Anchoring Depth Research of Anti-Slide Piles of Anchor Bar in Soil

The model test result of earth force in the side of anti-slide pile of anchor bars was introduced.There are three groups of the tests.The loads were on the back side of the slope in two groups.The other one was loaded just behind the pile by the jack.In order to get the force of the soil,some earth-pressure boxes were used to get the earth pressure on the side of the piles.The part of the max pressure and the earth pressure was mainly focused under the slip line

Interval finite element method and its application on anti-slide stability analysis

The problem of interval correlation results in interval extension is discussed by the relationship of interval-valued functions and real-valued functions. The methods of reducing interval extension are given. Based on the ideas of the paper, the formulas of sub-interval perturbed finite element method based on the elements are given. The sub-interval amount is discussed and the approximate computation formula is given. At the same time, the computational precision is discussed and some measures of improving computational efficiency are given. Finally, based on sub-interval perturbed finite element method and anti-slide stability analysis method, the formula for computing the bounds of stability factor is given. It provides a basis for estimating and evaluating reasonably anti-slide stability of structures.

Shaking Table Tests on Bridge Foundation Reinforced by Antislide Piles on Slope

Based on the requirement of seismic reinforcement of bridge foundation on slope in the Chengdu-Lanzhou railway project,a shaking table model test of anti-slide pile protecting bridge foundation in landslide section is designed and completed. By applying Wenchuan seismic waves with different acceleration peaks,the stress and deformation characteristics of bridge pile foundation and anti-slide pile are analyzed,and the failure mode is discussed. Results show that the dynamic response of bridge pile and anti-slide pile are affected by the peak value of seismic acceleration of earthquake,with which the stress and deformation of the structure increase. The maximum dynamic earth pressure and the moment of anti-slide piles are located near the sliding surface,while that of bridge piles are located at the top of the pile. Based on the dynamic response of structure,local reinforcement needs to be carried out to meet the requirement of the seismic design. The PGA amplification factor of the surface is greater than the inside,and it decreases with the increase of the input seismic acceleration peak. When the slope failure occurs,the tension cracks are mainly produced in the shallow sliding zone and the coarse particles at the foot of the slope are accumulated.

Slip-Control Strategy of Dual Independent Electric Drive Tracked Vehicle

In order to improve the brake performance of a dual independent electric drive tracked vehicle,a dynamic model for braking situation was established.Then,a sliding model controller(SMC)with an auxiliary system was designed to control the slip and its effectiveness was proved.A hardware-in-loop simulation through MATLAB/XPC was compared with the normal SMC and normal integral sliding mode controller(ISMC),the results show that SMC with the auxiliary system has a better performance:a smaller overshoot and steady state error.The disturbance is suppressed effectively.In the initial speed of 65.km/h,the brake distance was shortened by 3.4%and 6.8%compared with the other two methods,respectively.Finally,initial speeds of 30-36.km/h tests was carried out on a flat soil road.Compared with a no-control brake,the displacement was shortened by 1.8.m.It demonstrates the effectiveness of the slip-control strategy.In the same situation,the error between the simulation and test is 18.1%,which validates the accuracy of models.

Slip Suppression of Electric Vehicles Using Sliding Mode Control Method

This paper presents a slip suppression controller using sliding mode control method for electric vehicles which aims to improve the control performance and the energy conservation by controlling the slip ratio of wheel. In this method, a robust sliding mode controller against the model uncertainties is designed to obtain the maximum driving force by suppressing the slip ratio. The numerical simulations for one wheel model under variations in mass of vehicle and road condition are performed and demonstrated to show the effectiveness of the proposed method.

Dynamic response of a slope reinforced by double-row antisliding piles and pre-stressed anchor cables

Large-scale shaking table tests were conducted to study the dynamic response of a slope reinforced by double-row anti-sliding piles and prestressed anchor cables. The test results show that the reinforcement suppressed the acceleration amplification effectively. The axial force time histories are decomposed into a baseline part and a vibration part in this study. The baseline part of axial force well revealed the seismic slope stability, the peak vibration values of axial force of the anchor cables changed significantly in different area of the slope under seismic excitations. The peak lateral earth pressure acting on the back of the anti-sliding pile located at the slope toe was much larger than that acting on the back of the anti-sliding pile located at the slope waist. The test results indicate an obvious load sharing ratio difference between these two anti-slide piles, the load sharing ratio between the two anti-sliding piles located at the slope toe and the slope waist varied mainly in a range of 2-5. The anti-slide pile at the slope waist suppressed the horizontal displacement of the slope surface.

Stability analysis of concrete gravity dam on complicated foundation with multiple slide planes

A key problem in gravity dam design is providing enough stability to prevent slide, and the difficulty increases if there are several weak structural planes in the dam foundation. Overload and material weakening were taken into account, and a .finite difference strength reserve method with partial safety factors based on the reliability method was developed and used to study the anti-slide stability of a concrete gravity dam on a complicated foundation with multiple slide planes. Possible slide paths were obtained, and the stability of the foundation with possible failure planes was evaluated through analysis of the stress distribution characteristics. The results reveal the mechanism and process of sliding due to weak structural planes and their deformations, and provide a reference for anti-slide stability analysis of gravity dams in complicated geological conditions.

Aircraft Electric Anti-skid Braking System Based on Fuzzy-PID Controller with Parameter Self-adjustment Feature

The principle of electric braking system is analyzed and an anti-skid braking system based on the slip rate control is proposed.The fuzzy-PID controller with parameter self-adjustment feature is designed for the anti-skid braking system.The dynamic model of aircraft ground braking is established in the simulation environment of MATLAB/SIMULINK,and simulation results of dry runway and wet runway are presented.The results show that the fuzzy-PID controller with parameter self-adjustment feature for the electric anti-skid braking system keeps working in the state of stability and the brake efficiencies are increased to 93%on dry runway and 82%on wet runway respectively.

Pre-Stressed Rope Reinforced Anti-Sliding Pile

Pre-stressed rope reinforced anti-sliding pile is a composite anti-sliding structure. It is made up of pre-stressed rope and general anti-sliding pile. It can bring traditional anti-sliding pile＇s retaining performance into full play, and to treat with landslide fast and economically. The difference between them is that the pre-stressed rope will transfix the whole anti- sliding pile through a prearranged pipe in this structure. The working mechanics, the design method and economic benefit are studied. The results show that the pre-stressed rope reinforced anti-sliding pile can treat with the small and middle landslides or high slopes well and possess the notable advantage of technology and economic.

基于Anti-reset Windup方法改进的PMSM调速系统的滑模控制

永磁同步电机(PMSM)调速系统在实际应用时,需在转速控制器的输出加入限制环节将电机的电流限制在一定范围内,防止电机和驱动电路的过流损坏。而对采用指数趋近律的滑模控制器(SMC)的转速环,由于初始阶段系统以较大速率趋近滑模面,导致电流环输入受限,系统达到饱和状态。而控制器中的积分器仍处于累加状态,迫使系统持续饱和,产生饱和(Windup)现象,导致系统的动态特性变差。因此,本文基于Anti-reset Windup方法对指数趋近律的滑模控制器进行改进,并给出了设计方法。通过仿真分析发现,改进后的控制器消除了windup现象,改善了电机在启动阶段的动态特性。同时,改进后的控制器使系统的鲁棒性和抗干扰性能更佳。

An ARX-Based PID-Sliding Mode Control on Velocity Tracking Control of a Stick-Slip Pi-ezoelectric-Driven Actuator

Piezoelectric-driven stick slip actuators have been drawn more and more attention in the nano- positioning application due to the high accuracy and theoretical unlimited displacement. However, the hysteresis of piezoelectric actuator (PEA) and the nonlinear friction force between the end- effector and the stage make control of piezoelectric-driven stick slip actuator challenge. This paper presents the development of an autoregressive exogenous (ARX)-based proportional-integral-derive (PID)-sliding mode control (SMC) for the velocity tracking control of the piezoelectric-driven stick slip actuator. Stability is guaranteed by rigorously choosing the appropriate PID parameters and the zero steady state error is achieved. To verify the effectiveness of the proposed method, experiments were carried out on a commercially-available piezoelectric-driven stick slip actuator. The tracking errors were compared with the traditional PID controller, illustrating that in spite of existing of modeling error, the ARX-based PID-SMC is able to better improve the velocity tracking performance of piezoelectric-driven stick slip actuator, compared with the traditional PID controller.

Application of strength reduction method to dynamic anti-sliding stability analysis of high gravity dam with complex dam foundation

Considering that there are some limitations in analyzing the anti-sliding seismic stability of dam-foundation systems with the traditional pseudo-static method and response spectrum method, the dynamic strength reduction method was used to study the deep anti-sliding stability of a high gravity dam with a complex dam foundation in response to strong earthquake-induced ground action. Based on static anti-sliding stability analysis of the dam foundation undertaken by decreasing the shear strength parameters of the rock mass in equal proportion, the seismic time history analysis was carried out. The proposed instability criterion for the dynamic strength reduction method was that the peak values of dynamic displacements and plastic strain energy change suddenly with the increase of the strength reduction factor. The elasto-plastic behavior of the dam foundation was idealized using the Drucker-Prager yield criterion based on the associated flow rule assumption. The result of elasto-plastic time history analysis of an overflow dam monolith based on the dynamic strength reduction method was compared with that of the dynamic linear elastic analysis, and the reliability of elasto-plastic time history analysis was confirmed. The results also show that the safety factors of the dam-foundation system in the static and dynamic cases are 3.25 and 3.0, respectively, and that the F2 fault has a significant influence on the anti-sliding stability of the high gravity dam. It is also concluded that the proposed instability criterion for the dynamic strength reduction method is feasible.

两种结构类型的走滑相关剪断裂带

里德尔剪切是走滑带的典型构造样式,但近年来发现的很多剪断裂带中的剪断裂组合样式与经典里德尔剪切不同。在这些剪断裂带中,剪断裂的排列方式与两盘位移方向性质相同,即左阶左行或右阶右行,被称为同阶行剪断裂,其叠合部位具有离散性质。基于库伦破裂准则,认为这些剪断裂带是在双剪切带夹持的断夹块上发育的。在双剪切作用下,最大主应力迹线方向上将产生2组共轭势剪破裂,在递进变形过程中,与最大剪应力(主走滑方向)成小锐夹角的剪破裂将优先得到发展,而与最大剪应力成大锐夹角的剪破裂将受到抑制而被限制在前者之间,形成一种不同于经典里德尔剪切组合样式的新型剪断裂带。这种类型的剪断裂带发育离散型叠合带,对成藏成矿具有重要意义。

注塑中间轴Stick-slip噪音分析及改善方案

中间轴是转向系统中连接转向管柱和转向机可以传递扭矩并吸收路面激励的一种机械传动机构,车辆在启动和行驶中,转向系统由驾驶员实时操控,其噪音表现更直接被人们感知。转向注塑中间轴具有结构简单,制造工艺及成本低廉,综合性能优越。在车市竞争日趋降本争效的大环境下,越来越受到整车厂的青睐。由于是滑动副结构,两接触件相互摩擦易产生黏滑(Stick-slip)现象,注重介绍注塑中间轴结构及其在受载状态下的Stick-slip噪音分析和改善方案。

杭州世纪中心西天窗索夹抗滑移试验研究

索夹是预应力索结构中拉索与其他构件连接的重要节点构件,若索夹和拉索之间发生滑移,会产生较大的预应力损失,甚至改变结构的受力性能。杭州世纪中心西天窗采用箱形桁架+钢索结构,其结构特殊性决定了拉索在施工张拉和施工完成后的状态不同,即施工张拉时要求拉索对索夹是可相对滑移的,而施工完成后需要锁定拉索和索夹的相对位置,不允许发生滑移。通过拉索施工张拉、高强螺栓紧固力衰减、索夹顶推三个阶段的全过程模拟试验确定了索夹与拉索之间的摩擦力情况。试验结果表明,在拉索施工张拉阶段,索夹对索体产生的摩擦力较小,通过锌板垫层能够有效降低铸钢索夹节点处的摩擦损失,保证拉索张拉过程中索力的有效传递;高强螺栓终拧后12h内会产生不可忽视的紧固力损失;使用阶段索夹的抗滑移承载能力能够确保索夹节点安全。

Simulation Research on an Active Anti-Roll System for an Air Spring Passenger Car

To reduce the roll movement of an air spring passenger car, an active anti-roll system is developed, which is constructed with hydraulic and pneumatic units to change spring rate during cornering. For the comparing research between the passive and active system, a two-track vehicle model and a co-simulation model of air spring system are built. For the simulation research on the linear movement of the actuator, a mathematical model is considered as dynamical subsystem in the co-simulation model. To active control the roll angle of vehicle body, a sliding-mode controller with optimized control parameters for the test vehicle is introduced into the model. The characteristics of sliding-mode controller is discussed and the validation of active antiroll control is proved by comparison with other control methods. The results show that the roll angle of air spring vehicle is reduced obviously with the active anti-roll actuator in comparison with that of the passive system. Compared with other control methods, sliding-mode controller has an advantage of shortest switching times, which leads to a longer lifetime of actuator and valves.

3-D Simulation Study on Seismic Response of Bridge Piles in Landslide

The anti-slide support structure is widely used in the anti-seismic reinforcement of bridge foundations,but related experimental research was processing slowly. Based on the prototype of the Jiuzhaigou bridge at the Chengdu-Lanzhou Railway,a 3-D simulation model was established on the basis of the shaking table model test,and the rationality of the dynamic analysis model was verified by indicators such as the bending moment of the bridge piles,peak soil pressure,and PGA amplification factors. The results show that the inertia force of the bridge pier has an important influence on the deformation of the pile foundation. The bending moment and shearing force are larger in lateral bridge piles,and the maximum value is near the pile top. The PGA amplification factor is stronger in the back of the rear anti-slide piles and so is it in front of the bridge pier,and the soil is prone to slip and damage. The bedrock is rigid and the dynamic response is maintained at a low level. The anti-slide piles in the rear row play a major role in the anti-seismic reinforcement design,and the anti-slide piles in the front row can be used as an auxiliary support structure.

双定刀滑切防缠式香蕉秸秆粉碎还田机设计与试验

针对我国香蕉秸秆粉碎还田作业过程中香蕉秸秆粉碎质量差,秸秆缠绕堵塞等问题,设计了一种双定刀滑切防缠式香蕉秸秆粉碎还田机。基于滑切定理,解析了粉碎刀随轴转动过程中的动态滑切角和粉碎定刀滑切角的相对作用原理,以等速螺线设计L形粉碎定刀刀刃曲线,确定了粉碎刀结构参数;对香蕉秸秆缠绕粉碎刀辊进行受力分析,设计防缠绕板并确定装配数量与结构参数;以装置前进速度、粉碎刀辊转速、防缠绕板高度为试验因素,以香蕉秸秆粉碎合格率、抛撒不均匀度和香蕉秸秆缠绕数量为评价指标进行三因素三水平正交试验,建立因素与指标的响应面数学模型。试验结果表明,最优参数组合为作业机前进速度1.5 m/s、防缠绕板高度41.6 mm、粉碎刀辊转速1800 r/min,此时香蕉秸秆粉碎合格率为93.8%,香蕉秸秆缠绕数量为26,香蕉秸秆抛撒不均匀度为12.1%。以最优组合进行田间试验验证,试验结果表明双定刀滑切防缠式香蕉秸秆粉碎还田机整机防缠性能优越,满足设计要求。

分布式驱动电动汽车横向稳定性抗饱和滑模控制

【目的】探讨轮毂电机输出转矩的幅值和响应速度饱和的问题。【方法】以分布式电动驱动汽车为研究对象,结合二阶嵌套饱和函数对滑模控制进行抗饱和设计,并基于轮毂电机的峰值转矩及其在台架试验中的实际响应设计抗饱和滑模控制器的上下限参数。【结果】抗饱和滑模控制器能严格限制直接横摆力矩的幅值和变化速率,能极大地提高极限工况下车辆的横向稳定性。【结论】本文提出的方法有效解决了极限工况下轮毂电机易陷入饱和的问题,避免了因车轮滑移导致车辆失稳。

基于混沌控制的采摘机器人防碰撞系统设计

针对采摘机器人在作业过程中遇到障碍物导致路径规划出现混沌现象的问题,基于混沌控制对采摘机器人防碰撞系统进行设计,并采用模糊自适应控制算法和滑模变结构控制算法结构的方式对系统进行控制。为了验证防碰撞系统的有效性,对采摘机器人进行了防碰撞和采摘仿真试验,结果表明:采摘机器人在作业过程中可以避开障碍物,按照规划路线到达预设位置,完成果蔬的采摘。