采用CiteSpaceⅤ对中国知网CNKI全文数据库和Web of Science TM核心合集中SCI-E、SSCI数据库收录的改革开放以来即1978年至今收录的研究主题为潜水运动的107篇中文文献和984篇外文文献进行可视化处理与计量学分析。以知识图谱的方式对...采用CiteSpaceⅤ对中国知网CNKI全文数据库和Web of Science TM核心合集中SCI-E、SSCI数据库收录的改革开放以来即1978年至今收录的研究主题为潜水运动的107篇中文文献和984篇外文文献进行可视化处理与计量学分析。以知识图谱的方式对我国和国外潜水运动研究的文献数量、地理分布、研究热点进行对比分析。研究结论:美国是世界潜水运动领域研究的科学中心,我国相关研究在数量、质量及深度上同国外尤其是欧美国家存在着较大差距;潜水运动的普及和休闲潜水旅游可能成为未来研究的核心议题;潜水参与者在潜水过程中各种状态变化方面的研究将向着更为纵深的方向发展;潜水运动与海洋保护之间的关系将成为未来研究的一个重要方向。启示:我国潜水运动研究要发扬研究范围优势,拓宽研究思路使研究走向纵深与国际化;要发展休闲潜水旅游,促进地区经济增长,加快潜水运动的普及,满足大众多方位的潜水需求;要汲取国外的成果与经验,结合国情,创建有新时代中国特色的潜水运动;在发展潜水运动的过程中,要注重协调潜水运动与海洋保护之间的关系,以达到人与自然的和谐相处。展开更多
The problem of diving control for an underactuated unmanned undersea vehicle(UUV) considering the presence of parameters perturbations and wave disturbances was addressesed.The vertical motion of an UUV was divided in...The problem of diving control for an underactuated unmanned undersea vehicle(UUV) considering the presence of parameters perturbations and wave disturbances was addressesed.The vertical motion of an UUV was divided into two noninteracting subsystems for surge velocity control and diving.To stabilize the vertical motion system,the surge velocity and the depth control controllers were proposed using backstepping technology and an integral-fast terminal sliding mode control(IFTSMC).It is proven that the proposed control scheme can guarantee that all the error signals in the whole closed-loop system globally converge to the sliding surface in finite time and asymptotically converge to the origin along the sliding surface.With a unified control parameters for different motion states,a series of numerical simulation results illustrate the effectiveness of the above designed control scheme,which also shows strong robustness against parameters perturbations and wave disturbances.展开更多
文摘采用CiteSpaceⅤ对中国知网CNKI全文数据库和Web of Science TM核心合集中SCI-E、SSCI数据库收录的改革开放以来即1978年至今收录的研究主题为潜水运动的107篇中文文献和984篇外文文献进行可视化处理与计量学分析。以知识图谱的方式对我国和国外潜水运动研究的文献数量、地理分布、研究热点进行对比分析。研究结论:美国是世界潜水运动领域研究的科学中心,我国相关研究在数量、质量及深度上同国外尤其是欧美国家存在着较大差距;潜水运动的普及和休闲潜水旅游可能成为未来研究的核心议题;潜水参与者在潜水过程中各种状态变化方面的研究将向着更为纵深的方向发展;潜水运动与海洋保护之间的关系将成为未来研究的一个重要方向。启示:我国潜水运动研究要发扬研究范围优势,拓宽研究思路使研究走向纵深与国际化;要发展休闲潜水旅游,促进地区经济增长,加快潜水运动的普及,满足大众多方位的潜水需求;要汲取国外的成果与经验,结合国情,创建有新时代中国特色的潜水运动;在发展潜水运动的过程中,要注重协调潜水运动与海洋保护之间的关系,以达到人与自然的和谐相处。
基金Projects (51179038,51309067) supported by the National Natural Science Foundation of China
文摘The problem of diving control for an underactuated unmanned undersea vehicle(UUV) considering the presence of parameters perturbations and wave disturbances was addressesed.The vertical motion of an UUV was divided into two noninteracting subsystems for surge velocity control and diving.To stabilize the vertical motion system,the surge velocity and the depth control controllers were proposed using backstepping technology and an integral-fast terminal sliding mode control(IFTSMC).It is proven that the proposed control scheme can guarantee that all the error signals in the whole closed-loop system globally converge to the sliding surface in finite time and asymptotically converge to the origin along the sliding surface.With a unified control parameters for different motion states,a series of numerical simulation results illustrate the effectiveness of the above designed control scheme,which also shows strong robustness against parameters perturbations and wave disturbances.
