cost of fatigue crack propagation testing can be reduced. The application of the method is demonstrated by use of four sets of fatigue crack propagation data for offshore structural steel E36-Z35. A comparison of the test data with the theoretical prediction for surface crack growth rate shows the application of the simulation method to the fatigue crack propagation tests is successful.

Experimental Investigation and Numerical Simulation on the Effect of Fissure Water Pressure in Vertical Sliding Surface

This paper studies the effect of fissure water pressure in different fractures on the critical angle of landslide by laboratory investigation and numerical simulation in order to understand the mechanisms of fissure water pressure on landslide stability. Laboratory observations show that the effect of fissure water pressure on the critical angle of landslide is little when the distance between water-holding fracture and slope toe is three times greater than the depth of fissure water. These experimental results are also simulated by a three-dimensional face-to-face contact discrete element method. This method has included the fissure water pressure and can accurately calculate the critical angle of jointed slope when fissure water pressure in vertical sliding surface exists. Numerical results are in good agreement with experimental observations. It is revealed that the location of water-holding structural surface is important to landslide stability. The ratio of the distance between water-holding fissure and slope toe to the depth of fissure water is a key parameter to justify the effect of fissure water pressure on the critical angle of landslide.

A Simulation Model for Unified Interrill Erosion and Rill Erosion on Hillslopes

A mathematical model was developed for simulating runoff generation and soil erosion on hillslopes. The model is comprised of three modules: one for overland flow, one for soil infiltration, and one for soil erosion including rill erosion and interrill er

A probabilistic model for fatigue crack propagation analysis

A simple probabilistic model for predicting crack growth behavior under random loading is presented. In the model, the parameters c and m in the Paris-Erdogan Equation are taken as random variables, and their stochastic characteristic values are obtained through fatigue crack propagation tests on an offshore structural steel under constant amplitude loading. Furthermore, by using the Monte Carlo simulation technique, the fatigue crack propagation life to reach a given crack length is predicted. The tests are conducted to verify the applicability of the theoretical prediction of the fatigue crack propagation.

Statistical Simulation of Rarefied Gas Flows in Micro-Channels

Rarefied gas flows through micro-channels are simulated using particle approaches, named as the information preservation (IP) method and the direct simulation Monte Carlo (DSMC) method. In simulating the low speed flows in long micro-channels the DSMC method encounters the problem of large sample size demand and the difficulty of regulating boundary conditions at the inlet and outlet. Some important computational issues in the calculation of long micro-channel flows by using the IP method, such as the use the conservative form of the mass conservation equation to guarantee the adjustment of the inlet and outlet boundary conditions and the super-relaxation scheme to accelerate the convergence process, are addressed. Stream-wise pressure distributions and mass fluxes through micro-channels given by the IP method agree well with experimental data measured in long micro-channels by Pong et al. (with a height to length ratio of 1.2:3000), Shih et al. (l.2:4800), Arkilic et al. and Arkilic (l.3:7500), respectively. The famous Knudsen minimum of normalized mass flux is observed in IP and DSMC calculations of a short micro-channel over the entire flow regime from continuum to free molecular, whereas the slip Navier-Stokes solution fails to predict it.