下载文档原格式
应用全局最小二乘法辨识AUV运动参数田亚杰,边信黔(哈尔滨工程大学动力与核能工程学院,黑龙江哈尔滨150001)摘要:用系统辨识的方法来估计AUV的水动力参数有很多优点,是当前研究的热点。
考虑到AUV运动模型的特点,本文提出用全局最小二乘法(TLS)来辨识AUV水动力参数。
首先分析了AUV运动模型,然后讨论了TLS及其与最小二乘法(LS)的区别与联系,提出了辨识模型并且利用仿真数据分别用TLS和LS两种方法进行了辨识,最后分析比较了两种方法的辨识结果得出结论。
关键词:智能水下机器人;全局最小二乘法;水动力参数;参数辨识中图分类号:O231 3文献标识码:A文章编号:1003 7241(2006)02 0004 04Identificatio n of Hydro dynam ic Param eters ofAUV w ith the Total Least S quares MethodTIAN Ya-jie,BIAN Xin-qian(Power and Nuclear Engineeri ng College,Harbin Engineering University,Harbin150001,China)Abstract:In the paper,with the characteristics of AUV dynamic model is concerned,total least squares(TLS)is chosen to identify the hydrodynamic parameters of AUV.Then the TLS is compared with the least-squares(LS)in the parameter iden tification of the AUV.Key words:AUV;TLS;Hydrodynamic parameters;Parameter identification1引言传统确定AUV水动力参数的方法是试验测定法,需要进行大量的、耗时的、昂贵的试验,而且通常不考虑不同自由度之间的耦合。
第 55 卷第 2 期2024 年 2 月中南大学学报(自然科学版)Journal of Central South University (Science and Technology)V ol.55 No.2Feb. 2024基于滤波算法的隧道全时域激发极化超前探测正演方法李志强1，褚国安1，聂利超1，裴文兵1，郭一凡1，周维1，胡军2，闫冰1，邓朝阳1(1. 山东大学 岩土与结构工程研究中心，山东 济南，250061；2. 云南省滇中引水二期工程有限公司，云南 昆明，650205)摘要：为进一步提高隧道全时域激发极化多参数超前探测的效果，采用滤波算法进行计算时间域等效电阻率，采用有限单元法进行计算，提出一种基于滤波算法的隧道全时域激发极化超前探测正演方法。
该方法针对时间域Cole-Cole 表达式计算收敛性差的问题，引入滤波算法进行时间域激发极化等效电阻率的计算，提高算法的收敛性；针对正演过程中大型矩阵求解影响计算效率的问题，引入OpenMP 并行算法，实现隧道全时域激发极化超前探测正演的加速运算。
最后，开展数值算例和物理模型试验。
研究结果表明：该正演方法对异常体有敏感响应，且在加快正演速度具有显著优势。
通过基于滤波算法的隧道全时域激发极化超前探测获得的观测数据与实际探测数据较为相符，这为基于全时域激发极化隧道超前探测提供了一种可行的正演算法。
关键词：隧道超前地质预报；全时域激发极化；滤波算法；快速三维正演模拟；并行算法中图分类号：P631 文献标志码：A 文章编号：1672-7207（2024）02-0638-11Forward method for full time domain induced polarizationadvance detection of tunnel based on filtering algorithmLI Zhiqiang 1, CHU Guoan 1, NIE Lichao 1, PEI Wenbing 1, GUO Yifan 1, ZHOU Wei 1,HU Jun 2, YAN Bing 1, DENG Zhaoyang 1(1. Geotechnical & Structural Engineering Research Center of Shandong University, Jinan 250061, China;2. Yunnan Water Diversion Phase II Project Co. Ltd., Kunming 650205, China)收稿日期： 2023 −06 −14； 修回日期： 2023 −10 −18基金项目(Foundation item)：国家重点研发专项课题(2021YFC3100805)；国家自然科学基金资助项目(52079076)；山东省自然科学基金资助项目(ZR2022YQ46，ZR2022QD014)；云南省科技厅重大科技专项计划项目(202002AF080003) (Project (2021YFC3100805) supported by the National Key Research and Development Program of China; Project(52079076) supported by the National Natural Science Foundation of China; Projects(ZR2022YQ46, ZR2022QD014) supported by the Natural Science Foundation of Shandong Province; Project(202002AF080003) supported by the Key Science and Technology Special Program of Yunnan Province)通信作者：聂利超，博士，教授、博士生导师，从事地球物理正反演理论与隧道不良地质超前探测的研究；E-mail ：*****************DOI: 10.11817/j.issn.1672-7207.2024.02.017引用格式： 李志强, 褚国安, 聂利超, 等. 基于滤波算法的隧道全时域激发极化超前探测正演方法[J].中南大学学报(自然科学版), 2024, 55(2): 638−648.Citation: LI Zhiqiang, CHU Guoan, NIE Lichao, et al. Forward method for full time domain induced polarization advance detection of tunnel based on filtering algorithm[J]. Journal of Central South University(Science and Technology), 2024, 55(2): 638−648.第 2 期李志强，等：基于滤波算法的隧道全时域激发极化超前探测正演方法Abstract:In order to meet the requirements of high detection efficiency in actual tunnel engineering, the filtering algorithm was used to calculate the equivalent resistivity in the time domain, and the finite element method was used for calculation. A forward modeling method of full-time induced polarization advance tunnel detection based on the filtering algorithm was proposed. To address the problem of poor convergence of Cole-Cole expression in time domain, the filtering algorithm was introduced to calculate the equivalent resistivity in time domain induced polarization, improving the convergence of algorithm. To solve the problem that the large-scale matrix solution affects the computational efficiency in the forward modeling process, the OpenMP parallel algorithm was introduced to realize the accelerated operation of the full-time domain induced polarization advanced detection forward modeling of the tunnel. Finally, numerical examples and physical model tests were carried out. The results show that the forward modeling method has a sensitive response to abnormal bodies. The full-time domain induced polarization forward acceleration algorithm has significant advantages in accelerating forward modeling speed. The forward data obtained by the full-time domain induced polarization forward detection method based on the filtering algorithm is in good agreement with the actual detection data, which lays a foundation for the application of the full-time domain induced polarization inversion method in the actual project of tunnel geological prediction.Key words: tunnel advanced prediction; full-time domain induced polarization; filtering algorithm; fast three-dimensional forward modeling; parallel algorithm近年来，随着中国基础设施建设和西部大开发进程的加快，水利水电、市政工程等领域所修建的隧道数量大幅增长。
大滞后时变对象的一种自适应预估最优控制
孙炳达;曾光;范昕炜;黄定华
【期刊名称】《电工技术学报》
【年(卷),期】1999(14)6
【摘要】对具有大滞后时变特性的对象，提出了一种对史密斯（Ｓｍｉｔｈ）设计方法的改进方案。
调节器按最优控制设计，引入自适应控制，使最优调节器以及预估器能不断地跟踪过程特性参数的变化，确保系统在对象参数变化时仍保持优良的控制性能。
【总页数】4页(P31-34)
【关键词】时变参数;大滞后对象;自适应控制;预估器
【作者】孙炳达;曾光;范昕炜;黄定华
【作者单位】广东工业大学电气工程及自动化系
【正文语种】中文
【中图分类】TP273.2
【相关文献】
1.一种关于自适应预估控制的变纯滞后动态测算和模拟的方法 [J], 徐进学;么旭东;张国仁
2.可变纯滞后时变系统模型参考自适应预估控制 [J], 刘国平
3.大纯滞后对象的最优控制 [J], 文亮; 郑恩让
4.Smith预估控制在飞机除冰车大滞后时变加热系统中的应用研究 [J], 孙毅刚;王
国庆
5.一种二阶滞后系统自适应Smith预估控制算法及实现 [J], 王建国;渠国庆;刘芒果;王金祥
因版权原因，仅展示原文概要，查看原文内容请购买。
第27卷第4期2021年4月计算机集成制造系统Computer Integrated Manufacturing SystemsVol.27No.4Apr.2021DOI：10.13196/j.cims.2021.04.003多障碍环境下机械臂避障路径规划陈满意1,张桥叫张弓％3+,梁济民3,侯至丞2,杨文林2,徐征2,王建2（X武汉理工大学机电工程学院，湖北武汉430070；2.广州中国科学院先进技术研究所，广东广州511458；3.中国科学院深圳先进技术研究院，广东深圳518055）摘要:为提高协作机器人在多障碍环境下的避障路径规划的成功率和效率，针对机械臂和障碍物提出碰撞检测方法,并提出低振荡人工势场一自适应快速扩展随机树（ARRT）混合算法进行路径规划，机械臂先采用低振荡人工势场法进行搜索，当遇到局部极小、碰撞等情况时切换成ARRT进行逃离，宜至到达目标点。
另外，为了在每个步长都取得最优的逆运动学关节角，保证前后步长对应关节角度值变化的连续性，提出最短行程逆解算法。
为了提高规划后的路径质量，提出一种冗余路径节点删除策略，并使用四次贝塞尔曲线对路径进行拟合。
经过仿真分析，机械臂在多障碍环境下对于环境复杂度的适应性强，路径搜索成功率高于经典算法,其平均路径搜索时间相比于经典RRT算法从26.1s下降到3.6s,算法搜索成功率和效率都得到显著改善。
关键词：协作机器人;机械臂;避障路径规划；低振荡人工势场法；自适应快速扩展随机树法中图分类号：TP242文献标识码：AObstacle avoidance path planning of manipulator in multiple obstacles environmentCHENManyi1,ZHANG Qiao1'2,ZHANG Gong2r3+,LIANG Jimin3,HOUZhicheng2,YANG Wenlin2,XU Zheng2,WANG Jian2(1.School of Mechanical Engineering,Wuhan University of Technology,Wuhan4.30070,China；2.Guangzhou Institute of Advanced Technology,Chinese Academy of Sciences,Guangzhou511458,China；3.Shenzhen Institute of Advanced Technology,Chinese Academy of Sciences,Shenzhen518055,China)Abstract:To improve the success rate and efficiency of the obstacle avoidance path planning of the cooperative robot in multiple obstacles environment,a collision detection method was proposed,and a low-oscillation-artificial-poten-tial-field&Adaptive-Rapidly-exploring-Random-Tree(ARRT)hybrid algorithm was created.Low-oscillation-arti-ficial-potential-field method was used to search,and ARRT was used for switching to escape with the conditions such as local minimum situation and collision until the target point was reached.In addition,to ensure the continuity of the joint angle between two continuously step,the shortest stroke algorithm was proposed to obtain the optimal inverse kinematic joint angle.To improve the quality of the planned path,a redundant path node deletion strategy was proposed and the path was fitted by four-time Bessel curve.Through simulation analysis,the manipulator had strong adaptability to adapt multiple obstacles environment,and the success rate of path search was higher than the traditional algorithm.The average time of path search was reduced from26.Is to3.6s compared with the classical RRT algorithm.Therefore,the algorithm search success rate and efficiency had been significantly improved.Keywords:collaborative robots；manipulator；obstacle avoidance path planning；low-oscillation-artificial-potential-field method j adaptive-rapidly-exploring-random-tree method收稿日期：2019-07-05；修订日期：2019-10-17o Received05July2019；accepted17Oct.2019.基金项目：国家重点研发计划资助项目(2018YFA0902903)；国家自然科学基金资助项目(62073092〉；广东省自然科学基金资助项目(2021A1515012638)；广州市基础研究计划资助项目(202002030320)。
网络首发地址：https:///urlid/42.1755.TJ.20230719.1903.002期刊网址：引用格式：贾正朗, 刘欣怡, 张欢欢, 等. 基于时域不连续伽辽金算法的时域屏蔽效能分析[J]. 中国舰船研究, 2023, 18(4):84–94.JIA Z L, LIU X Y, ZHANG H H, et al. Time-domain shielding effectiveness analysis based on DGTD method[J]. Chinese Journal of Ship Research, 2023, 18(4): 84–94.基于时域不连续伽辽金算法的时域屏蔽效能分析扫码阅读全文贾正朗1，刘欣怡1，张欢欢*1，吴为军2,3，陶理2,31 西安电子科技大学 电子工程学院，陕西 西安 7100712 中国舰船研究设计中心，湖北 武汉 4300643 电磁兼容性重点实验室，湖北 武汉 430064摘 要:［目的］为精确分析金属屏蔽腔的时域屏蔽效能，提出一种基于局部时间步进技术和并行技术的时域不连续伽辽金（DGTD ）算法。
［方法］利用DGTD 算法，对金属屏蔽腔进行全波电磁仿真，进而计算时域屏蔽效能（TDSE ）；利用局部时间步进（LTS ）技术增大时间步长，然后结合并行技术显著缩短计算时间；分析金属屏蔽腔的孔径尺寸、腔体厚度、阵列孔间距等设计参数对时域屏蔽效能的影响。
［结果］数值算例结果显示，所提方法正确、有效。
［结论］所提方法为电磁屏蔽问题的仿真提供了一种有效的工具，对金属屏蔽腔的设计具有一定的指导意义。
关键词：金属屏蔽腔；时域屏蔽效能；时域不连续伽辽金算法；局部时间步进；并行技术中图分类号: U665.26; TN03文献标志码: A DOI ：10.19693/j.issn.1673-3185.03140Time-domain shielding effectiveness analysis based on DGTD methodJIA Zhenglang 1, LIU Xinyi 1, ZHANG Huanhuan *1, WU Weijun 2,3, TAO Li2,31 School of Electronic Engineering, Xidian University, Xi'an 710071, China2 China Ship Development and Design Center, Wuhan 430064, China3 Science and Technology on Electromagnetic Compatibility Laboratory, Wuhan 430064, ChinaAbstract : ［Objective ］In order to accurately analyze the time-domain shielding effectiveness (TDSE) of metallic enclosures, a discontinuous Galerkin time domain (DGTD) method based on the local time-stepping (LTS) technique and parallel technique is proposed. ［Methods ］The full wave electromagnetic simulation of metallic enclosures is carried out by the DGTD method, and the TDSE is then calculated. LTS technology is used to increase the time step size, combined with parallel technology to greatly shorten the computing time.The influence of design parameters such as aperture size, enclosure thickness and array hole spacing on TDSE is then analyzed. ［Results ］The numerical results show that the proposed method is correct and effective.［Conclusion ］The proposed method provides an effective tool for the simulation of electromagnetic shield-ing problems, and has certain guiding significance for the design of metallic enclosures.Key words : metallic enclosure ；time-domain shielding effectiveness (TDSE)；discontinuous Galerkin time domain (DGTD) method ；local time-stepping (LTS)；parallel technique0 引 言随着电子信息技术的飞速发展，各种电子设备在民用和军事领域均得到了广泛应用。
参数不确定非线性系统的自适应控制和鲁棒控制
秦滨;施颂椒;席裕庚
【期刊名称】《控制与决策》
【年(卷),期】1998(13)2
【摘要】研究一类参数不确定非线性系统的非自适应鲁棒控制及自适应控制问题。
通过引入二人零和对策得到非自适应鲁棒控制律，并与参数估计结合得到自适应控制律。
证明了参数估计有界和收敛时闭环系统Ｌｙａｐｕｎｏｖ稳定性和渐近稳定性。
仿真结果说明了该方法的有效性及具体实现方法。
【总页数】6页(P103-108)
【关键词】非线性系统;自适应控制;鲁棒控制;控制理论
【作者】秦滨;施颂椒;席裕庚
【作者单位】上海交通大学自动化系
【正文语种】中文
【中图分类】TP273.2;O231
【相关文献】
1.一类具有时变参数不确定非线性系统的鲁棒控制 [J], 朱永红;姜长生
2.基于观测器的参数不确定非线性系统的模糊鲁棒控制 [J], 佟绍成;张新政
3.一类具有不确定参数的非线性相似组合系统的鲁棒控制器设计 [J], 王银河;黎阳生;张嗣瀛
4.一类带有非线性不确定参数的时滞系统的鲁棒控制 [J], 李善强
5.带有非线性不确定参数的线性系统的鲁棒控制 [J], 许立滨
因版权原因，仅展示原文概要，查看原文内容请购买。
