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Nonlinear trajectory tracking control of a new autonomous underwater vehicle in complex sea conditions 被引量:9
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作者 高富东 潘存云 +1 位作者 韩艳艳 张湘 《Journal of Central South University》 SCIE EI CAS 2012年第7期1859-1868,共10页
Autonomous underwater vehicles (AUVs) navigating in complex sea conditions usually require a strong control system to keep the fastness and stability. The nonlinear trajectory tracking control system of a new AUV in c... Autonomous underwater vehicles (AUVs) navigating in complex sea conditions usually require a strong control system to keep the fastness and stability. The nonlinear trajectory tracking control system of a new AUV in complex sea conditions was presented. According to the theory of submarines,the six-DOF kinematic and dynamic models were decomposed into two mutually non-coupled vertical and horizontal plane subsystems. Then,different sliding mode control algorithms were used to study the trajectory tracking control. Because the yaw angle and yaw angle rate rather than the displacement of the new AUV can be measured directly on the horizontal plane,the sliding mode control algorithm combining cross track error method and line of sight method was used to fulfill its high-precision trajectory tracking control in the complex sea conditions. As the vertical displacement of the new AUV can be measured,in order to achieve the tracking of time-varying depth signal,a stable sliding mode controller was designed based on the single-input multi-state system,which took into account the characteristic of the hydroplane and the amplitude and rate constraints of the hydroplane angle. Moreover,the application of dynamic boundary layer can improve the robustness and control accuracy of the system. The computational results show that the designed sliding mode control systems of the horizontal and vertical planes can ensure the trajectory tracking performance and accuracy of the new AUV in complex sea conditions. The impacts of currents and waves on the sliding mode controller of the new AUV were analyzed qualitatively and quantitatively by comparing the trajectory tracking performance of the new AUV in different sea conditions,which provides an effective theoretical guidance and technical support for the control system design of the new AUV in real complex environment. 展开更多
关键词 complex sea condition autonomous underwater vehicle (AUV) trajectory tracking sliding mode control
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Stiffness Degradation of Undisturbed Saturated Soft Clay in the Yangtze Estuary Under Complex Stress Conditions 被引量:6
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作者 栾茂田 刘功勋 +1 位作者 王忠涛 郭莹 《China Ocean Engineering》 SCIE EI 2010年第3期523-538,共16页
Stiffness degradation will occur due to the generation of accumulated pore pressure in saturated soft clays under cyclic loading. The soil static-dynamic multi-purpose triaxial and torsional shear apparatus in Dalian ... Stiffness degradation will occur due to the generation of accumulated pore pressure in saturated soft clays under cyclic loading. The soil static-dynamic multi-purpose triaxial and torsional shear apparatus in Dalian University of Technology was employed to perform different types of test on the saturated soft marine clay in the Yangtze Estuary. Undisturbed samples of the clay were subjected to undrained cyclic vertical and torsional coupling shear and cyclic torsional shear after three-directional anisotropic consolidation with different initial consolidation parameters. Investigated were the effects of the initial orientation angle of the major principal stress, initial ratio of deviatoric stress, initial coefficient of intermediate principal stress and continuous rotation of principal stress axes on the stiffness degradation. It is found that the degradation index decreases (or degradation degree increases) significantly with increasing initial orientation angle of the major principal stress and initial ratio of deviatoric stress. Compared with the effects of the initial orientation angle of the major principal stress and initial ratio of deviatoric stress, the effect of initial coefficient of intermediate principal stress is less evident and this trend is more clearly reflected by the results of the cyclic torsional shear tests than those of the cyclic coupling shear tests. At the same cycle number, the degradation index obtained from the cyclic torsional shear test is higher than that from the cyclic coupling shear test. The main reason is that the continuous rotation in principal stress directions during cyclic coupling shear damages the original structure of the soil more than the cyclic torsional shear does.Based on a series of experiments, a mathematical model for stiffness degradation is proposed and the relevant parameters are determined. 展开更多
关键词 undisturbed saturated soft clay complex stress condition stiffness degradation three-directional anisotropic consolidation continuous rotation of principal stress axes cyclic coupling shear test cyclic torsional shear test
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FEM simulation and experimental verification of roll forming and springback process under complex contact conditions 被引量:1
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作者 阎昱 Wu Qingyuan +1 位作者 Ai Zhengqing Jia Fanghui 《High Technology Letters》 EI CAS 2015年第4期433-438,共6页
The application of advanced high strength steel (AHSS) has an important significance in the development of the lightweight of automobile, but the parts made of AHSS usually have defects, such as fracture and large a... The application of advanced high strength steel (AHSS) has an important significance in the development of the lightweight of automobile, but the parts made of AHSS usually have defects, such as fracture and large amount of springback, etc. In this paper, a model of multi-pass roll form- ing and springback process of AHSS is established with finite element software ABAQUS. Then a roll forming experiment is performed, and simulation and experimental results have been compared and analyzed. The model is established under complex contact conditions, including self-contact condi- tion. The results shows that during the process of sheet bending, large Mises stresses appear at ben- ding corners. The smaller the bending radius is, the larger the Mises stress and strain are. Thick- ness of sheet metal changes exceeds a certain limit, the differently if the bending radius is different. When the bending radius change tendency of the sheet thickness turns from increase to decrease. 展开更多
关键词 roll forming FEM simulation SPRINGBACK EXPERIMENT complex contact condition
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Critical Cyclic Stress Ratio of Undisturbed Saturated Soft Clay in the Yangtze Estuary under Complex Stress Conditions
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作者 刘功勋 栾茂田 +2 位作者 唐小微 王忠涛 郭莹 《Transactions of Tianjin University》 EI CAS 2010年第4期295-303,共9页
There exists a critical cyclic stress ratio when sand or clay is subjected to cyclic loading. It is an index dis-tinguishing stable state or failure state. The soil static and dynamic universal triaxial and torsional ... There exists a critical cyclic stress ratio when sand or clay is subjected to cyclic loading. It is an index dis-tinguishing stable state or failure state. The soil static and dynamic universal triaxial and torsional shear apparatus de-veloped by Dalian University of Technology in China was employed to perform different types of tests on saturated soft marine clay in the Yangtze estuary. Undisturbed samples were subjected to undrained cyclic vertical and torsional coupling shear and cyclic torsional shear after three-directional anisotropic consolidation with different initial consoli-dation parameters. The effects of initial orientation angle of major principal stress, initial ratio of deviatoric stress,initial coefficient of intermediate principal stress and stress mode of cyclic shear on the critical cyclic stress ratio wereinvestigated. It is found that the critical cyclic stress ratio decreases significantly with increasing initial orientation angle of major principal stress and initial ratio of deviatoric stress. Compared with the effects of the initial orientationangle of major principal stress and initial ratio of deviatoric stress, the effect of initial coefficient of intermediate prin-cipal stress is less evident. Under the same consolidation condition, the critical cyclic stress ratio from the cyclic cou-pling shear test is lower than that from the cyclic torsional shear test, indicating that the stress mode of cyclic shear has an obvious effect on the critical cyclic stress ratio. The main reason is that the continuous rotation in principal stressdirections during cyclic coupling shear damages the original structure of soil more than the cyclic torsional shear does. 展开更多
关键词 complex stress condition undisturbed saturated soft clay critical cyclic stress ratio three-directional anisotropic consolidation cyclic coupling shear cyclic torsional shear
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Analysis and innovation of key technologies for autonomous underwater vehicles 被引量:3
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作者 高富东 韩艳艳 +1 位作者 王海东 徐男 《Journal of Central South University》 SCIE EI CAS CSCD 2015年第9期3347-3357,共11页
As the mission needs of the autonomous underwater vehicles(AUV) have become increasingly varied and complex,the AUVs are developing in the direction of systematism, multifunction, and clustering technology, which prom... As the mission needs of the autonomous underwater vehicles(AUV) have become increasingly varied and complex,the AUVs are developing in the direction of systematism, multifunction, and clustering technology, which promotes the progress of key technologies and proposes a series of technical problems. Therefore, it is necessary to make systemic analysis and in-depth study for the progress of AUV's key technologies and innovative applications. The multi-functional mission needs and its key technologies involved in complex sea conditions are pointed out through analyzing the domestic and foreign technical programs, functional characteristics and future development plans. Furthermore, the overall design of a multi-moving state AUV is proposed. Then, technical innovations of the key technologies, such as thrust vector, propeller design, kinematics and dynamics, navigation control, and ambient flow field characteristics, are made, combining with the structural characteristics and motion characteristics of the new multi-moving state AUV. The results verify the good performance of the multi-moving state AUV and provide a theoretical guidance and technical support for the design of new AUV in real complex sea conditions. 展开更多
关键词 autonomous underwater vehicle(AUV) key technology overall design complex sea condition
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Research Review on Marine Search and Rescue 被引量:2
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作者 CHEN Xinqiang SHI Chaojian +3 位作者 WANG Shengzheng WU Huafeng XU Tie KE Ruimin 《Journal of Shipping and Ocean Engineering》 2017年第3期112-120,共9页
Locating the marine target in a quick and precise way is the crucial point of implementing SAR (search and rescue) at sea, which involves aspects of developing SAR strategy and detects the marine targets. As the eff... Locating the marine target in a quick and precise way is the crucial point of implementing SAR (search and rescue) at sea, which involves aspects of developing SAR strategy and detects the marine targets. As the effect of marine target detection restricts the SAR result directly, the study has focused on reviewing the previous research about marine target detection, especially dim marine target detection. What's more, small target detection under complex sea status is one of the severe challenges which is research's hotspot and needs more endeavor. Current research results and future research directions are discussed in the paper. The findings can provide systematic view of implementing maritime search and rescue for field researchers and governors. 展开更多
关键词 Maritime accident search and rescue complex marine condition dim target detection smart ship.
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Behavior of transporting pipeline sections without and with hydrogen exposure based on full-scale tests 被引量:1
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作者 Nóra Nagy János Lukács 《China Welding》 CAS 2024年第3期14-24,共11页
Pipeline transport of hydrogen is one of today’s economic and environmental challenges.In order to find safe and reliable application of both existing gas and build new pipelines,it is essential to carry out tests on... Pipeline transport of hydrogen is one of today’s economic and environmental challenges.In order to find safe and reliable application of both existing gas and build new pipelines,it is essential to carry out tests on full-scale pipeline section,including the potentially more dangerous places than the main pipe,the girth welds.For the investigations,pipeline sections of P355NH steel with girth welds were prepared and exposed to pure hydrogen at twice the maximum allowable operating pressure for 41 days.Subsequently,full-scale burst tests were carried out and specimens were cut and prepared from the typical locations of the failed pipeline sections for mechanical,and macro-and microstructural investigations.The results obtained were evaluated and compared with data from previous full-scale tests on pipeline sections without hydrogen exposure.The results showed differences in the behavior of pipeline sections loaded in different ways,with different characteristics of the materials and the welded joints,both in the cases without hydrogen exposure and in the cases exposed to hydrogen. 展开更多
关键词 gas transporting pipeline full-scale pipeline test complex loading condition hydrogen exposure safety factor
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The vertical shaft construction technology of cutter head transformation of large diameter shield
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作者 He Feng Wang Ying +1 位作者 Wang Zhenfei Wang Baiquan 《Engineering Sciences》 2012年第2期61-65,共5页
Taking vertical shaft construction of cutter transformation of the Beijing underground diameter shield for example,the design and construction of cutter structure transformation under complex boundary conditions for l... Taking vertical shaft construction of cutter transformation of the Beijing underground diameter shield for example,the design and construction of cutter structure transformation under complex boundary conditions for large diameter shield were discussed.Practice about how to ensure the structure safety of the shaft as well as well-coordinated shield construction was explored,and reliable solutions were provided successfully,which can provide reference for similar projects. 展开更多
关键词 large diameter shield shaft transformation complex underground condition
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A multi-scale geological-engineering sweet spot evaluation method for tight sandstone gas reservoirs
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作者 Haiyan Zhu Ding Gong Bing Zhang 《Natural Gas Industry B》 2023年第5期522-532,共11页
Exploration and development practices have proved that staged volumetric fracturing stimulation in horizontal wells is a key technology for tight sandstone gas development,and reservoir sweet spot is an important basi... Exploration and development practices have proved that staged volumetric fracturing stimulation in horizontal wells is a key technology for tight sandstone gas development,and reservoir sweet spot is an important basis for the perforation position selection and staged fracturing in the process of well location deployment and reservoir stimulation.Tight sandstone reservoirs are usually characterized by sandstone and mudstone interlayers with different thicknesses,and complex natural fracture distribution and geostress state.It is hard to predict“geological-engineering”dual sweet spots,and these two kinds of sweet spots are usually in different zones.As a result,there lacks a basis for the optimization of fracturing parameters to stimulate tight sandstone reservoirs.This paper establishes a geological sweet spot prediction model which takes into account total hydrocarbon content,reservoir porosity and other factors,then puts forward a 3D multi-scale engineering sweet spot evaluation method which takes into account lithology,fracture morphology,fracture mechanical behavior,and dilatation and shear dilation effect,andfinally a“geological-engineering”dual sweet spot evaluation model for tight sandstone reservoirs.Two wells in the tight sandstone gasfield in the Linxing Block of the Ordos Basin were selected as a case,and the dual sweet spot profiles,fracturing pressure and SRV were compared and analyzed.The results show that:1)shear dilation angle influences the distribution of engineering sweet spots at the most in the study area,followed by dissipated energy,elastic modulus and fracture energy;2)the geological sweet spot zone with a high coefficient is not necessarily the pay zone with high shale gas production;3)the engineering sweet spot zone with a high coefficient needs lower fracture pressure and can be stimulated relatively sufficiently;4)high-quality geological sweet spots and high-quality engineering sweet spots are poorly consistent in spatial location.In conclusion,the stimulation of tight sandstone gas reservoirs shall take geological sweet spot as the basis and engineering sweet spot as the guarantee,and the distribution of dual sweep spots should be considered comprehensively.The multi-scale“geological-engineering”dual sweet spot evaluation method proposed in this paper provides important technical support for the prediction of sweet spots of the tight sandstone gas and the optimization of development schemes in the study area. 展开更多
关键词 Tight sandstone reservoir complex geological condition MULTI-SCALE Geological-engineering dual sweet spot evaluation Dilatation and shear dilation effect Well location Wellbore trajectory Perforation position Fracturing design optimization
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NUMERICAL SIMULATION OF LEVEE BREACH FLOWS UNDER COMPLEX BOUNDARY CONDITIONS 被引量:7
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作者 YU Ming-hui DENG Yin-ling QIN Lian-chao WANG Dang-wei CHEN Ya-ling 《Journal of Hydrodynamics》 SCIE EI CSCD 2009年第5期633-639,共7页
Levee or dam failure can cause a significant disaster in most cases. A good prediction of the flood process especially in a real complex terrain is necessary for working out emergency plans for levee or dam breaches. ... Levee or dam failure can cause a significant disaster in most cases. A good prediction of the flood process especially in a real complex terrain is necessary for working out emergency plans for levee or dam breaches. Numerical simulations of levee or dam breach flow were carried out often with constant flow parameters and in relatively simple channels rather than in natural rivers with complex boundaries. This article presents our dedicated studies on the 2-D numerical model of levee or dam breach hydraulics with finite difference schemes. The good performance of the model is demonstrated by comparisons with the theoretical solution of an idealized dam-break flow over a frictionless flat rectangular channel. The model is also validated through its stability and conservation properties. The model is applied to simulate the flood propagation under complex boundary conditions, and the unsteady flood process in a river and in the dry floodplain with a complex bed terrain simultaneously. Furthermore, with respect to engineering practice, the numerical solutions can give special guidance to the effects of parameters such as the flood depth at different sites and the inundated area at different time periods after the levee breach and the travel time of the flood waves, which may be very important for practicing engineers in an efficient flood management. 展开更多
关键词 numerical simulation levee breach unsteady flood process complex boundary condition
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Modified Cam-Clay model incorporating unified nonlinear strength criterion 被引量:7
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作者 XIAO Yang LIU HanLong LIANG Robert Y 《Science China(Technological Sciences)》 SCIE EI CAS 2011年第4期805-810,共6页
A unified nonlinear strength criterion(i.e UNS criterion) is proposed,for the sake of versatility,to capture the complex strength behaviors of frictional materials in geotechnical field.It covers wide ranges on the me... A unified nonlinear strength criterion(i.e UNS criterion) is proposed,for the sake of versatility,to capture the complex strength behaviors of frictional materials in geotechnical field.It covers wide ranges on the meridian and octahedral planes to describe nonlinear strength behaviors of soils.The Modified Cam-Clay model,incorporating the unified nonlinear strength criterion,is employed as an example to derive working mathematical equations and to illustrate yielding surfaces in three-dimensional stress space for improving the model's predictive capability.The unified nonlinear strength criterion,demonstrated here,is capable of capturing the experimental results of different types of soils on the meridian and octahedral planes.In addition,the revised model,based on this unified nonlinear strength criterion,though very simple,is versatile to predict the true triaxial test results from literature when considering the influences of the intermediate principal stress on strength and deformation under complex stress conditions. 展开更多
关键词 nonlinear strength CRITERION FAILURE constitutive model complex stress condition
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Multi-site observation of large-scale eddies in the surface layer of the Loess Plateau
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作者 Jinbei CHEN Xiaowen CHEN +2 位作者 Wei JIA Ye YU Suping ZHAO 《Science China Earth Sciences》 SCIE EI CAS CSCD 2023年第4期871-881,共11页
This article aims to build a theory of atmospheric boundary layer turbulence under complex conditions. To achieve this goal, we constructed a multi-site observation and analysis method of atmospheric turbulence based ... This article aims to build a theory of atmospheric boundary layer turbulence under complex conditions. To achieve this goal, we constructed a multi-site observation and analysis method of atmospheric turbulence based on related principles.This method first requires verification for the ergodicity of the full-scale observation of surface-layer turbulence, which proves that eddies within a scale of 60 min during a four-site observation can easily meet ergodicity. Meanwhile, by applying the second-order structure function for the horizontal wind speed turbulence of a single site and upstream and downstream points, we verified the ergodicity of the turbulence observation. Comparing the turbulence spectrum to the second-order structure function for the horizontal wind speed from the four-site observation, a relatively high accordance was observed, proving the reasonability of the multi-site observation. Moreover, compared to the single-site observation, the four-site observation can improve the estimation accuracy of the surface-layer turbulence spectrum and vertical turbulent flux. As a result, we can describe the threedimensional structure of turbulence more accurately and comprehensively by combining analytical data from single-site and four-site observations. In summary, the multi-site turbulence observation method shows that the horizontal and vertical wind turbulence of the Baimiao plateau has a typical structure of a turbulence spectrum with clear spectral gaps. The result is in accordance with the scale of the turbulence spectral gaps obtained from the 6 h data. The horizontal wind speed is under the influence of the terrain, so its spectrum of large-scale eddies has higher fluctuations, but its spectral gaps can still be clearly distinguished. Although the spectral gaps of the temperature spectrum are not distinguishable, they still have the same scale as the spectral gap of the vertical and horizontal turbulence spectrum. Moreover, the temperature spectrum possesses typical structure characteristics of the boundary-layer turbulence spectrum. 展开更多
关键词 Larger-scale eddy complex condition Ergodicity of turbulence observation Structure function Turbulence spectrum
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