基于Slide的研山铁矿高陡边坡稳定性分析

露天矿山边坡稳定性对采场安全生产至关重要。为探究边坡施工过程中的安全隐患,以研山铁矿高陡边坡为研究对象,考虑爆破震动及地震作用荷载,运用Slide二维边坡数值模拟软件对典型剖面进行稳定性计算。结果表明:在正常工况条件、爆破震动及地震作用下,边坡整体安全系数符合要求,整体处于稳定状态。但在爆破震动及地震作用下,边坡局部安全系数介于临界值,可能存在局部滑坡风险。为保证采场生产安全,提出了相应的边坡管理预防措施,为相关实践工作提供一定参考。

基于SLIDE软件的某矿山排土场稳定性分析

为研究某矿山排土场稳定性,使用SLIDE软件,采用简化Bishop法、Janbu修正法和Spencer法对该排土场自然工况、降雨工况和地震工况下的安全系数进行计算。结果表明,该排土场边坡在自然和降雨工况下处于稳定,在地震工况下处于基本稳定,由此为该排土场将来的维护和治理作业提供了参考价值。

Adaptive Backstepping Terminal Sliding Mode Control Method Based on Recurrent Neural Networks for Autonomous Underwater Vehicle

The trajectory tracking control problem is addressed for autonomous underwater vehicle(AUV) in marine environ?ment, with presence of the influence of the uncertain factors including ocean current disturbance, dynamic modeling uncertainty, and thrust model errors. To improve the trajectory tracking accuracy of AUV, an adaptive backstepping terminal sliding mode control based on recurrent neural networks(RNN) is proposed. Firstly, considering the inaccu?rate of thrust model of thruster, a Taylor’s polynomial is used to obtain the thrust model errors. And then, the dynamic modeling uncertainty and thrust model errors are combined into the system model uncertainty(SMU) of AUV; through the RNN, the SMU and ocean current disturbance are classified, approximated online. Finally, the weights of RNN and other control parameters are adjusted online based on the backstepping terminal sliding mode controller. In addition, a chattering?reduction method is proposed based on sigmoid function. In chattering?reduction method, the sigmoid function is used to realize the continuity of the sliding mode switching function, and the sliding mode switching gain is adjusted online based on the exponential form of the sliding mode function. Based on the Lyapu?nov theory and Barbalat’s lemma, it is theoretically proved that the AUV trajectory tracking error can quickly converge to zero in the finite time. This research proposes a trajectory tracking control method of AUV, which can e ectively achieve high?precision trajectory tracking control of AUV under the influence of the uncertain factors. The feasibility and e ectiveness of the proposed method is demonstrated with trajectory tracking simulations and pool?experi?ments of AUV.

Sliding surface searching method for slopes containing a potential weak structural surface

Weak structural surface is one of the key factors controlling the stability of slopes. The stability of rock slopes is in general concerned with set of discontinuities. However, in soft rocks, failure can occur along surfaces approaching to a circular failure surface. To better understand the position of potential sliding surface, a new method called simplex-finite stochastic tracking method is proposed. This method basically divides sliding surface into two parts： one is described by smooth curve obtained by random searching, the other one is po｜yline formed by the weak structural surface. Single or multiple sliding surfaces can be considered, and consequently several types of combined sliding surfaces can be simu- lated. The paper will adopt the arc-polyline to simulate potential sliding surface and analyze the searching process of sliding surface. Accordingly, software for slope stability analysis using this method was developed and applied in real cases. The results show that, using simplex-finite stochastic tracking method, it is possible to locate the position of a potential sliding surface in the slope.

Trajectory tracking and obstacle avoidance method for robots based on fast terminal sliding mode

For accurate trajectory tracking and obstacle avoidance in finite time of a nonholonomic mobile robot,a trajectory tracking controller based on global fast terminal sliding mode method is proposed,which has the advantages of chattering-free and adjustable convergence time.First of all,the kinematics model of the robot is established in mobile carrier coordinates.Secondly,the global structure including terminal attractor and exponential convergence of the fast terminal sliding mode trajectory tracking controller is proved by Lyapunov stability theory,ensuring that the trajectory and heading angle tracking error converges to a smaller zero range in finite time.Finally,the artificial potential field obstacle avoidance method is introduced to make the robot not only track the reference trajectory strictly,but also avoid the obstacles.The simulation results show that the proposed method can achieve a stable tracking control in finite time for a given reference trajectory.

Calculation method of sliding ratios for conjugate-curve gear pair and its application

The calculation method of sliding ratios for conjugate-curve gear pair, generated based on the theory of conjugate curves,is proposed. The theoretical model of conjugate-curve gear drive is briefly introduced. The general calculation formulas of sliding ratios are developed according to the conjugate curves. The applications to the circular arc gears based on conjugate curves and the novel involute-helix gears are studied. A comparison on the sliding coefficient with the conventional corresponding gear drive is also carried out. The influences of gear parameters such as spiral parameter, gear ratio and modulus on the sliding ratios of gear drive are discussed. Brief description of manufacturing method for conjugate-curve gear pair is given. The research results show that the sliding ratios of gear pair become smaller with the increase of spiral parameter and gear ratio, respectively. And it will be greater with the increase of modulus for the tooth profiles. The meshing characteristics of conjugate-curve gears are further reflected and the optimization design of tooth profiles with high performance may be obtained.

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.

A Dynamical Model to Analyze the Influence of Sliding Friction on Motion on a Curve—An Analytical Method

To demonstrate the influence of sliding friction of motion on a curve, a circular path is considered for simplicity on which a person slides from the highest point to the lowest point. A slide which represents a quadrant of radius 5 m and a person of mass 60 kg are considered for comparison in this paper. A Differential equation for motion considering the fact that the normal force depends both on the sin component of weight and also on the tangential velocity, is established and is solved using integrating factor method, and the motion is analysed for different surface roughness of the slide and is compared using superimposed graphs, also the limiting value of friction coefficient at which the person just exits the slide is determined. The correction factor for exit velocity with friction as compared with the exit velocity for zero friction is determined. The fraction of energy lost to friction at the exit is evaluated. The Variation of normal force with the position of the person on the slide is plotted for different surface roughness of the slide, and the position on the slide where the normal force or the force experienced by the person is maximum, is determined and hence its maximum value is evaluated for different surface roughness. For simplicity, a point contact between the body and the slide is considered.

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.

sliding方法研究一类分数阶Choquard型方程正解的单调性

对含分数阶Laplace算子的一类Choquard型方程的De Giorgi型边值问题进行了研究,运用sliding方法得到了方程正解在整个空间上的单调性.

Effect of a two-phase wedge-sliding model on the ingredient drift of a stable mixed fluid and its computing method

A two-phase wedge-sliding model is developed based on the micro-cellular structure and minimum entropy theory of a stable system, and it is used to describe the ingredient distribution of a mixed fluid in a non-uniform stress field and to analyse its phase drift phenomenon. In the model, the drift-inhibition angle and the expansion-inhibition angle are also deduced and used as evaluating indexes to describe the drifting trend of different ingredients among the mixed fluids. For solving above two indexes of the model, a new calculation method is developed and used to compute the phase distributions of multiphase fluid at peak stress and gradient area stress, respectively. As an example, the flow process of grease in a pipe is analysed by simulation method and used to verify the validity of the model.

基于Slide的水电站高边坡稳定性分析及支护方案研究

基于Slide软件,采用极限平衡法计算某水电站边坡在正常运行及降雨工况下的稳定性,同时研究了回填石渣和增设土钉处理2种支护方案的实施效果。结果表明,该处边坡在正常运用及降雨工况的安全系数均小于规范要求的下限值,不满足规范要求,需采取一定措施进行支护。为增加边坡的稳定性,采用回填石渣和增设土钉处理2种支护方案,加固后的边坡的稳定性均满足规范要求。

基于Slide的水电站边坡多工况稳定性分析

某水电站边坡工程规模大,工程技术条件复杂,自然谷坡高陡,岩性多样,并发育有断层等,场地地质条件复杂,工程边坡的安全稳定性问题十分突出。选取安全稳定问题最为突出的溢洪道进口及泄洪放空洞出口边坡典型剖面,基于Slide软件,采用极限平衡法计算边坡在正常运行、降雨及地震3种工况下的稳定性。结果表明,溢洪道进口及泄洪放空洞出口边坡安全系数均大于规范允许的安全系数,该水电站边坡稳定性满足要求。

Comprehensive Analysis Method of Slope Stability Based on the Limit Equilibrium and Finite Element Methods and Its Application

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.

深松铲对砖红壤扰动行为影响的仿真与试验

针对香蕉地深松作业相关研究较少,深松铲-土壤耦合机理尚未明确等问题,结合海南热区香蕉地砖红壤土的物理特性,利用离散元虚拟仿真试验,堆积生成了耕作层、犁底层和心土层3层土壤模型,建立了滑切深松铲-土壤耕作模型,并通过对比虚拟仿真试验,研究了滑式深松铲和国标深松铲对海南香蕉地土壤的扰动情况。结果表明:在相同的作业条件下,滑式深松铲作用下的土壤颗粒在x、y和z方向的最大运动速度均明显大于国标深松铲对土壤颗粒的作用,且滑式深松铲的扰动轮廓要明显大于国标深松铲作业的扰动轮廓,同时滑式深松铲作用下土壤蓬松度和土壤扰动系数均大于国标深松铲作用产生的深松效果,进一步验证了所设计的滑式深松铲更适用于海南香蕉地的深松作业。

基于回流功率优化的直流微网DC-DC变流器超螺旋滑模控制

针对直流微网系统中双有源桥直流变换器在系统发生扰动时动态特性差及在单移相调制下变换器效率不高等问题,该文在扩展移相调制下提出一种结合回流功率优化的超螺旋滑模控制策略。首先,分析双有源全桥(dual-active-bridge,DAB)变换器在扩展移相调制下两种模式的传输功率、回流功率数学模型及软开关特性,并以传输功率数学模型为基础建立DAB变换器的降阶模型。其次,以回流功率作为目标函数,以传输功率和软开关特性作为约束条件,通过Karush-Kuhn-Tucker(KKT)条件法寻找最优移相比组合;利用DAB变换器降阶模型设计超螺旋滑模控制中的等效部分,采用超螺旋算法作为切换部分,这两部分与内移相比D1共同作用生成外移相比D2,用于调节变换器的输出电压。最后进行了仿真及实验验证,实验结果表明:在负载投切、输入电压突变、参考电压改变时变换器具有良好的动态性能,同时能有效地减小回流功率。

基于FPGA的自滑动同步法TFT-LCD屏TCON的实现

不同厂家、不同尺寸、不同分辨率的TFT-LCD屏与时序控制器TCON的接口不同,对应不同的差分信号格式。为了适应不同屏的图像显示,需要一种可编程的时序控制器TCON。通过在FPGA芯片上采用自滑动同步法,实现了TFT-LCD屏的TCON系统。该系统从视频处理主板输出的差分信号中提取视频数据,提出通过自滑动同步法使之与同步控制信号对齐;将提取的视频数据转换为源驱动器的输入信号,即mini-LVDS或RSDS格式的差分信号,同时产生门驱动器的时序信号;由源驱动器和门驱动器输出的信号驱动TFT-LCD屏显示图像信号。为了测试TCON的性能,使用两块FPGA电路板进行实验。一块FPGA电路板实现TCON时序控制器;另一块作为TCON的输入测试信号源,用于测试所设计的TCON性能。实验结果显示,所设计的TCON能够从LVDS视频差分数据中正确解析出视频数据,并转换为屏的源驱动器和门驱动器信号,驱动TFT-LCD屏显示视频信号。通过对比分析可知,使用自滑动同步法具有资源消耗少,功耗较低等优点。

基于ADE优化的IPMSM全速域无传感器控制

为了实现内置式永磁同步电机(IPMSM)全速域的无传感器控制和切换速域的平滑过渡,提出了一种基于自适应差分进化(ADE)算法优化的复合控制方法。分别在零低速域、中高速域采用旋转高频电压注入法和滑模观测器法来对电机转速和转子位置进行估算,并在切换速域采用基于ADE算法的权重系数优化法来实现上述两种控制方法的平滑切换,从而实现IPMSM全速域无传感器控制。仿真结果表明:提出的复合控制方法能够实现电机全速域的无感控制和切换速域的平滑过渡,且具有良好的稳定性。

基于改进反步滑模控制算法的拖轮自主靠泊控制

[目的]针对拖轮的自主靠泊控制问题,研究基于虚拟船领导的目标跟踪控制策略在拖轮自主靠泊中的应用。[方法]首先,将拖轮的自主靠泊过程转变为虚拟拖轮和实际拖轮的目标跟踪控制过程;然后,设计靠泊系统的运动学模型,考虑靠泊场景中的特殊环境干扰,使用反步法和滑模控制法(SMC)设计全回转尾推进拖轮的自主靠泊控制器,提供了3种不同的滑模面设计并使用李雅普诺夫函数进行稳定性验证;最后,采用仿真实验的方式,通过靠泊轨迹、速度误差和距离误差来对控制的效果进行验证。[结果]仿真实验结果表明,设计的拖轮自主靠泊控制策略以及控制器在拖轮自主靠泊场景中具有较好的效果,面对系统的不确定干扰有较好的表现。[结论]该控制策略以及靠泊控制器的适用性以及鲁棒性较好,以全新的角度实现了拖轮自主靠泊控制,为后续拖轮的靠泊控制研究提供了新的方向。

PMSM正切趋近律无位置传感器角度补偿方法研究

在负载转矩突变的动态过程中,基于PI调节器的角度补偿方法作用时PMSM超螺旋滑模观测器(STSMO)转子电角度估算误差波动剧烈,因此依据角度估算误差的定义,建立了转子电角度补偿算法的数学模型。根据滑模控制和趋近律理论,提出了基于正切趋近律的变步长闭环角度补偿方法,选择角度估算误差的半角正切值作为角度调节步长,并通过前馈解耦得到的角度估算误差正余弦信号计算该步长,实现了对无位置传感器控制系统动态性能和抗扰动能力的改善。根据归一化灵敏度的定义,分析调节步长随角度估算误差变化的灵敏度,提出了基于归一化补偿灵敏度的系统动态性能分析方法,衡量两种补偿算法作用下系统的动态性能。计算和仿真结果表明,正切趋近律补偿方法具有更高的归一化补偿灵敏度,在负载转矩突变等角度估算误差变化剧烈的工况下能够实现更好的补偿效果,抑制估算角度误差的波动。实验结果表明,相比传统的PI补偿方法,正切趋近律补偿方法能够将突加额定转矩动态过程中角度估算误差的波动幅度降低61.9%,动态过程持续时间缩短23%,有效提升了系统的动态性能和抗扰动能力。