基于广义预测控制的船舶编队

针对多船舶之间的编队合作问题,对船舶的编队控制进行研究。利用广义预测控制方法在船舶运行中对理想路径曲线进行预测,得出船舶的运动控制策略;通过运用领导-跟随者编队方法,在Cartesian坐标系下建立船舶编队控制模型,基于这种模型建立一系列船舶航迹约束,得到船队跟随者成员的控制策略。同时在船舶运行过程中,加入风浪的扰动,进行模拟仿真,得到船队的运行轨迹。     

催化剂烧炭再生模拟和分析

催化剂烧炭再生是非定态过程。本文建立了绝热反应器内催化剂烧炭模型,利用移动边界正交配置法求解。以结炭的BO2催化剂再生为工作反应,模拟预测与实验值吻合良好。模拟计算表明,用递升进口温度序列烧炭,使再生时间明显缩短。     

Characterization of NOM and THM formation potential in eutrophic reservoir water

Resin adsorption technique with XAD-8 and XAD-4 was used to characterize the raw water from Erlong reservoir in Jilin province of China. The NOM chemical composition sequences of four organic fractions in the raw water,from high to low,are fulvic acid (FA) fraction,hydrophilic non-acid (HPINA) fraction,hydrophilic acid (HPIA) fraction,and humic acid (HA) fraction. Experimental results show that FA is the main precursor of THMFP among the four organic fractions. However,HA or hydrophobic acid exhibits the highest chlorination activity in forming THMs. It is also found that the value of FI/DOC or SUVA and the specific THMFP have better positive correlation. It is implied that certain source water has unique nature of NOM and DBPs.     

Biologically adaptive robust mean shift algorithm with Cauchy predator-prey BBO and space variant resolution for unmanned helicopter formation

Visual tracking technology can provide measurement information for unmanned helicopter formation and thus, more attention is being paid to this research area. We propose a novel mean shift （MS） algorithm that is both adaptive and robust for unmanned helicopter formation and apply it to the leading unmanned helicopter tracking. The movement of an unmanned helicopter is very flexible and changeable, which makes the tracking there of more difficulty than for common targets. In creating an algorithm that can adapt to the acceleration of the unmanned helicopter and estimates both the scale and orientation of the movement changes, we combine the traditional MS with the bio-inspired Cauchy predator-prey biogeography-based optimization （CPPBBO） evolutionary algorithm, and also the space variant resolution （SVR） mechanism of the human visual system （MS-CPPBBO-SVR）. To demonstrate the effectiveness and robustness of the proposed method and justify the importance of the CPPBBO algorithm and SVR mechanism at the same time, a series of comparative exper- iments were carried out. The experimental results of the proposed MS-CPPBBO-SVR method are compared with other competitive tracking methods, such as MS, MS with SVR （MS-SVR）, MS-SVR with several other optimization algorithms, and the robust particle filter algorithm. The experimental results demonstrate that our proposed tracking approach, MS-CPPBBO-SVR, is more adaptive, robust and efficient in target tracking than the other methods.     

玛湖凹陷与沙湾凹陷上乌尔禾组储集层差异及成因

通过薄片观察、扫描电镜分析、黏土矿物X射线衍射分析、阴极发光实验等,对准噶尔盆地玛湖凹陷和沙湾凹陷上二叠统上乌尔禾组成岩差异进行对比分析,明确了成岩产物类型和孔隙演化过程。压实作用、碳酸盐矿物胶结与沸石胶结是研究区储集层物性差异的主要控制因素,玛湖凹陷压实作用相对较弱,沙湾凹陷溶蚀作用更强。砂体成岩孔隙演化具有差异性,玛湖凹陷储集层以长石颗粒和凝灰岩岩屑溶孔为主,沙湾凹陷储集层以长石颗粒、凝灰岩岩屑以及浊沸石溶孔为主,2类储集层都少量发育原生孔隙。以上2个地区储集层的差异性主要是由成岩流体性质和岩石组分不同导致,其中,岩石组分是导致玛湖凹陷和沙湾凹陷砂砾岩储集层孔隙结构特征差异的主要原因。     

基岩型富氦气藏形成条件

氦气是一种广泛应用于军工、航天、医疗等高新技术产业的稀缺战略资源,但其在世界分布极其不均,中国是贫氦国家面临着严峻的氦气供给安全问题。在系统总结前人研究成果基础上,结合本次实验分析对比了世界上最成熟的氦气生产气田（美国潘汉德—胡果顿气田）与中国氦气生产潜力较大的东坪气田,探讨两者的成藏要素及富氦机理。结果发现：两者均是以天然气作为载体气的基岩型富氦气藏,储层物性好,均发育以膏岩为主的低渗致密的良好盖层。两者的差异性在于,前者花岗岩形成年代更为古老,尤其是碳酸盐岩地层中富含的花岗岩碎屑,其年龄集中在元古宙,平均比东坪气田花岗岩的形成年代早400 Ma;前者氦气运移模式偏向于单一的饱和地下水脱溶释放,而后者存在“过路”古老花岗岩储层的天然气“萃取”释放。两者对比之下,提出形成年代久远的高U、Th氦源岩、充足的载体气、良好的基岩风化壳储层与致密的盖层,和充足的地下水（边底水）作为媒介参与氦气运移,是形成基岩型富氦气藏的必要条件。     

Localized swelling of Fe-Cr-Ni alloy rollers in high-temperature applications

Localized swelling has been observed in 24Cr-24Ni-Nb steel transportation rollers used in the normalizing furnace of a plate mill after prolonged service at high temperature. Due to high localized thermal and mechanical stresses, the chromia layer formed on the roller surface ruptures, exposing the roller substrate to furnace oxygen. Oxidation of second-phase carbides results in the formation of carbon monoxide at very high partial pressure. This leads to formation of voids, leading in turn to localized swelling of the roller material.     

Banding formation and eutectic lamellar growth in directional solidified Ni50Al20Fe30 alloy

Banding formation and eutectic lamellar growth in a directionally solidified Ni₅₀Al₂₀Fe₃₀ alloy were investigated. It was found that the banding area consists of two layers. The first layer is a γ layer, while the subsequent one is a γ layer. The composition of various phases around the banding area changes with the solidification process. The banding is formed by two steps process and caused by factors such as the fractions during the sample growth process. It was found that the band was found at relatively low growth rate. Therefore. this study indicates that increasing the growth rate is an effective method to eliminate the band formation. Eutectic lamellae nucleate and grow again after the banding formation. During the initial transition lamellar growth, the relationship between the square lamellar spacing, γ₂, and the distance from, the banding, d, can be described by the following equation: γ₂ = K [1-exp(A.d)] where K and A are constant.     

基于PNDSC 的欠驱动AUV编队控制器设计

针对含有模型不确定与未知海洋环境扰动下的欠驱动自主水下航行器(AUV)的编队控制问题, 提出一种基于预估器的神经网络动态面(PNDSC) 控制算法. 将动态面法引入控制器的设计中, 采用神经网络逼近AUV模型中的不确定项与海洋环境的扰动, 并结合预估器设计了神经网络权值的离散迭代更新率. Lyapunov 稳定性分析表明, 闭环系统所有信号是一致最终有界的. 仿真结果验证了所提出方法的有效性.

     

面向动目标围捕的Multi-UUV编队协调控制研究

针对动目标围捕过程对Multi-UUV编队结构的灵活性要求较高的问题,基于欠驱动UUV的数学模型,在目标轨迹能够准确预测的前提下,改进了协调编队运动控制器。协调编队运动控制器的控制目标是在Multi-UUV编队跟踪并围捕动目标过程中,避免Multi-UUV之间,UUV与障碍物以及UUV与动目标之间的碰撞并以稳定的编队结构围捕动目标。将控制器设计过程分解为运动学控制和动力学控制。在运动学控制部分,实现动目标跟踪、UUV之间避撞及UUV偏航角误差为零的控制目标。在动力学控制部分,应用反步法设计实际的控制输入。仿真案例验证了协调运动控制器在动目标围捕中的有效性。