In order to study the influence of depth-thickness ratio on bedding slope stability, whose sliding surface is flexural concave in shape under mining conditions, this paper aims to study the characteristics ofdeformari...In order to study the influence of depth-thickness ratio on bedding slope stability, whose sliding surface is flexural concave in shape under mining conditions, this paper aims to study the characteristics ofdeformarion and damage of bedding sliding with depth-thickness ratios of 200：1,150：1,120：1,100：1 and 50：1 by adopting numerical simulation analysis software combined with laboratory-made ＂under the influence of mining variable sliding surface slope similar simulation test bed＂, and to propose identification methods for slope stability under the infuence of mining. The results show that mining activities under the slope reduce slope stability. With a decrease in the mining depth ratio, the influence of mining on the slope increases gradually, and the damage to the slope gradually expands, the stability of the slope grad- ually reduces, fracture occurs on the slope toe and the central fissure gradually develops to the surface, and reaches slide threshold when the depth-thickness ratio is 50：1.展开更多
This paper presents LQR sliding surface-based Sliding Mode Controller(LQR-SMC)for balancing control of a Rotary Double Inverted Pendulum(RDIP)system.It is a challenging research topic in control engineering due to its...This paper presents LQR sliding surface-based Sliding Mode Controller(LQR-SMC)for balancing control of a Rotary Double Inverted Pendulum(RDIP)system.It is a challenging research topic in control engineering due to its nonlinearity and instability.The RDIP system uses only a motor to control two serially connected pendulums to stand at the upright position.The sliding surface is designed based on the LQR optimal gain.Nonsingular gain matrix is obtained by using the left inverse of the input matrix in the state space form of the system dynamics.The Lyapunov stability theory is used to determine the stability of the controller.To evaluate the performance of LQR-SMC,some performance indices,including the Integral Absolute Error(IAE),Integral Time Absolute Error(ITAE),and the Integrated Square Error(ISE),are used.System stability can be maintained by LQR-SMC under external disturbances as well as model and parameter uncertainties.展开更多
Detailed behaviors of nanoscale textured surfaces during the reciprocating sliding contacts are still unknown although they are widely used in mechanical components to improve tribological characteristics. The current...Detailed behaviors of nanoscale textured surfaces during the reciprocating sliding contacts are still unknown although they are widely used in mechanical components to improve tribological characteristics. The current research of sliding contacts of textured surfaces mainly focuses on the experimental studies, while the cost is too high. Molecular dynamics（MD） simulation is widely used in the studies of nanoscale single-pass sliding contacts, but the CPU cost of MD simulation is also too high to simulate the reciprocating sliding contacts. In this paper, employing multiscale method which couples molecular dynamics simulation and finite element method, two dimensional nanoscale reciprocating sliding contacts of textured surfaces are investigated. Four textured surfaces with different texture shapes are designed, and a rigid cylindrical tip is used to slide on these textured surfaces. For different textured surfaces, average potential energies and average friction forces of the corresponding sliding processes are analyzed. The analyzing results show that ＂running-in＂ stages are different for each texture, and steady friction processes are discovered for textured surfaces II, III and IV. Texture shape and sliding direction play important roles in reciprocating sliding contacts, which influence average friction forces greatly. This research can help to design textured surfaces to improve tribological behaviors in nanoscale reciprocating sliding contacts.展开更多
The West Henan large sliding structure is located in the southern part of the North China plate. It is a planar structural feature of a relatively large scale. To its northwest lie the Taihang Mountains, and to the so...The West Henan large sliding structure is located in the southern part of the North China plate. It is a planar structural feature of a relatively large scale. To its northwest lie the Taihang Mountains, and to the southwest the Funiu Mountain. In the east it extends between the broad plain and hilly land. Formed in the early Indosinian Period, its main sliding surface is the coal seam II|, with the sliding direction from NW to SE, and a sliding area of about 23,000 km2. Affected by the big sliding, the coal seam II|, in West Henan occurs in the state of powder, and thickens to the SE. Some small penetrating sliding structures were developed over II| in the early Yanshanian Period, causing a disorder on the south border of the North China coal-accumulating basin in the late Palaeozoic Era. An exploration into the West Henan large sliding structure is of great importance in the geological study.展开更多
The path following problem for an underactuated unmanned surface vehicle(USV) in the Serret-Frenet frame is addressed. The control system takes account of the uncertain influence induced by model perturbation, externa...The path following problem for an underactuated unmanned surface vehicle(USV) in the Serret-Frenet frame is addressed. The control system takes account of the uncertain influence induced by model perturbation, external disturbance, etc. By introducing the Serret-Frenet frame and global coordinate transformation, the control problem of underactuated system(a nonlinear system with single-input and ternate-output) is transformed into the control problem of actuated system(a single-input and single-output nonlinear system), which simplifies the controller design. A backstepping adaptive sliding mode controller(BADSMC)is proposed based on backstepping design technique, adaptive method and theory of dynamic slide model control(DSMC). Then, it is proven that the state of closed loop system is globally stabilized to the desired configuration with the proposed controller. Simulation results are presented to illustrate the effectiveness of the proposed controller.展开更多
The occurrence of landslides in Heifangtai plateau is primarily caused by the rise in water levels due to irrigation. To accurately understand the distribution of groundwater and its impact on the landslide hazard, a ...The occurrence of landslides in Heifangtai plateau is primarily caused by the rise in water levels due to irrigation. To accurately understand the distribution of groundwater and its impact on the landslide hazard, a combination of Electrical Resistivity Tomography(ERT), Induced Polarization(IP) and Surface Nuclear Magnetic Resonance(SNMR) methods were used in this study. By conducting a comprehensive analysis, the characteristics of water-bearing structure in vertical and groundwater distribution in horizontal were detected;and the influence of the groundwater on plateau and landslides was also identified. The results indicate that the groundwater occurs in the loess aquifer with a three-layer structure in vertical.Horizontally, the aquifer has a unified water table over the plateau, with a low water level in the north and high one in the south. The high resistivity bedrock uplift belt in the middle of the plateau forms a watershed,with the north side of the uplift belt being a relatively stable slope area with stable water content and fewer geological disasters. In contrast, the south side of the uplift belt is a disaster-prone region with vertical fissures well developed in the loess aquifers. The southern landslides are characterized by the interphase distribution of high and low electrical resistivity. The infiltration and discharge of groundwater result in the formation of a collapse belt in the low resistivity water-bearing structure of landslide, which causes the entire block with high resistivity and stable bedrock to slide. There was a newly formed landslide in a larger range at the landslide' s trailing edge. This study provides a scientific basis for the study of landslides mechanisms and disaster prevention by identifying the distribution characteristics of groundwater and analyzing its influence from a geophysical perspective in Heifangtai.展开更多
To study the safety and stability of large slopes, taking the right side slope of the Yuxi’an tunnel of the Yuchu Expressway Bridge in Yunnan Province as an example, limit equilibrium and finite element analysis were...To study the safety and stability of large slopes, taking the right side slope of the Yuxi’an tunnel of the Yuchu Expressway Bridge in Yunnan Province as an example, limit equilibrium and finite element analysis were applied to engineering examples to calculate the stability coefficient of the slope before and after excavation in the natural state. After comparative analysis, it was concluded that the former had a clear mechanical model and concept, which could quickly provide stability results;the latter could accurately determine the sliding surface of the slope and simulate the stress state changes of the rock and soil mass. The stability coefficients calculated by the two methods were within the stable range, but their values were different. On this basis, combined with the calculation principles, advantages and disadvantages of the two methods, a comprehensive analysis method of slope stability based on the limit equilibrium and finite element methods was proposed, and the rationality of the stability coefficient calculated by this method was judged for a slope case.展开更多
Understanding three-dimensional (3D) slope deformation and failure mechanism and corresponding stability analyses are crucially important issues in geotechnical engineering. In this paper, the mecha-nisms of progressi...Understanding three-dimensional (3D) slope deformation and failure mechanism and corresponding stability analyses are crucially important issues in geotechnical engineering. In this paper, the mecha-nisms of progressive failure with thrust-type and pull-type landslides are described in detail. It is considered that the post-failure stress state and the pre-peak stress state may occur at different regions of a landslide body with deformation development, and a critical stress state element (or the soil slice block) exists between the post-failure stress state and the pre-peak stress state regions. In this regard, two sorts of failure modes are suggested for the thrust-type and three sorts for pull-type landslides, based on the characteristics of shear stress and strain (or tensile stress and strain). Accordingly, a new joint constitutive model (JCM) is proposed based on the current stability analytical theories, and it can be used to describe the mechanical behaviors of geo-materials with softening properties. Five methods, i.e. CSRM (comprehensive sliding resistance method), MTM (main thrust method), CDM (comprehensive displacement method), SDM (surplus displacement method), and MPM (main pull method), for slope stability calculation are proposed. The S-shaped curve of monitored displacement vs. time is presented for different points on the sliding surface during progressive failure process of landslide, and the rela-tionship between the displacement of different points on the sliding surface and height of landslide body is regarded as the parabolic curve. The comparisons between the predicted and observed loadedis-placement and displacementetime relations of the points on the sliding surface are conducted. The classification of stable/unstable displacementetime curves is proposed. The definition of the main sliding direction of a landslide is also suggested in such a way that the failure body of landslide (simplified as“collapse body”) is only involved in the main sliding direction, and the strike and the dip are the same as the collapse body. The rake angle is taken as the direction of the sum of sliding forces or the sum of displacements in collapse body, in which the main slip direction is dependent on progressive defor-mation. The reason of non-convergence with finite element method (FEM) in calculating the stability of slope is also numerically analyzed, in which a new method considering the slip surface associated with the boundary condition is proposed. It is known that the boundary condition of sliding surface can be described by perfect elasto-plastic model (PEPM) and JCM, and that the stress and strain of a landslide can be described properly with the JCM.展开更多
A new method based on the multi-wedge translation mechanism is presented to calculate the lateral force acting on the stabilizing piles. At first, there is no assumption for the shape of potential sliding surface, it ...A new method based on the multi-wedge translation mechanism is presented to calculate the lateral force acting on the stabilizing piles. At first, there is no assumption for the shape of potential sliding surface, it is just considered that the potential sliding surface is a composite of a number of straight lines. And then, the potential sliding mass is divided into a number of triangular wedges take with these straight lines as its base. The kinematic theorem of limit analysis is adopted to calculate the rate of external work and the rate of energy dissipation for each triangular wedge, respectively. Furthermore, the multivariate functions are established to calculate the lateral force acting on the stabilizing piles. The lateral force and the corresponding potential sliding surfaces can be obtained by an optimizational technique. At last, an example is taken to illustrate the method. The effect of soil strength parameters, slope angle and pile roughness on the lateral force and the corresponding potential sliding surface are analyzed.The result are compared with those obtained using other methods.展开更多
Stabilizing pile is a kind of earth shoring structure frequently used in slope engineering. When the piles have cantilever segments above the ground,laggings are usually installed to avoid collapse of soil between pil...Stabilizing pile is a kind of earth shoring structure frequently used in slope engineering. When the piles have cantilever segments above the ground,laggings are usually installed to avoid collapse of soil between piles. Evaluating the earth pressure acting on laggings is of great importance in design process.Since laggings are usually less stiff than piles,the lateral pressure on lagging is much closer to active earth pressure. In order to estimate the lateral earth pressure on lagging more accurately,first,a model test of cantilever stabilizing pile and lagging systems was carried out. Then,basing the experimental results a three-dimensional sliding wedge model was established. Last,the calculation process of the total active force on lagging is presented based on the kinematic approach of limit analysis. A comparison is made between the total active force on lagging calculated by the formula presented in this study and the force on a same-size rigid retaining wall obtained from Rankine's theory. It is found that the proposed method fits well with the experimental results.Parametric studies show that the total active force on lagging increases with the growth of the lagging height and the lagging clear span; while decreases asthe soil internal friction angle and soil cohesion increase.展开更多
Effects of heat softening on the initiation of slide surface(shear banding) in clayey slopes during fast deformation were discussed.Controlling equations considering heat,pore pressure and mechanical movement were pre...Effects of heat softening on the initiation of slide surface(shear banding) in clayey slopes during fast deformation were discussed.Controlling equations considering heat,pore pressure and mechanical movement were presented.By perturbation method,the instability condition of localized zone(i.e.criterion for initiation of shear banding) for thermal related soils,such as clayey slope,was obtained.It is shown that slide surface initiates once the thermal-softening effects overcome the strain-hardening effects whether it is adiabatic or not.Without strain hardening effects,strain rate hardening obviously plays a role in initiation of shear band.During initiating process,heat is trapped inside the shear band,which leads rapidly to a pore pressure increase and fast loss of strength.The localized shear strain is concentrated in a narrow zone with a width of several centimeters at most and increases fast.This zone forms the sliding surface.Temperature can increase more than 2?C,pore pressure can increase 160% in about 0.1s inside this zone.These changes cause the fast decrease in friction-coefficient by about 36% over the initial value.That is how shear band initiated and developed in clayey slopes.展开更多
Reaction flywheel is a significant actuator for satellites＇ attitude control. To improve output torque and rotational speed accuracy for reaction flywheel, this paper reviews the modeling and control approaches of DC...Reaction flywheel is a significant actuator for satellites＇ attitude control. To improve output torque and rotational speed accuracy for reaction flywheel, this paper reviews the modeling and control approaches of DC-DC converters and presents an application of the variable structure system theory with associated sliding regimes. Firstly, the topology of reaction flywheel is constructed. The small signal linearization process for a buck converter is illustrated. Then, based on the state averaging models and reaching qualification expressed by the Lee derivative, the general results of the sliding mode control （SMC） are analyzed. The analytical equivalent control laws for reaction flywheel are deduced detailedly by selecting various sliding surfaces at electromotion, energy consumption braking, reverse connection braking stages. Finally, numerical and experimental examples are presented for illustrative purposes. The results demonstrate that favorable agreement is established between the simulations and experiments. The proposed control strategy achieves preferable rotational speed regulation, strong rejection of modest disturbances, and high-precision output torque and rotational speed tracking abilities.展开更多
Tunable micro-electro-mechanical systems(MEMS)capacitors as the fundamental parts are embedded in MEMS AC voltage reference sources(VRS).Being concerned with the accuracy of the output voltage in the reference sources...Tunable micro-electro-mechanical systems(MEMS)capacitors as the fundamental parts are embedded in MEMS AC voltage reference sources(VRS).Being concerned with the accuracy of the output voltage in the reference sources,it gets important to address uncertainties in the physical parameters of the MEMS capacitor.The uncertainties have the great inevitable potentiality of bringing about output voltage perturbation.The output deterioration is more remarkable when the uncertainties are accompanied by disturbance and noise.Manufacturers have been making great attempts to make the MEMS adjustable capacitor with desired rigorous physical characteristics.They have also tried to mitigate physical parameter veracity.However,ambiguity in the values of the parameters inescapably occurs in fabrication procedures since the micro-machining process might itself suffer from uncertainties.Employing a proportional integral(PI)adaptive sliding mode controller(ASMC),both terms of matched and unmatched uncertainties as well as the disturbance,are addressed in this work for the MEMS AC VRS so that a strict voltage is stabilized while the system is simultaneously subjected into uncertainties and exogenous disturbance.Cross-talk,some inertial forces,and electrostatic coercions may appear as matched and unmatched disturbances.Alteration in stiffness and damping coefficients might also take place as matched uncertainties due to variations in the fabrication process or even working environment.The simulation results in the paper are persuasive and the controller design has shown a satisfactory tracking performance.展开更多
This paper focuses on the stabilization of nonlinear systems using sliding mode control （SMC）. Motivated by a newly proposed stabilization approach named system immersion and manifold invariance （I＆I）, a systemic...This paper focuses on the stabilization of nonlinear systems using sliding mode control （SMC）. Motivated by a newly proposed stabilization approach named system immersion and manifold invariance （I＆I）, a systemic design method is proposed to design the sliding surface. As well as the ISzI stabilization approach, SMC method based on system immersion is applied to chaos control in the Lorenz chaotic system, and simulation results are provided to validate the proposed schemes.展开更多
Purpose–The purpose of this paper is to investigate the stabilization of unstable periodic orbits of Chua’s system using adaptive fuzzy sliding mode controllers with moving surface.Design/methodology/approach–For t...Purpose–The purpose of this paper is to investigate the stabilization of unstable periodic orbits of Chua’s system using adaptive fuzzy sliding mode controllers with moving surface.Design/methodology/approach–For this aim,the sliding mode controller and fuzzy systems are combined to achieve the stabilization.Then,the authors propose a moving sliding surface to improve robustness against uncertainties during the reaching phase,parameter variations and extraneous disturbances.Findings–Afterward,the authors design a sliding observer to estimate the unmeasurable states which are used in the previously designed controller.Originality/value–Numerical results are provided to show the effectiveness and robustness of the proposed method.展开更多
This article presents a complete nonlinear controller design for a class of spin-stabilized canard-controlled projectiles.Uniformly ultimate boundedness and tracking are achieved,exploiting a heavily coupled,bounded u...This article presents a complete nonlinear controller design for a class of spin-stabilized canard-controlled projectiles.Uniformly ultimate boundedness and tracking are achieved,exploiting a heavily coupled,bounded uncertain and highly nonlinear model of longitudinal and lateral dynamics.In order to estimate unmeasurable states,an observer is proposed for an augmented multiple-input-multiple-output（MIMO） nonlinear system with an adaptive sliding mode term against the disturbances.Under the frame of a backstepping design,an adaptive sliding mode output-feedback dynamic surface control（DSC） approach is derived recursively by virtue of the estimated states.The DSC technique is adopted to overcome the problem of ‘‘explosion of complexity＂ and relieve the stress of the guidance loop.It is proven that all signals of the MIMO closed-loop system,including the observer and controller,are uniformly ultimately bounded,and the tracking errors converge to an arbitrarily small neighborhood of the origin.Simulation results for the observer and controller are provided to illustrate the feasibility and effectiveness of the proposed approach.展开更多
In this paper,the prescribed error trajectory control is proposed for second-order fully actuated systems.At first,by taking advantage of the full-actuation property,an intermediate control law is designed such that t...In this paper,the prescribed error trajectory control is proposed for second-order fully actuated systems.At first,by taking advantage of the full-actuation property,an intermediate control law is designed such that the intermediate closed-loop system is in a very simple form.Then,by utilizing the initial conditions of system states and the prescribed error performance function,the intermediate control law is developed to force the tracking error of the system on the proposed sliding mode surface from the beginning.The overall control law is obtained by combining the aforementioned steps.It is revealed that under the designed control law,the tracking error of the closed-loop system converges to zero along the prescribed error trajectory.Finally,an example is provided to validate the effectiveness of the presented approach.展开更多
This paper addresses the attitude tracking control problem of a rigid spacecraft in the presence of the modeling uncertainty,external disturbance,and saturated control input by designing two robust att计ude tracking c...This paper addresses the attitude tracking control problem of a rigid spacecraft in the presence of the modeling uncertainty,external disturbance,and saturated control input by designing two robust att计ude tracking controllers.The basic controller is formulated using an integral sliding mode surface which is continuous and provides an asymptotic convergence rate for the closed-loop system.In this case,only the external disturbance with the prior information is considered.Then,to provide a finite time convergence rate and further improve the robustness of the control system under the unknown system uncertainty containing both the modeling uncertainty and external disturbance,a novel integral terminal sliding mode surface(ITSMS)is designed and associated w计h the continuous adaptive control method.Besides,a command filter is utilized to deal with the immeasurability problem within the proposed ITSMS and an auxiliary system to counteract the input saturation problem.Digital simulations are presented to verify the effectiveness of the proposed controllers.展开更多
The tribological properties of the in-situ dendrite-reinforced metallic glass matrix composite（Ti42Zr22V14-Cu5Be17）prepared by copper mould casting were analyzed at different normal loads under the dry condition and...The tribological properties of the in-situ dendrite-reinforced metallic glass matrix composite（Ti42Zr22V14-Cu5Be17）prepared by copper mould casting were analyzed at different normal loads under the dry condition and rainwater.The results showed that the average value of the frictional coefficients and micro-hardness ascended with increasing the normal load,while the wear rate showed a trend of decline under the dry condition.The electrochemical test results showed that the surface of samples was pitting corroded in the rainwater.The matrices were corroded first.Then the dendrites were exposed,leading to the damage of the surface.Both the frictional coefficients and wear rate of the composite in the rainwater were larger than those under the dry condition,primarily owing to the corrosion of chloride ions on the worn surface.The wear mechanisms of composites were mainly adhesive wear,accompanied by the abrasive wear under the dry condition and corrosive wear in the rainwater.The composites have higher wear resistance both under the dry condition and rainwater due to the lower wear rate.展开更多
文摘In order to study the influence of depth-thickness ratio on bedding slope stability, whose sliding surface is flexural concave in shape under mining conditions, this paper aims to study the characteristics ofdeformarion and damage of bedding sliding with depth-thickness ratios of 200：1,150：1,120：1,100：1 and 50：1 by adopting numerical simulation analysis software combined with laboratory-made ＂under the influence of mining variable sliding surface slope similar simulation test bed＂, and to propose identification methods for slope stability under the infuence of mining. The results show that mining activities under the slope reduce slope stability. With a decrease in the mining depth ratio, the influence of mining on the slope increases gradually, and the damage to the slope gradually expands, the stability of the slope grad- ually reduces, fracture occurs on the slope toe and the central fissure gradually develops to the surface, and reaches slide threshold when the depth-thickness ratio is 50：1.
文摘This paper presents LQR sliding surface-based Sliding Mode Controller(LQR-SMC)for balancing control of a Rotary Double Inverted Pendulum(RDIP)system.It is a challenging research topic in control engineering due to its nonlinearity and instability.The RDIP system uses only a motor to control two serially connected pendulums to stand at the upright position.The sliding surface is designed based on the LQR optimal gain.Nonsingular gain matrix is obtained by using the left inverse of the input matrix in the state space form of the system dynamics.The Lyapunov stability theory is used to determine the stability of the controller.To evaluate the performance of LQR-SMC,some performance indices,including the Integral Absolute Error(IAE),Integral Time Absolute Error(ITAE),and the Integrated Square Error(ISE),are used.System stability can be maintained by LQR-SMC under external disturbances as well as model and parameter uncertainties.
基金Supported by National Natural Science Foundation of China(Grant Nos.51205313,50975232)Fundamental Research Funds for the Central Universities of China(Grant No.3102014JCS05009)the 111 Project of China(Grant No.B13044)
文摘Detailed behaviors of nanoscale textured surfaces during the reciprocating sliding contacts are still unknown although they are widely used in mechanical components to improve tribological characteristics. The current research of sliding contacts of textured surfaces mainly focuses on the experimental studies, while the cost is too high. Molecular dynamics（MD） simulation is widely used in the studies of nanoscale single-pass sliding contacts, but the CPU cost of MD simulation is also too high to simulate the reciprocating sliding contacts. In this paper, employing multiscale method which couples molecular dynamics simulation and finite element method, two dimensional nanoscale reciprocating sliding contacts of textured surfaces are investigated. Four textured surfaces with different texture shapes are designed, and a rigid cylindrical tip is used to slide on these textured surfaces. For different textured surfaces, average potential energies and average friction forces of the corresponding sliding processes are analyzed. The analyzing results show that ＂running-in＂ stages are different for each texture, and steady friction processes are discovered for textured surfaces II, III and IV. Texture shape and sliding direction play important roles in reciprocating sliding contacts, which influence average friction forces greatly. This research can help to design textured surfaces to improve tribological behaviors in nanoscale reciprocating sliding contacts.
文摘The West Henan large sliding structure is located in the southern part of the North China plate. It is a planar structural feature of a relatively large scale. To its northwest lie the Taihang Mountains, and to the southwest the Funiu Mountain. In the east it extends between the broad plain and hilly land. Formed in the early Indosinian Period, its main sliding surface is the coal seam II|, with the sliding direction from NW to SE, and a sliding area of about 23,000 km2. Affected by the big sliding, the coal seam II|, in West Henan occurs in the state of powder, and thickens to the SE. Some small penetrating sliding structures were developed over II| in the early Yanshanian Period, causing a disorder on the south border of the North China coal-accumulating basin in the late Palaeozoic Era. An exploration into the West Henan large sliding structure is of great importance in the geological study.
基金Project(51409061)supported by the National Natural Science Foundation of ChinaProject(2013M540271)supported by China Postdoctoral Science Foundation+1 种基金Project(LBH-Z13055)supported by Heilongjiang Postdoctoral Financial Assistance,ChinaProject(HEUCFD1403)supported by Basic Research Foundation of Central Universities,China
文摘The path following problem for an underactuated unmanned surface vehicle(USV) in the Serret-Frenet frame is addressed. The control system takes account of the uncertain influence induced by model perturbation, external disturbance, etc. By introducing the Serret-Frenet frame and global coordinate transformation, the control problem of underactuated system(a nonlinear system with single-input and ternate-output) is transformed into the control problem of actuated system(a single-input and single-output nonlinear system), which simplifies the controller design. A backstepping adaptive sliding mode controller(BADSMC)is proposed based on backstepping design technique, adaptive method and theory of dynamic slide model control(DSMC). Then, it is proven that the state of closed loop system is globally stabilized to the desired configuration with the proposed controller. Simulation results are presented to illustrate the effectiveness of the proposed controller.
基金supported and funded by the National Natural Science Foundation of China (Grant No: 42177346, 52009103)the Key Laboratory for Groundwater and Ecology in Arid and Semi-arid Areasthe China Geological Survey project (No: DD20190296)。
文摘The occurrence of landslides in Heifangtai plateau is primarily caused by the rise in water levels due to irrigation. To accurately understand the distribution of groundwater and its impact on the landslide hazard, a combination of Electrical Resistivity Tomography(ERT), Induced Polarization(IP) and Surface Nuclear Magnetic Resonance(SNMR) methods were used in this study. By conducting a comprehensive analysis, the characteristics of water-bearing structure in vertical and groundwater distribution in horizontal were detected;and the influence of the groundwater on plateau and landslides was also identified. The results indicate that the groundwater occurs in the loess aquifer with a three-layer structure in vertical.Horizontally, the aquifer has a unified water table over the plateau, with a low water level in the north and high one in the south. The high resistivity bedrock uplift belt in the middle of the plateau forms a watershed,with the north side of the uplift belt being a relatively stable slope area with stable water content and fewer geological disasters. In contrast, the south side of the uplift belt is a disaster-prone region with vertical fissures well developed in the loess aquifers. The southern landslides are characterized by the interphase distribution of high and low electrical resistivity. The infiltration and discharge of groundwater result in the formation of a collapse belt in the low resistivity water-bearing structure of landslide, which causes the entire block with high resistivity and stable bedrock to slide. There was a newly formed landslide in a larger range at the landslide' s trailing edge. This study provides a scientific basis for the study of landslides mechanisms and disaster prevention by identifying the distribution characteristics of groundwater and analyzing its influence from a geophysical perspective in Heifangtai.
文摘To study the safety and stability of large slopes, taking the right side slope of the Yuxi’an tunnel of the Yuchu Expressway Bridge in Yunnan Province as an example, limit equilibrium and finite element analysis were applied to engineering examples to calculate the stability coefficient of the slope before and after excavation in the natural state. After comparative analysis, it was concluded that the former had a clear mechanical model and concept, which could quickly provide stability results;the latter could accurately determine the sliding surface of the slope and simulate the stress state changes of the rock and soil mass. The stability coefficients calculated by the two methods were within the stable range, but their values were different. On this basis, combined with the calculation principles, advantages and disadvantages of the two methods, a comprehensive analysis method of slope stability based on the limit equilibrium and finite element methods was proposed, and the rationality of the stability coefficient calculated by this method was judged for a slope case.
基金supports from the National Natural Science Foundation of China (Grant No. 41372363)National Important Research of China (Grant No. E0907-90815018)
文摘Understanding three-dimensional (3D) slope deformation and failure mechanism and corresponding stability analyses are crucially important issues in geotechnical engineering. In this paper, the mecha-nisms of progressive failure with thrust-type and pull-type landslides are described in detail. It is considered that the post-failure stress state and the pre-peak stress state may occur at different regions of a landslide body with deformation development, and a critical stress state element (or the soil slice block) exists between the post-failure stress state and the pre-peak stress state regions. In this regard, two sorts of failure modes are suggested for the thrust-type and three sorts for pull-type landslides, based on the characteristics of shear stress and strain (or tensile stress and strain). Accordingly, a new joint constitutive model (JCM) is proposed based on the current stability analytical theories, and it can be used to describe the mechanical behaviors of geo-materials with softening properties. Five methods, i.e. CSRM (comprehensive sliding resistance method), MTM (main thrust method), CDM (comprehensive displacement method), SDM (surplus displacement method), and MPM (main pull method), for slope stability calculation are proposed. The S-shaped curve of monitored displacement vs. time is presented for different points on the sliding surface during progressive failure process of landslide, and the rela-tionship between the displacement of different points on the sliding surface and height of landslide body is regarded as the parabolic curve. The comparisons between the predicted and observed loadedis-placement and displacementetime relations of the points on the sliding surface are conducted. The classification of stable/unstable displacementetime curves is proposed. The definition of the main sliding direction of a landslide is also suggested in such a way that the failure body of landslide (simplified as“collapse body”) is only involved in the main sliding direction, and the strike and the dip are the same as the collapse body. The rake angle is taken as the direction of the sum of sliding forces or the sum of displacements in collapse body, in which the main slip direction is dependent on progressive defor-mation. The reason of non-convergence with finite element method (FEM) in calculating the stability of slope is also numerically analyzed, in which a new method considering the slip surface associated with the boundary condition is proposed. It is known that the boundary condition of sliding surface can be described by perfect elasto-plastic model (PEPM) and JCM, and that the stress and strain of a landslide can be described properly with the JCM.
基金Projects(SKLGP2012K024,SKLGP2013K012)supported by the Opening Fund of State Key Laboratory of Geohazard Prevention and Ceoenvironment Protection,ChinaProject(2011BAK12B03)supported by the National Technology Project,ChinaProject(41401004)supported by the National Natural Science Foundation of China
文摘A new method based on the multi-wedge translation mechanism is presented to calculate the lateral force acting on the stabilizing piles. At first, there is no assumption for the shape of potential sliding surface, it is just considered that the potential sliding surface is a composite of a number of straight lines. And then, the potential sliding mass is divided into a number of triangular wedges take with these straight lines as its base. The kinematic theorem of limit analysis is adopted to calculate the rate of external work and the rate of energy dissipation for each triangular wedge, respectively. Furthermore, the multivariate functions are established to calculate the lateral force acting on the stabilizing piles. The lateral force and the corresponding potential sliding surfaces can be obtained by an optimizational technique. At last, an example is taken to illustrate the method. The effect of soil strength parameters, slope angle and pile roughness on the lateral force and the corresponding potential sliding surface are analyzed.The result are compared with those obtained using other methods.
基金financially supported by the National Key Technology Research and Development Program of the Ministry of Science and Technology of China under Grant No. 2012BAJ22B06
文摘Stabilizing pile is a kind of earth shoring structure frequently used in slope engineering. When the piles have cantilever segments above the ground,laggings are usually installed to avoid collapse of soil between piles. Evaluating the earth pressure acting on laggings is of great importance in design process.Since laggings are usually less stiff than piles,the lateral pressure on lagging is much closer to active earth pressure. In order to estimate the lateral earth pressure on lagging more accurately,first,a model test of cantilever stabilizing pile and lagging systems was carried out. Then,basing the experimental results a three-dimensional sliding wedge model was established. Last,the calculation process of the total active force on lagging is presented based on the kinematic approach of limit analysis. A comparison is made between the total active force on lagging calculated by the formula presented in this study and the force on a same-size rigid retaining wall obtained from Rankine's theory. It is found that the proposed method fits well with the experimental results.Parametric studies show that the total active force on lagging increases with the growth of the lagging height and the lagging clear span; while decreases asthe soil internal friction angle and soil cohesion increase.
基金funded by the National Natural Science Foundation of China (Grant No. 11272314 No. 51239010)+1 种基金the Specialized Research Fund for the Doctoral Program of Higher Education of China (Grant No. 20133514110004)the Research Project of Chinese Ministry of Transport (Grant No. 201331849A130)
文摘Effects of heat softening on the initiation of slide surface(shear banding) in clayey slopes during fast deformation were discussed.Controlling equations considering heat,pore pressure and mechanical movement were presented.By perturbation method,the instability condition of localized zone(i.e.criterion for initiation of shear banding) for thermal related soils,such as clayey slope,was obtained.It is shown that slide surface initiates once the thermal-softening effects overcome the strain-hardening effects whether it is adiabatic or not.Without strain hardening effects,strain rate hardening obviously plays a role in initiation of shear band.During initiating process,heat is trapped inside the shear band,which leads rapidly to a pore pressure increase and fast loss of strength.The localized shear strain is concentrated in a narrow zone with a width of several centimeters at most and increases fast.This zone forms the sliding surface.Temperature can increase more than 2?C,pore pressure can increase 160% in about 0.1s inside this zone.These changes cause the fast decrease in friction-coefficient by about 36% over the initial value.That is how shear band initiated and developed in clayey slopes.
基金supported by the National Natural Science Foundation of China(No.61121003)
文摘Reaction flywheel is a significant actuator for satellites＇ attitude control. To improve output torque and rotational speed accuracy for reaction flywheel, this paper reviews the modeling and control approaches of DC-DC converters and presents an application of the variable structure system theory with associated sliding regimes. Firstly, the topology of reaction flywheel is constructed. The small signal linearization process for a buck converter is illustrated. Then, based on the state averaging models and reaching qualification expressed by the Lee derivative, the general results of the sliding mode control （SMC） are analyzed. The analytical equivalent control laws for reaction flywheel are deduced detailedly by selecting various sliding surfaces at electromotion, energy consumption braking, reverse connection braking stages. Finally, numerical and experimental examples are presented for illustrative purposes. The results demonstrate that favorable agreement is established between the simulations and experiments. The proposed control strategy achieves preferable rotational speed regulation, strong rejection of modest disturbances, and high-precision output torque and rotational speed tracking abilities.
文摘Tunable micro-electro-mechanical systems(MEMS)capacitors as the fundamental parts are embedded in MEMS AC voltage reference sources(VRS).Being concerned with the accuracy of the output voltage in the reference sources,it gets important to address uncertainties in the physical parameters of the MEMS capacitor.The uncertainties have the great inevitable potentiality of bringing about output voltage perturbation.The output deterioration is more remarkable when the uncertainties are accompanied by disturbance and noise.Manufacturers have been making great attempts to make the MEMS adjustable capacitor with desired rigorous physical characteristics.They have also tried to mitigate physical parameter veracity.However,ambiguity in the values of the parameters inescapably occurs in fabrication procedures since the micro-machining process might itself suffer from uncertainties.Employing a proportional integral(PI)adaptive sliding mode controller(ASMC),both terms of matched and unmatched uncertainties as well as the disturbance,are addressed in this work for the MEMS AC VRS so that a strict voltage is stabilized while the system is simultaneously subjected into uncertainties and exogenous disturbance.Cross-talk,some inertial forces,and electrostatic coercions may appear as matched and unmatched disturbances.Alteration in stiffness and damping coefficients might also take place as matched uncertainties due to variations in the fabrication process or even working environment.The simulation results in the paper are persuasive and the controller design has shown a satisfactory tracking performance.
基金the National Natural Science Foundation of China (Nos. 60674024 and 60774011)
文摘This paper focuses on the stabilization of nonlinear systems using sliding mode control （SMC）. Motivated by a newly proposed stabilization approach named system immersion and manifold invariance （I＆I）, a systemic design method is proposed to design the sliding surface. As well as the ISzI stabilization approach, SMC method based on system immersion is applied to chaos control in the Lorenz chaotic system, and simulation results are provided to validate the proposed schemes.
文摘Purpose–The purpose of this paper is to investigate the stabilization of unstable periodic orbits of Chua’s system using adaptive fuzzy sliding mode controllers with moving surface.Design/methodology/approach–For this aim,the sliding mode controller and fuzzy systems are combined to achieve the stabilization.Then,the authors propose a moving sliding surface to improve robustness against uncertainties during the reaching phase,parameter variations and extraneous disturbances.Findings–Afterward,the authors design a sliding observer to estimate the unmeasurable states which are used in the previously designed controller.Originality/value–Numerical results are provided to show the effectiveness and robustness of the proposed method.
基金supported by the National Natural Science Foundation of China(No.11532002)
文摘This article presents a complete nonlinear controller design for a class of spin-stabilized canard-controlled projectiles.Uniformly ultimate boundedness and tracking are achieved,exploiting a heavily coupled,bounded uncertain and highly nonlinear model of longitudinal and lateral dynamics.In order to estimate unmeasurable states,an observer is proposed for an augmented multiple-input-multiple-output（MIMO） nonlinear system with an adaptive sliding mode term against the disturbances.Under the frame of a backstepping design,an adaptive sliding mode output-feedback dynamic surface control（DSC） approach is derived recursively by virtue of the estimated states.The DSC technique is adopted to overcome the problem of ‘‘explosion of complexity＂ and relieve the stress of the guidance loop.It is proven that all signals of the MIMO closed-loop system,including the observer and controller,are uniformly ultimately bounded,and the tracking errors converge to an arbitrarily small neighborhood of the origin.Simulation results for the observer and controller are provided to illustrate the feasibility and effectiveness of the proposed approach.
基金This paper was supported by the Science Center Program of the National Natural Science Foundation of China under Grant No.62188101the Joint Funds of the National Natural Science Foundation of China under Grant No.U2013203.
文摘In this paper,the prescribed error trajectory control is proposed for second-order fully actuated systems.At first,by taking advantage of the full-actuation property,an intermediate control law is designed such that the intermediate closed-loop system is in a very simple form.Then,by utilizing the initial conditions of system states and the prescribed error performance function,the intermediate control law is developed to force the tracking error of the system on the proposed sliding mode surface from the beginning.The overall control law is obtained by combining the aforementioned steps.It is revealed that under the designed control law,the tracking error of the closed-loop system converges to zero along the prescribed error trajectory.Finally,an example is provided to validate the effectiveness of the presented approach.
基金supported by the National Natural Science Foundation of China under Grant No.61174037
文摘This paper addresses the attitude tracking control problem of a rigid spacecraft in the presence of the modeling uncertainty,external disturbance,and saturated control input by designing two robust att计ude tracking controllers.The basic controller is formulated using an integral sliding mode surface which is continuous and provides an asymptotic convergence rate for the closed-loop system.In this case,only the external disturbance with the prior information is considered.Then,to provide a finite time convergence rate and further improve the robustness of the control system under the unknown system uncertainty containing both the modeling uncertainty and external disturbance,a novel integral terminal sliding mode surface(ITSMS)is designed and associated w计h the continuous adaptive control method.Besides,a command filter is utilized to deal with the immeasurability problem within the proposed ITSMS and an auxiliary system to counteract the input saturation problem.Digital simulations are presented to verify the effectiveness of the proposed controllers.
基金Item Sponsored by National Natural Science Foundation of China(51371122,51401141)Program for the Innovative Talents of Higher Learning Institutions of Shanxi Province of China(2013)Youth Science Foundation of Shanxi Province of China(2014021017-3)
文摘The tribological properties of the in-situ dendrite-reinforced metallic glass matrix composite（Ti42Zr22V14-Cu5Be17）prepared by copper mould casting were analyzed at different normal loads under the dry condition and rainwater.The results showed that the average value of the frictional coefficients and micro-hardness ascended with increasing the normal load,while the wear rate showed a trend of decline under the dry condition.The electrochemical test results showed that the surface of samples was pitting corroded in the rainwater.The matrices were corroded first.Then the dendrites were exposed,leading to the damage of the surface.Both the frictional coefficients and wear rate of the composite in the rainwater were larger than those under the dry condition,primarily owing to the corrosion of chloride ions on the worn surface.The wear mechanisms of composites were mainly adhesive wear,accompanied by the abrasive wear under the dry condition and corrosive wear in the rainwater.The composites have higher wear resistance both under the dry condition and rainwater due to the lower wear rate.
