Shear sliding of rough-walled fracture surfaces under unloading normal stress

Through high-precision engraving,self-affine sandstone joint surfaces with various joint roughness coefficients(JRC=3.21e12.16)were replicated and the shear sliding tests under unloading normal stress were conducted regarding various initial normal stresses(1e7 MPa)and numbers of shearing cycles(1 e5).The peak shear stress of fractures decreased with shear cycles due to progressively smooth surface morphologies,while increased with both JRC and initial normal stress and could be verified using the nonlinear Barton-Bandis failure criterion.The joint friction angle of fractures exponentially increased by 62.22%e64.87%with JRC while decreased by 22.1%e24.85%with shearing cycles.After unloading normal stress,the sliding initiation time of fractures increased with both JRC and initial normal stress due to more tortuous fracture morphologies and enhanced shearing resistance capacity.The surface resistance index(SRI)of fractures decreased by 4.35%e32.02%with increasing shearing cycles due to a more significant reduction of sliding initiation shear stress than that for sliding initiation normal stress,but increased by a factor of 0.41e1.64 with JRC.After sliding initiation,the shear displacement of fractures showed an increase in power function.By defining a sliding rate threshold of 5105 m/s,transition from“quasi-static”to“dynamic”sliding of fractures was identified,and the increase of sliding acceleration steepened with JRC while slowed down with shearing cycles.The normal displacement experienced a slight increase before shear sliding due to deformation recovery as the unloading stress was unloaded,and then enhanced shear dilation after sliding initiation due to climbing effects of surface asperities.Dilation was positively related to the shear sliding velocity of fractures.Wear characteristics of the fracture surfaces after shearing failure were evaluated using binary calculation,indicating an increasing shear area ratio by 45.24%e91.02%with normal stress.

Friction Characteristics of Nanoscale Sliding Contacts between Multi-Asperity Tips and Textured Surfaces

Nanoscale sliding contacts of smooth surfaces or between a single asperity and a smooth surface have been widely investigated by molecular dynamics simulations, while there are few studies on the sliding contacts between two rough surfaces. Actually, the friction of two rough surfaces considering interactions between more asperities should be more realistic. By using multiscale method, friction characteristics of two dimensional nanoscale sliding contacts between rigid multi-asperity tips and elastic textured surfaces are investigated. Four nanoscale textured surfaces with different texture shapes are designed, and six multi-asperity tips composed of cylindrical asperities with different radii are used to slide on the textured surfaces. Friction forces are compared for different tips, and effects of the asperity radii on the friction characteristics are investigated. Average friction forces for all the cases are listed and compared, and effects of texture shapes of the textured surfaces are discussed. The results show that textured surface II has a better structure to reduce friction forces. The multi-asperity tips composed of asperities with R=20r0 （r0=0.227 7 nm） or R=30r0 get higher friction forces compared with other cases, and more atoms of the textured surfaces are taken away by these two tips, which are harmful to reduce friction or wear. For the case of R=10ro, friction forces are also high due to large contact areas, but the sliding processes are stable and few atoms are taken away by the tip. The proposed research considers interactions between more asperities to make the model approach to the real sliding contact problems. The results will help to vary or even control friction characteristics by textured surfaces, or provide references to the design of textured surfaces.

Integrated guidance and control of guided projectile with multiple constraints based on fuzzy adaptive and dynamic surface

Based on fuzzy adaptive and dynamic surface(FADS),an integrated guidance and control(IGC)approach was proposed for large caliber naval gun guided projectile,which was robust to target maneuver,canard dynamic characteristics,and multiple constraints,such as impact angle,limited measurement of line of sight(LOS)angle rate and nonlinear saturation of canard deflection.Initially,a strict feedback cascade model of IGC in longitudinal plane was established,and extended state observer(ESO)was designed to estimate LOS angle rate and uncertain disturbances with unknown boundary inside and outside of system,including aerodynamic parameters perturbation,target maneuver and model errors.Secondly,aiming at zeroing LOS angle tracking error and LOS angle rate in finite time,a nonsingular terminal sliding mode(NTSM)was designed with adaptive exponential reaching law.Furthermore,combining with dynamic surface,which prevented the complex differential of virtual control laws,the fuzzy adaptive systems were designed to approximate observation errors of uncertain disturbances and to reduce chatter of control law.Finally,the adaptive Nussbaum gain function was introduced to compensate nonlinear saturation of canard deflection.The LOS angle tracking error and LOS angle rate were convergent in finite time and whole system states were uniform ultimately bounded,rigorously proven by Lyapunov stability theory.Hardware-in-the-loop simulation(HILS)and digital simulation experiments both showed FADS provided guided projectile with good guidance performance while striking targets with different maneuvering forms.

Two Dimensional Nanoscale Reciprocating Sliding Contacts of Textured Surfaces

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.

Improvement in the Tribological Properties of UHMWPE Sliding against Ti6Al4V by Surface Modification

Surface engineering has been emerging as one of the most promising techn ologies to improve the tribological properties of biomaterials with a view to ex tending the life span of medical implants. For example, some novel surface engineering t echniques including ion implantation of ultra-high molecular weight polyethylen e (UHMWPE) and thermal oxidation (TO) treatment of titanium alloy have been devel oped. However, the full potential of improving the wear resistance of orthopaedi c implants based on the UHMWPE/ Ti6Al4V system will not be realized until the tr ibological performance of this surface engineered tribo-system is fully charact e rized and the acting wear mechanisms are well understood. In this paper, a pin- o n-disc tribometer was employed to evaluate the tribological response of the fol l owing three tribo-systems: (1) untreated UHMWPE/untreated Ti6Al4V, (2) untreate d UHMWPE/TO-treated Ti6Al4V and (3) ion implanted UHMWPE/TO treated Ti6Al4V unde r water lubricated conditions. Experimental results show that the tribological pr operties of UHMWPE can be significantly increased by surface engineering its sur face and/or the counterface. This can be attributed to the hardened surface of U HMWPE via molecular structure modification induced by ion bean bombardment c oupl ed with the surface oxide layer on Ti6Al4V formed during TO treatment, which has favorable tribological compatibility with UHMWPE.

Serret-Frenet frame based on path following control for underactuated unmanned surface vehicles with dynamic uncertainties

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.

Trajectory tracking control for underactuated unmanned surface vehicles with dynamic uncertainties

The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturbance, etc. By introducing the reference, trajectory was generated by a virtual USV, and the error equation of trajectory tracking for USV was obtained, which transformed the tracking problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A backstepping adaptive sliding mode controller was proposed based on backstepping technology and method of dynamic slide model control. By means of theoretical analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Simulation results are presented to illustrate the effectiveness of the proposed controller.

Influence of depth-thickness ratio of mining on the stability of a bedding slope with its sliding surface in concave deformation

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 of deformation and damage of bedding sliding with depth-thickness ratios of 200:1, 150:1, 120:1, 100:1 and 50:1by 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 influence 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 gradually 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.

Numerical solutions for point masses sliding over analytical surfaces: Part 1

In this study, we introduce a system of differential equations describing the motion of a single point mass or of two interacting point masses on a surface, that is solved by a fourth-order explicit Runge–Kutta(RK4) scheme. The forces acting on the masses are gravity, the reaction force of the surface, friction, and, in case of two masses, their mutual interaction force. This latter is introduced by imposing that the geometrical distance between the coupled masses is constant. The solution is computed under the assumption that the point masses strictly slide on the surface, without leaping or rolling. To avoid complications stemming from numerical errors related to real topographies that are only known over discrete grids, we restrict our attention to simulations on analytical continuous surfaces. This study sets the basis for a generalization to more complex systems of masses, such as chains or matrices of blocks that are often used to model complex processes such as landslides and rockfalls. The results shown in this paper provide a background for a companion paper in which the system of equations is generalized, and different geometries are presented.

Nanoscale Reciprocating Sliding Contacts of Textured Surfaces:Influence of Structure Parameters and Indentation Depth

Textured surfaces are widely used in engineering components as they can improve tribological properties of sliding contacts, while the detailed behaviors of nanoscale reciprocating sliding contacts of textured surfaces are still lack of study. By using multiscale method, two dimensional nanoscale reciprocating sliding contacts of textured surfaces are investigated. The influence of indentation depth, texture shape, texture spacing, and tip radius on the average friction forces and the running-in stages is studied. The results show that the lowest indentation depth can make all the four textured surfaces reach steady state. Surfaces with right-angled trapezoid textures on the right side are better for reducing the running-in stage, and surfaces with right-angled trapezoid textures on the left side are better to reduce wear. Compared with other textured surfaces, the total average friction forces can be reduced by 82.94%–91.49% for the case of the contact between the tip with radius R = 60rand the isosceles trapezoid textured surface. Besides,the total average friction forces increase with the tip radii due to that bigger tip will induce higher contact areas. This research proposes a detailed study on nanoscale reciprocating sliding contacts of textured surfaces, to contribute to design textured surfaces, reduce friction and wear.

Robust pre-specified time synchronization of chaotic systems by employing time-varying switching surfaces in the sliding mode control scheme

In the conventional chaos synchronization methods, the time at which two chaotic systems are synchronized, is usually unknown and depends on initial conditions. In this work based on Lyapunov stability theory a sliding mode controller with time-varying switching surfaces is proposed to achieve chaos synchronization at a pre-specified time for the first time. The proposed controller is able to synchronize chaotic systems precisely at any time when we want. Moreover, by choosing the time-varying switching surfaces in a way that the reaching phase is eliminated, the synchronization becomes robust to uncertainties and exogenous disturbances. Simulation results are presented to show the effectiveness of the proposed method of stabilizing and synchronizing chaotic systems with complete robustness to uncertainty and disturbances exactly at a pre-specified time.

Surface Plastic Deformation by Sliding Elliptical Cylinder

Steady state plastic flow of the ideal plastic half-space surface by sliding elliptical cylinder is numerically calculated with account of contact friction effect. Numerical solution of the plane strain hyperbolic differential equations with unknown contact pressure distribution is treated as nonlinear vector equation for the steady state plastic flow condition. Pronounced effect of the ellipse boundary curvature on the plastic flow mode is shown. Engineering application of the computer model is surface plastic deformation technology to improve wear and fatigue resistance of metal parts.

Effect of Sliding Wear on Surface Microstructure and Wear Property of D2 Wheel Steel

In this paper, the surface microstructure and wear property of D2 wheel steel under sliding wear condition were studied by MRH-30 sliding wear tester. After testing, a transmission electron microscope (TEM), scanning electron microscope (SEM) with electron backscatter diffraction (EBSD), and micro-hardness testers were used to characterize the surface microstructure of samples with different cycles. The results show that the wear losss samples are increased as the increase of cycles, and the wear loss of wheel samples is higher than that of rail samples. The surface hardness and thickness of deformation layer of wheel samples are increased as the cycles increase. After sliding wear, the samples surfaces form the white etching layer with the thickness of several microns. Through the analysis of surface microstructure of sample with 12,000 cycles, the lamellar cementite in pearlite is fragment into cementite particles with the decrease of depth from surface, and the cementite is dissolved at surface to lead to the form of white etching layer. The ferrite grains are refined gradually and the fraction of high angle grain boundary is increased with the decrease of depth from surface. The nanosgrains layer of ferrite grains with 5 μm thickness is formed. According to the result of finite element simulation of contact surface temperature, the formation of surface nanograins and the dissolution of cementite are caused by the severe plastic deformation. The fiber structure of samples is formed after sliding wear, with direction of .

Disturbance Observer Based Sliding Mode Controller Design for Heave Motion of Surface Effect Ships

In order to damp the heave motion of surface effect ships(SESs),a sliding mode controller with a disturbance observer was designed.At first,a disturbance observer was proposed to estimate the unknown time-varying disturbance acting on SESs due to waves.Then,based on the disturbance,a slide mode controller was designed to minimize the magnitude of SES's heave motion position.It was theoretically proved that the designed sliding mode controller with the disturbance observer could guarantee the stability of the closed-loop heave motion control system of SESs.Simulations on a Norwegian Navy's SES were carried out and the simulation results illustrated the effectiveness of the proposed controller with the disturbance observer.

Investigation of groundwater characteristics and its influence on Landslides in Heifangtai Plateau using comprehensive geophysical methods

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.

Microstructures of worn surface and wear debris of as-cast Al-17Si-xLa alloys under unlubricated conditions

The tribological characteristics of hypereutectic Al 17Si x La alloys against heat treated GCr15 bearing steel under unlubricated conditions were investigated using a block on ring type wear testing apparatus in air at room temperature. Microstructures and chemical compositions of worn surface and wear debris were characterized by means of SEM with EDS and XRD patterns. XRD results show that wear behaviors of Al 17Si x La alloys are similar and the typical worn surface is characterized by smooth region and crater region. The mechanically mixed layer (MML) and the wear debris are very similar in microstructures and chemical compositions, both containing the fine equiaxed aggregates and large plates and blocks from the both sliding counterparts ( α (Al) and α Fe) and some reaction products (ternary oxides, i.e. Al Fe O and Fe Si O).

利用InSAR形变反演滑坡滑面运动特征——以汶川县布瓦村滑坡为例

当前滑坡滑面运动特征获取多采用接触式手段,费时费力、成本高昂,且仅能获取稀疏点位滑面运动状态。因此,本文提出一种非接触式滑坡滑面运动特征获取方法,其基本思路是:基于位错理论建立滑坡表面形变与滑面运动间的关系模型,同时引入滑面运动平滑约束条件,最终以InSAR等技术获取的地表形变为约束,反演获得滑面运动特征。本文选择四川省汶川县布瓦村滑坡作为研究对象,以时序InSAR技术获取的滑坡坡面升降轨形变数据为约束,基于发展的理论方法反演获得布瓦村滑坡滑面几何与运动学参数,并结合野外勘查、Lidar观测以及模型残差较好地验证了反演结果的可靠性,其中反演升降轨模型残差仅3.1 mm·a^(-1)和3.4 mm·a^(-1)。反演结果显示,布瓦村滑坡滑面位于坡表以下平均~15.0 m深度处,滑面整体以沿坡向运动为主,最大运动量级达~80 mm·a^(-1),同时在坡体西侧中下部发现微量的垂直坡向运动。本文提出方法可方便、快速的获取空间连续的滑坡滑面运动特征,为滑坡灾害预警和失稳风险评估提供更为直接可靠的科学参考。

一种用于电液位置伺服系统控制的高阶滑模控制器的设计

这里提出了一种用于电液位置伺服系统控制的高阶滑模控制器的设计,以提高电液位置伺服系统的控制准确度。从电液伺服系统的构造出发,分析了其组成结果与工作过程。以外界输入电压为依据,求取了滑阀的动力学模型,通过液压缸两个子缸压力差值形成的负载压力,计算出了滑阀动态运动时产生的流量,并通过负载压力得出了负载的位移平衡方程,进而以滑阀位移、负载位移及输入电压等系统的状态参数,获取了电液伺服系统的动力学模型。引入超螺旋控制器和广义超螺旋控制器的一般表达形式,以输入电压误差及负载位移误差为依据,构造了系统的滑动面函数,并将滑动面函数的导师与超螺旋控制器相结合,构造了基于超螺旋控制器的滑模控制器,为了提高系统的收敛速度,在基于超螺旋控制器的滑模控制器的基础上,借助广义超螺旋控制器,构造了高阶滑模控制器,以对电液位置伺服系统进行控制。实验结果表明,所提算法不仅具有较好的响应速度,而且对电液位置伺服系统的控制准确度较高,在对目标轨迹跟踪时,所提方法比模糊干扰观测器方法的跟踪准确度提高了33.11%。说明所提方法对电液位置伺服系统具有较好的控制性能。

自适应量化神经网络滑模无人船编队控制

针对复杂海洋环境下欠驱动水面无人船(unmanned surface vehicle,USV)编队控制存在的模型不确定性、参数摄动、控制输入量化等问题,提出一种自适应量化神经网络滑模控制算法。在USV运动学子系统中,设计基于内外环控制策略的制导律,解决USV欠驱动问题。由于所采用的动力学模型中含有未知项和外界环境干扰,故在USV动力学子系统中通过使用径向基函数神经网络实现对干扰的估计。采用一种线性解析模型来描述输入量化过程。所设计的控制系统不需要量化参数的先验信息。基于输入-状态稳定性理论证明了系统稳定性。通过仿真实验验证了所提算法的有效性。

无人机舵面故障高阶滑模重构观测器设计及主动容错控制

针对无人机舵面损伤故障容错问题,提出了基于二阶非奇异终端滑模重构观测器及主动容错设计方法。在分析舵面正常偏转运动学和动力学特性基础上,构建了无人机典型舵面故障非线性特性模型。提出无人机舵面故障的高阶滑模重构滑模观测器设计方案;引入线性变换降维简化观测器设计程式;将终端滑模和非奇异终端滑模结合起来,实现滑模运动有限时间快速收敛;综合自适应律、线性矩阵不等式设计观测器系数矩阵,确保状态估计偏差有界稳定。提出集状态与故障重构于一体的主动容错控制方案,并通过仿真算例检验所提方案的有效性。