A dissolution-diffusion sliding model for soft rock grains with hydro-mechanical effect

The deformation and failure of soft rock affected by hydro-mechanical（HM） effect are one of the most concerns in geotechnical engineering, which are basically attributed to the grain sliding of soft rock. This study tried to develop a dissolution-diffusion sliding model for the typical red bed soft rock in South China. Based on hydration film, mineral dissolution and diffusion theory, and geochemical thermodynamics, a dissolution-diffusion sliding model with the HM effect was established to account for the sliding rate. Combined with the digital image processing technology, the relationship between the grain size of soft rock and the amplitude of sliding surface was presented. An equation for the strain rate of soft rocks under steady state was also derived. The reliability of the dissolution-diffusion sliding model was verified by triaxial creep tests on the soft rock with the HM coupling effect and by the relationship between the inversion average disjoining pressure and the average thickness of the hydration film. The results showed that the sliding rate of the soft rock grains was affected significantly by the waviness of sliding surface, the shear stress, and the average thickness of hydration film. The average grain size is essential for controlling the steady-state creep rate of soft rock. This study provides a new idea for investigating the deformation and failure of soft rock with the HM effect.

CALCULATION OF THE DAMPING OF THE Zn-27Al ALLOY BASED ON THE MICRO INTERFACE SLIDING MODEL

The microstructures of the Zn-27Al alloy after modification, solid-solution treatment, and natural aging were studied. It was clarified why the damping properties of Zn-27Al alloys, after treatment, had advanced most on the basis of analyzing the microstructures. Approximate expressions have been educed, which can be used to quantificationally work out the damping of the Zn-27Al alloy on the basis of the micro interface sliding model. By comparing the testing damping properties of the foundry Zn-27Al alloys and the Zn-27Al alloys after modification, solid solution, and natural aging, it was shown that the expressions were rational.

Design of TakagiSugeno fuzzy model based nonlinear sliding model controller

A design method is presented for Takagi-Sugeno （T-S） fuzzy model based nonlinear sliding model controller. First, the closed-loop fuzzy system is divided into a set of dominant local linear systems according to operating sub-regions. In each sub-region the fuzzy system consists of nominal linear system and a group of interacting systems. Then the controller composed two parts is designed. One part is designed to control the nominal system, the other is designed to control the interacting systems with sliding mode theory. The proposed controller can improve the robusmess and gnarantee tracking performance of the fuzzy system. Stability is guaranteed without finding a common positive definite matrix.

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.

Finite Control Set Model Predictive Torque Control Using Sliding Model Control for Induction Motors

Finite control set model predictive torque control(FCS-MPTC)has become increasingly prevalent for induction motors(IM)owing to its simple concept,easy incorporation of constraints and strong flexibility.In traditional FCS-MPTC speed controller design,a classical proportional integral(PI)controller is typically chosen to generate the torque reference.However,the PI controller is dependent on system parameters and sensitive to the load torque variation,which seriously affects control performance.In this paper,a model predictive torque control using sliding mode control(MPTC+SMC)for IM is proposed to enhance the robust performance of the drive system.First,the influence of the parameter mismatches for FCS-MPTC is analyzed.Second,the shortcomings of traditional PI controller are derived.Then,the proposed MPTC+SMC method is designed,and the MPTC+PI and MPTC+SMC are compared theoretically.Finally,experimental results demonstrate the correctness and effectiveness of the proposed MPTC+SMC.In comparison with MPTC+PI,MPTC+SMC has the better dynamic performance and stronger robust performance against parameter variations and load disturbance.

Creep model for unsaturated soils in sliding zone of Qianjiangping landslide

The mechanical behavior of sliding zone soils plays a significant role in landslide. In general, the sliding zone soils are basically in unsaturated state due to rainfall infiltration and reservoir water level fluctuation. Meanwhile, a large number of examples show that the deformation processes of landslides always take a long period of time, indicating that landslides exhibit a time-dependent property. Therefore, the deforma- tion of unsaturated soils of landslide involves creep behaviors. In this paper, the Burgers creep model for unsaturated soils under triaxial stress state is considered based on the unsaturated soil mechanics. Then, by curve fitting using the least squares method, creep parameters in different matric suction states are obtained based on the creep test data of unsaturated soils in the sliding zones of Qianjiangping landslide. Results show that the predicted results are in good agreement with the experimental data, Finally, to fur- ther explore the creep characteristics of the unsaturated soils in sliding zones, the relationships between parameters of the model and matric suction are analyzed and a revised Burgers creep model is developed correspondingly. Simulations on another group of test data are performed by using the modified Burgers creep model and reasonable results are observed,

Nominal Model-Based Sliding Mode Control with Backstepping for 3-Axis Flight Table

Based on nominal model, a novel global sliding mode controller （GSMC） with a new control scheme is proposed for a practical uncertain servo system. This control scheme consists of two combined controllers, One is the global sliding mode controller for practical plant, the other is the integral backstepping controller for nominal model. Modeling error between practical plant and nominal model is used to design GSMC. The steady-state control accuracy can be guaranteed by the integral backstepping control law, and the global robustness can be obtained by GSMC. The stability of the proposed controller is proved according to the Lyapunov approach. The simulation results both of sine signal and step signal tracking for 3-axis flight table are investigated to show good position tracking performance and high robustness with respect to large and parameter changes over all the response time.

Application of transparent soil model tests to study the soil-rock interfacial sliding mechanism

When transparent soil technology is used to study the displacement of a slope, the internal deformation of the slope can be visualized. We studied the sliding mechanism of the soil-rock slope by using transparent soil technology and considering the influence of the rock mass Barton joint roughness coefficient, angle of the soil mass, angle of the rock mass and soil thickness factors on slope stability. We obtained the deformation characteristics of the soil and rock slope with particle image velocimetry and the laser speckle technique. The test analysis shows that the slope sliding can be divided into three parts: displacements at the top, the middle, and the bottom of the slope; the decrease in the rock mass Barton joint roughness coefficient, and the increase in soil thickness, angles of the rock mass and soil mass lead to larger sliding displacements. Furthermore, we analyzed the different angles between the rock mass and soil thickness. The test result shows that the displacement of slope increases with larger angle of the rock mass. Conclusively, all these results can help to explain the soil-rock interfacial sliding mechanism.

Chattering analysis for discrete sliding mode control ofdistributed control systems

The chattering characteristic of sliding mode control isanalyzed when it is applied in distributed control systems （DCSs）.For a DCS with random time delay and packet dropout, a discreteswitching system model with time varying sampling period isconstructed based on the time delay system method. The reachinglaw based sliding mode controller is applied in the proposedsystem. The exponential stability condition in the form of linearmatrix inequality is figured out based on the multi-Lyaponov functionmethod. Then, the chattering characteristic is analyzed for theswitching system, and a chattering region related with time varyingsampling period and external disturbance is proposed. Finally, numericalexamples are given to illustrate the validity of the analysisresult.

Decentralized model reference adaptive sliding mode control based on fuzzy model

A new design scheme of decentralized model reference adaptive sliding mode controller for a class of MIMO nonlinear systems with the high-order interconnections is propcsed. The design is based on the universal approximation capability of the Takagi - Seguno （T-S） fuzzy systems. Motivated by the principle of certainty equivalenteontrol, a decentralized adaptive controller is designed to achieve the tracking objective without computafion of the T-S fuzz ymodel. The approach does not require the upper bound of the uncertainty term to be known through some adaptive estimation. By theoretical analysis, the closed-loop fuzzy control system is proven to be globally stable in the sense that all signalsinvolved are bounded, with tracking errors converging to zero. Simulation results demonstrate the effectiveness of the approach.

Robust Adaptive Gain Higher Order Sliding Mode Observer Based Control-constrained Nonlinear Model Predictive Control for Spacecraft Formation Flying

This work deals with the development of a decentralized optimal control algorithm, along with a robust observer,for the relative motion control of spacecraft in leader-follower based formation. An adaptive gain higher order sliding mode observer has been proposed to estimate the velocity as well as unmeasured disturbances from the noisy position measurements.A differentiator structure containing the Lipschitz constant and Lebesgue measurable control input, is utilized for obtaining the estimates. Adaptive tuning algorithms are derived based on Lyapunov stability theory, for updating the observer gains,which will give enough flexibility in the choice of initial estimates.Moreover, it may help to cope with unexpected state jerks. The trajectory tracking problem is formulated as a finite horizon optimal control problem, which is solved online. The control constraints are incorporated by using a nonquadratic performance functional. An adaptive update law has been derived for tuning the step size in the optimization algorithm, which may help to improve the convergence speed. Moreover, it is an attractive alternative to the heuristic choice of step size for diverse operating conditions. The disturbance as well as state estimates from the higher order sliding mode observer are utilized by the plant output prediction model, which will improve the overall performance of the controller. The nonlinear dynamics defined in leader fixed Euler-Hill frame has been considered for the present work and the reference trajectories are generated using Hill-Clohessy-Wiltshire equations of unperturbed motion. The simulation results based on rigorous perturbation analysis are presented to confirm the robustness of the proposed approach.

An Adaptive Nonsingular Fast Terminal Sliding Mode Control for Yaw Stability Control of Bus Based on STI Tire Model

Due to the bus characteristics of large quality,high center of gravity and narrow wheelbase,the research of its yaw stability control(YSC)system has become the focus in the field of vehicle system dynamics.However,the tire nonlinear mechanical properties and the effectiveness of the YSC control system are not considered carefully in the current research.In this paper,a novel adaptive nonsingular fast terminal sliding mode(ANFTSM)control scheme for YSC is proposed to improve the bus curve driving stability and safety on slippery roads.Firstly,the STI(Systems Technologies Inc.)tire model,which can effectively reflect the nonlinear coupling relationship between the tire longitudinal force and lateral force,is established based on experimental data and firstly adopted in the bus YSC system design.On this basis,a more accurate bus lateral dynamics model is built and a novel YSC strategy based on ANFTSM,which has the merits of fast transient response,finite time convergence and high robustness against uncertainties and external disturbances,is designed.Thirdly,to solve the optimal allocation problem of the tire forces,whose objective is to achieve the desired direct yaw moment through the effective distribution of the brake force of each tire,the robust least-squares allocation method is adopted.To verify the feasibility,effectiveness and practicality of the proposed bus YSC approach,the TruckSim-Simulink co-simulation results are finally provided.The co-simulation results show that the lateral stability of bus under special driving conditions has been significantly improved.This research proposes a more effective design method for bus YSC system based on a more accurate tire model.

Sliding Mode Control Design via Reduced Order Model Approach

This paper presents a design of continuous-time sliding mode control for the higher order systems via reduced order model. It is shown that a continuous-time sliding mode control designed for the reduced order model gives similar performance for thc higher order system. The method is illustrated by numerical examples. The paper also introduces a technique for design of a sliding surface such that the system satisfies a cost-optimality condition when on the sliding surface.

Modeling and Sliding Mode Control with Boundary Layer for Unmanned Coaxial Rotor Ducted Fan Helicopter

The structure and modeling of a novel unmanned coaxial rotor ducted fan helicopter(RDFH)are introduced,and then,based on the helicopter air dynamics and kinematics principles,a nonlinear model of the coaxial rotor ducted fan helicopter is developed and implemented on the basis of the wind tunnel experiment.After that,the helicopter′s stability and coupling characteristics of manipulation are analyzed through time-domain.Finally,a sliding mode controller(SMC)with boundary layers is developed on a hardware in the loop platform using digital signal processor(DSP)as the flight control computer.The results show that the RDFH′s tracking ability performs well under the use of proposed controller.

Model predictive current control for PMSM driven by three-level inverter based on fractional sliding mode speed observer

Based on the fractional order theory and sliding mode control theory,a model prediction current control(MPCC)strategy based on fractional observer is proposed for the permanent magnet synchronous motor(PMSM)driven by three-level inverter.Compared with the traditional sliding mode speed observer,the observer is very simple and eases to implement.Moreover,the observer reduces the ripple of the motor speed in high frequency range in an efficient way.To reduce the stator current ripple and improve the control performance of the torque and speed,the MPCC strategy is put forward,which can make PMSM MPCC system have better control performance,stronger robustness and good dynamic performance.The simulation results validate the feasibility and effectiveness of the proposed scheme.

Characteristic Model-based Discrete-time Sliding Mode Control for Spacecraft with Variable Tilt of Flexible Structures

In this paper, the finite-time attitude tracking control problem for the spacecrafts with variable tilt of flexible appendages in the conditions of exogenous disturbances and inertia uncertainties is addressed. First the characteristic modeling method is applied to the problem of the spacecraft modeling. Second, a novel adaptive sliding mode surface is designed based on the characteristic model. Furthermore, a discrete-time sliding mode control (DTSMC) law, which makes the tracking error converge into a predefined bound in finite time, is proposed by employing the parameters of characteristic model associated with the sliding mode surface to provide better performances, robustness, faster response, and higher control precision. The designed DTSMC includes the adaptive control architecture and is chattering-free. Finally, digital simulations of a sun synchronous orbit satellite (SSOS) are presented to illustrate effectiveness of the control strategies as well as to verify the practical feasibility of the rapid maneuver mission. © 2014 Chinese Association of Automation.

Robust Modeling, Sliding-Mode Controller, and Simulation of an Underactuated ROV Under Parametric Uncertainties and Disturbances

A dynamic model of a remotely operated vehicle(ROV)is developed.The hydrodynamic damping coefficients are estimated using a semi-predictive approach and computational fluid dynamic software ANSYS-CFX?and WAMIT?.A sliding-mode controller(SMC)is then designed for the ROV model.The controller is subsequently robustified against modeling uncertainties,disturbances,and measurement errors.It is shown that when the system is subjected to bounded uncertainties,the SMC will preserve stability and tracking response.The paper ends with simulation results for a variety of conditions such as disturbances and parametric uncertainties.

Modeling and Robust Backstepping Sliding Mode Control with Adaptive RBFNN for a Novel Coaxial Eight-rotor UAV

This paper focuses on the robust attitude control of a novel coaxial eight-rotor unmanned aerial vehicles (UAV) which has higher drive capability as well as greater robustness against disturbances than quad-rotor UAV. The dynamical and kinematical model for the coaxial eight-rotor UAV is developed, which has never been proposed before. A robust backstepping sliding mode controller (BSMC) with adaptive radial basis function neural network (RBFNN) is proposed to control the attitude of the eightrotor UAV in the presence of model uncertainties and external disturbances. The combinative method of backstepping control and sliding mode control has improved robustness and simplified design procedure benefiting from the advantages of both controllers. The adaptive RBFNN as the uncertainty observer can effectively estimate the lumped uncertainties without the knowledge of their bounds for the eight-rotor UAV. Additionally, the adaptive learning algorithm, which can learn the parameters of RBFNN online and compensate the approximation error, is derived using Lyapunov stability theorem. And then the uniformly ultimate stability of the eight-rotor system is proved. Finally, simulation results demonstrate the validity of the proposed robust control method adopted in the novel coaxial eight-rotor UAV in the case of model uncertainties and external disturbances. © 2014 Chinese Association of Automation.

Micro sliding friction model considering periodic variation stress distribution of contact surface and experimental verification

Micro sliding phenomenon widely exists in the operation process of mechanical systems,and the micro sliding friction mechanism is always a research hotspot.In this work,based on the total reflection method,a measuring device for interface contact behavior under two-dimensional(2D)vibration is built.The stress distribution is characterized by the light intensity distribution of the contact image,and the interface contact behavior in the 2D vibration process is studied.It is found that the vibration angle of the normal direction of the contact surface and its fluctuation affect the interface friction coefficient,the tangential stiffness,and the fluctuation amplitude of the stress distribution.Then they will affect the change of friction state and energy dissipation in the process of micro sliding.Further,an improved micro sliding friction model is proposed based on the experimental analysis,with the nonlinear change of contact parameters caused by the normal contact stress distribution fluctuation taken into account.This model considers the interface tangential stiffness fluctuation,friction coefficient hysteresis,and stress distribution fluctuation,whose simulation results are consistent well with the experimental results.It is found that considering the nonlinear effect of a certain contact parameter alone may bring a greater error to the prediction of friction behavior.Only by integrating multiple contact parameters can the accuracy of friction prediction is improved.

Model-Free Sliding Mode Control for PMSM Drive System Based on Ultra-Local Model

This paper presents a novel model-free sliding mode control(MFSMC)method to improve the speed response of permanent magnet synchronous machine(PMSM)drive system.The ultra-local model(ULM)is first derived based on the input and the output of the PMSM.Then,the novel MFSMC method is presented,and the controller is designed based on ULM and MFSMC.A sliding mode observer(SMO)is constructed to estimate the unknown part of the ULM.The estimated unknown part is feedbacked to MFSMC controller to performcompensation for parameter perturbations and external disturbances.Compared with the sliding mode control(SMC)method,the results of simulation and experiment demonstrate that the presented MFSMC method improves the dynamic response and robustness of the PMSM drive system.