Robust Guaranteed Cost Control for Yaw Control of Helicopter

针对具有时变不确定性且不确定性界为椭球的线性系统提出了一种新的具有自适应机制的鲁棒保性能控制器设计方法。首先,引入一个具有可由自适应律在线调整的可调参数的目标模型,通过该参数来保证由目标模型与被控模型所获得的误差系统渐近稳定。结合保证目标模型稳定性的设计,最终形成保证闭环系统稳定且控制器增益仿射依赖于可调参数的鲁棒保性能跟踪控制器。应用于安装在试验平台上的小型直升机航向控制中,仿真试验表明了该方法的有效性。

悬索桥隧道式锚碇与围岩系统的破坏模式研究

The anchorages are unparalleled structures only in a suspension bridge, and as main bearing facilities, play an important role in connecting the superstructures and the ground. The tunnel anchorage, as one alternative type of the anchorages, has more advantages over its counterpart, the gravity anchorage. With the tunnel anchorages adopted, not only can surface excavation be reduced to protect the environment, and natural condition of the rock be utilized and potential bearing capacity of surrounding rock be mobilized to save engineering cost, but also the technological predominance of auxiliary engineering measures, such as prestressed concrete, anchoring piles, rock anchors and collar beam between the two separated anchorages, can be easily cooperated to work together harmoniously under the circumstances of poor rock quality. There are plentiful high mountains and deep canyons in west part of China, and long-span bridge construction is inevitably encountered in order to realize leapfrogging development of the transportation infrastructure. Western mountainous areas usually possess the conditions for constructing tunnel anchorages, and therefore, the tunnel anchorages, which are conformed to the conception of resource conservative and sustainable society, extremely have application and popularization value in western underdeveloped region. The scientific and technological problem about the design, construction and operation of tunnel anchorages should be further investigated. Combining the engineering of western tunnel anchorages for the Balinghe Suspension Bridge, this paper probed into the survey method and in-situ test method for tunnel anchorages, scientific rock quality evaluation of surrounding rock to provide reasonable physical and mechanical parameters for design, construction and operation of tunnel anchorages, bearing capacity estimation for tunnel anchorage, deformation prediction of the anchorage-rockmass system, tunnel-anchorage slope stability analysis and the evaluation of excavation stability and degree of safety of the anchorage tunnel. The following outcomes were obtained: 1. Materials of tunnel anchorages of suspension bridge built (and in progress) at home and abroad were systematically sorted out, with the engineering geological condition and geomechanical property of surrounding rock around the anchorage tunnel, the design size of anchorages and the construction method of anchorage tunnel paid more emphasis on, to unveil the internal relationship between the engineering geological conditions of surrounding rock and the design size and axis angle of anchorages and provide references for future design, construction and study of tunnel anchorages. 2. Physical and mechanical parameters were recommended based on three domestic and foreign methods of rock quality evaluation. 3. In-situ tests, adopting the back-thrust method, of two kinds of reduced scale model, 1/30 and 1/20, for the tunnel anchorages were conducted in the declining exploration drift with rock mass at the test depth being the same as surrounding rock around real anchorages, and reliable field rockmass displacement data were acquired. Attenuation relation between the increment of distance from the anchorage and the decrement of rockmass displacement under maximum test load, and influential scope suffered by anchorage load were obtained. 4. Using similarity theory, the magnitude of real anchorage and rockmass displacement under design load and degree of safety of the anchorage system were deduced. Furthermore, inversion analysis to deformation modulus of slightly weathered dolomite rock, the surrounding rock of anchorage tunnel, was performed by the means of numerical simulation. 5. The influential law of the geometrical size to the limit bearing capacity of tunnel anchorage was studied. 6. Based on engineering geological survey data, accounting for the combination of strata layer and adverse discontinuities, the failure patterns of tunnel anchorage slope were divided into three modes: sliding of splay saddle pier slope, superficial-layer slippage, and deep-layer slippage. Using virtual work principle and taking anchorage load in account, the stability of the three kinds of failure patterns were analyzed in detail. 7. The step-by-step excavation of anchorage tunnel, the numerical overload and the staged decrement of rock strength parameters were numerically simulated to evaluate the excavation stability of surrounding rock around anchorage tunnel, the overload performance of tunnel anchorage, and the safety margin of strength parameters of the surrounding rock.

植物对环境污染的磁学响应机理研究

With development of industry and acceleration of urbanization, problems of air quality as well as their influences on human health have recently been regarded highly by current international communities and governments. Generally, industrializations can result in exhausting of a lot of industry gases and dusts, while urbanization can cause increasing of modern vehicles. Comparing with traditional chemical methods, magnetic method is simple, rapid, exact, low-cost and non-destructive for monitoring air pollution and has been widely applied in domestic and international studies. In this thesis, with an aim of better monitoring air pollution, we selected plants (highroad-side perennial pine trees (Pinus pumila Regel) along a highroad linking Beijing City and the Capital International Airport, and tree bark and tree ring core samples (willow, Salix matsudana) nearby a smelting industry in northeast Beijing) for magnetic studies. With systemic magnetic measurements on these samples, magnetic response mechanism of contamination（e.g. tree leaves, tree ring）to both short- and long-term environmental pollution has been constructed, and accordingly the pollution range, degree and process of different time-scale human activities could be assessed. A series of rock magnetic experiments of tree leaves show that the primary magnetic mineral of leaf samples was identified to be magnetite, in pseudo-single domain (PSD) grain size range of 0.2-5.0 μm. Magnetite concentration and grain size in leaves are ascertained to decrease with increasing of sampling distance to highroad asphalt surface, suggesting that high magnetic response to traffic pollution is localized within a distance of about 2 m away from highroad asphalt surface. On the other hand, highroad-side trees and rainwater can effectively reduce the concentration of traffic pollution-induced particulate matters (PMs) in the atmosphere. This study is the first time to investigate the relationship of smelting factory activities and vicissitudes of environment with tree rings by magnetic methods. Results indicate that magnetic particles are omnipresent in tree bark and trunk wood. Magnetic techniques including low-temperature experiment, successive acquisition of IRM, hysteresis loops and SIRM measurements suggest that magnetic particles are predominated by magnetite in pseudo-single domain state. Comparison of magnetic properties of tree trunk and branch cores collected from different directions and heights implies that collection of magnetic particles depends on both sampling direction and height. Pollution source-facing tree trunk wood contains significantly more magnetic particles than other sides. These indicate that magnetic particles are most likely intercepted and collected by tree bark first, then enter into tree xylem tissues by translocation during growing season, and are finally enclosed in a tree ring by lignifying. Correlation between magnetic properties such as time-dependent SIRM values of tree ring cores and the annual steel yields of the smelting factory is significant. Considering the dependence of magnetic properties in sampling directions, heights, and ring cores, we proposed that magnetic particles in the xylem cannot move between tree rings. Accordingly, the SIRM and some other magnetic parameters of tree ring cores from the source-facing side could be contributed to historical study of atmospheric pollution produced by heavy metal smelting activities, isoline diagrams of SIRM values of all the tree rings indicate that air pollution is increasing worse. We believed that a synthetic rock magnetic study is an effective method for determining concentration and grain size of ferromagnets in the atmospheric PMs, and then it should be a rapid and feasible technique for monitoring atmospheric pollution.

岩性油藏储层预测的地震理论与方法研究

At present the main object of the exploration and development (E&D) of oil and gas is not the structural oil-gas pools but the subtle lithological oil-gas reservoir. Since the last 90's, the ratio of this kind of pools in newly-added oil reserves is becoming larger and larger, so is the ratio in the eastern oilfields. The third oil-gas resource evaluation indicates the main exploration object of Jiyang depression is the lithological oil-gas pools in future. However, lack of effective methods that are applied to search for this kind of pool makes E&D difficult and the cost high. In view of the urgent demand of E&D, in this paper we deeply study and analyze the theory and application in which the seismic attributes are used to predict and describe lithological oil-gas reservoirs. The great results are obtained by making full use of abundant physics and reservoir information as well as the remarkable lateral continuity involved in seismic data in combination with well logging, drilling-well and geology. ①Based on a great deal of research and different geological features of Shengli oilfield, the great progresses are made some theories and methods of seismic reservoir prediction and description. Three kinds of extrapolation near well seismic wavelet methods-inverse distance interpolation, phase interpolation and pseudo well reflectivity-are improved; particularly, in sparse well area the method of getting pseudo well reflectivity is given by the application of the wavelet theory. The formulae for seismic attributes and coherent volumes are derived theoretically, and the optimal method of seismic attributes and improved algorithms of picking up coherent data volumes are put forward. The method of making sequence analysis on seismic data is put forward and derived in which the wavelet transform is used to analyze not only qualitatively but also quantitatively seismic characteristics of reservoirs.② According to geologic model and seismic forward simulation, from macro to micro, the method of pre- and post-stack data synthetic analysis and application is put forward using seismic in close combination with geology; particularly, based on making full use of post-stack seismic data, "green food"-pre-stack seismic data is as possible as utilized. ③ In this paper, the formative law and distributing characteristic of lithologic oil-gas pools of the Tertiary in Jiyang depression, the knowledge of geological geophysics and the feasibility of all sorts of seismic methods, and the applied knowledge of seismic data and the geophysical mechanism of oil-gas reservoirs are studied. Therefore a series of perfect seismic technique and software are completed that fit to E&D of different categories of lithologic oil-gas reservoirs. ④ This achievement is different from other new seismic methods that are put forward in the recent years, that is multi-wave multi-component seismic, cross hole seismic, vertical seismic, and time-lapse seismic etc. that need the reacquisition of seismic data to predict and describe the oil-gas reservoir. The method in this paper is based on the conventional 2D/3D seismic data, so the cost falls sharply. ⑤ In recent years this technique that predict and describe lithologic oil-gas reservoirs by seismic information has been applied in E&D of lithologic oil-gas reservoirs on glutenite fans in abrupt slop and turbidite fans in front of abrup slop, slump turbidite fans in front of delta, turbidite fans with channel in low slope and channel sanbody, and a encouraging geologic result has been gained. This achievement indicates that the application of seismic information is one of the most effective ways in solving the present problem of E&D. This technique is significant in the application and popularization, and positive on increasing reserves and raising production as well as stable development in Shengli oilfield. And it will be directive to E&D of some similar reservoirs