Predicting impact forces on pipelines from deep-sea fluidized slides:A comprehensive review of key factors

Deep-sea pipelines play a pivotal role in seabed mineral resource development,global energy and resource supply provision,network communication,and environmental protection.However,the placement of these pipelines on the seabed surface exposes them to potential risks arising from the complex deep-sea hydrodynamic and geological environment,particularly submarine slides.Historical incidents have highlighted the substantial damage to pipelines due to slides.Specifically,deep-sea fluidized slides(in a debris/mud flow or turbidity current physical state),characterized by high speed,pose a significant threat.Accurately assessing the impact forces exerted on pipelines by fluidized submarine slides is crucial for ensuring pipeline safety.This study aimed to provide a comprehensive overview of recent advancements in understanding pipeline impact forces caused by fluidized deep-sea slides,thereby identifying key factors and corresponding mechanisms that influence pipeline impact forces.These factors include the velocity,density,and shear behavior of deep-sea fluidized slides,as well as the geometry,stiffness,self-weight,and mechanical model of pipelines.Additionally,the interface contact conditions and spatial relations were examined within the context of deep-sea slides and their interactions with pipelines.Building upon a thorough review of these achievements,future directions were proposed for assessing and characterizing the key factors affecting slide impact loading on pipelines.A comprehensive understanding of these results is essential for the sustainable development of deep-sea pipeline projects associated with seabed resource development and the implementation of disaster prevention measures.

An approach for determination of lateral limit angle in kinematic planar sliding analysis for rock slopes

Planar sliding is one of the frequently observed types of failure in rock slopes.Kinematic analysis is a classic and widely used method to examine the potential failure modes in rock masses.The accuracy of planar sliding kinematic analysis is significantly influenced by the value assigned to the lateral limit angleγlim.However,the assignment ofγlim is currently used generally based on an empirical criterion.This study aims to propose an approach for determining the value ofγlim in deterministic and probabilistic kinematic planar sliding analysis.A new perspective is presented to reveal thatγlim essentially influences the probability of forming a potential planar sliding block.The procedure to calculate this probability is introduced using the block theory method.It is found that the probability is correlated with the number of discontinuity sets presented in rock masses.Thus,different values ofγlim for rock masses with different sets of discontinuities are recommended in both probabilistic and deterministic planar sliding kinematic analyses;whereas a fixed value ofγlim is commonly assigned to different types of rock masses in traditional method.Finally,an engineering case was used to compare the proposed and traditional kinematic analysis methods.The error rates of the traditional method vary from 45%to 119%,while that of the proposed method ranges between 1%and 17%.Therefore,it is likely that the proposed method is superior to the traditional one.

A Novel Disturbance Observer Based Fixed-Time Sliding Mode Control for Robotic Manipulators With Global Fast Convergence

This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators.First,a fixed-time disturbance observer(FTDO) is designed to deal with the adverse effects of model uncertainties and external disturbances in the manipulator systems.Then an adaptive scheme is used and the adaptive FTDO(AFTDO) is developed,so that the priori knowledge of the lumped disturbance is not required.Further,a new non-singular fast terminal sliding mode(NFTSM) surface is designed by using an arctan function,which helps to overcome the singularity problem and enhance the robustness of the system.Based on the estimation of the lumped disturbance by the AFTDO,a fixed-time non-singular fast terminal sliding mode controller(FTNFTSMC)is developed to guarantee the trajectory tracking errors converge to zero within a fixed time.The settling time is independent of the initial state of the system.In addition,the stability of the AFTDO and FTNFTSMC is strictly proved by using Lyapunov method.Finally,the fixed-time NFESM(FTNFTSM) algorithm is validated on a 2-link manipulator and comparisons with other existing sliding mode controllers(SMCs) are performed.The comparative results confirm that the FTNFTSMC has superior control performance.

Design of integral sliding mode guidance law based on disturbance observer

With the increasing precision of guidance,the impact of autopilot dynamic characteristics and target maneuvering abilities on precision guidance is becoming more and more significant.In order to reduce or even eliminate the autopilot dynamic operation and the target maneuvering influence,this paper suggests a guidance system model involving a novel integral sliding mode guidance law(ISMGL).The method utilizes the dynamic characteristics and the impact angle,combined with a sliding mode surface scheme that includes the desired line-ofsight angle,line-of-sight angular rate,and second-order differential of the angular line-of-sight.At the same time,the evaluation scenario considere the target maneuvering in the system as the external disturbance,and the non-homogeneous disturbance observer estimate the target maneuvering as a compensation of the guidance command.The proposed system’s stability is proven based on the Lyapunov stability criterion.The simulations reveale that ISMGL effectively intercepted large maneuvering targets and present a smaller miss-distance compared with traditional linear sliding mode guidance laws and trajectory shaping guidance laws.Furthermore,ISMGL has a more accurate impact angle and fast convergence speed.

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。

Fixed-Time Sliding Mode Control With Varying Exponent Coefficient for Modular Reconfigurable Flight Arrays

The modular system can change its physical structure by self-assembly and self-disassembly between modules to dynamically adapt to task and environmental requirements. Recognizing the adaptive capability of modular systems, we introduce a modular reconfigurable flight array(MRFA) to pursue a multifunction aircraft fitting for diverse tasks and requirements,and investigate the attitude control and the control allocation problem by using the modular reconfigurable flight array as a platform. First, considering the variable and irregular topological configuration of the modular array, a center-of-mass-independent flight array dynamics model is proposed to allow control allocation under over-actuated situations. Secondly, in order to meet the stable, fast and accurate attitude tracking performance of the MRFA, a fixed-time convergent sliding mode controller with state-dependent variable exponent coefficients is proposed to ensure fast convergence rate both away from and near the system equilibrium point without encountering the singularity. It is shown that the controller also has fixed-time convergent characteristics even in the presence of external disturbances. Finally,simulation results are provided to demonstrate the effectiveness of the proposed modeling and control strategies.

Asynchronous Learning-Based Output Feedback Sliding Mode Control for Semi-Markov Jump Systems: A Descriptor Approach

This paper presents an asynchronous output-feed-back control strategy of semi-Markovian systems via sliding mode-based learning technique.Compared with most literature results that require exact prior knowledge of system state and mode information,an asynchronous output-feedback sliding sur-face is adopted in the case of incompletely available state and non-synchronization phenomenon.The holonomic dynamics of the sliding mode are characterized by a descriptor system in which the switching surface is regarded as the fast subsystem and the system dynamics are viewed as the slow subsystem.Based upon the co-occurrence of two subsystems,the sufficient stochastic admissibility criterion of the holonomic dynamics is derived by utilizing the characteristics of cumulative distribution functions.Furthermore,a recursive learning controller is formulated to guarantee the reachability of the sliding manifold and realize the chattering reduction of the asynchronous switching and sliding motion.Finally,the proposed theoretical method is substantia-ted through two numerical simulations with the practical contin-uous stirred tank reactor and F-404 aircraft engine model,respectively.

Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach

The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external disturbances.This paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for NWMRs.Compared with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances bounds.Another advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier function.The benefit is that the overestimation of control gain can be eliminated,resulting in chattering reduction.Moreover,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the actuator.The stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.

Robust design of sliding mode control for airship trajectory tracking with uncertainty and disturbance estimation

The robotic airship can provide a promising aerostatic platform for many potential applications.These applications require a precise autonomous trajectory tracking control for airship.Airship has a nonlinear and uncertain dynamics.It is prone to wind disturbances that offer a challenge for a trajectory tracking control design.This paper addresses the airship trajectory tracking problem having time varying reference path.A lumped parameter estimation approach under model uncertainties and wind disturbances is opted against distributed parameters.It uses extended Kalman filter(EKF)for uncertainty and disturbance estimation.The estimated parameters are used by sliding mode controller(SMC)for ultimate control of airship trajectory tracking.This comprehensive algorithm,EKF based SMC(ESMC),is used as a robust solution to track airship trajectory.The proposed estimator provides the estimates of wind disturbances as well as model uncertainty due to the mass matrix variations and aerodynamic model inaccuracies.The stability and convergence of the proposed method are investigated using the Lyapunov stability analysis.The simulation results show that the proposed method efficiently tracks the desired trajectory.The method solves the stability,convergence,and chattering problem of SMC under model uncertainties and wind disturbances.

Adaptive state-constrained/model-free iterative sliding mode control for aerial robot trajectory tracking

This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter uncertainties.The hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external disturbances.Additionally,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial robots.Then,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system state.Finally,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and SMC.The simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.

Control system design for a pressure-tube-type supercritical water-cooled nuclear reactor via a higher order sliding mode method

Nuclear power plants exhibit non-linear and time-variable dynamics.Therefore,designing a control system that sets the reactor power and forces it to follow the desired load is complicated.A supercritical water reactor(SCWR)is a fourth-generation conceptual reactor.In an SCWR,the non-linear dynamics of the reactor require a controller capable of control-ling the nonlinearities.In this study,a pressure-tube-type SCWR was controlled during reactor power maneuvering with a higher order sliding mode,and the reactor outgoing steam temperature and pressure were controlled simultaneously.In an SCWR,the temperature,pressure,and power must be maintained at a setpoint(desired value)during power maneuvering.Reactor point kinetics equations with three groups of delayed neutrons were used in the simulation.Higher-order and classic sliding mode controllers were separately manufactured to control the plant and were compared with the PI controllers speci-fied in previous studies.The controlled parameters were reactor power,steam temperature,and pressure.Notably,for these parameters,the PI controller had certain instabilities in the presence of disturbances.The classic sliding mode controller had a higher accuracy and stability;however its main drawback was the chattering phenomenon.HOSMC was highly accurate and stable and had a small computational cost.In reality,it followed the desired values without oscillations and chattering.

Control method based on DRFNN sliding mode for multifunctional flexible multistate switch

To address the low accuracy and stability when applying classical control theory in distribution networks with distributed generation,a control method involving flexible multistate switches(FMSs)is proposed in this study.This approach is based on an improved double-loop recursive fuzzy neural network(DRFNN)sliding mode,which is intended to stably achieve multiterminal power interaction and adaptive arc suppression for single-phase ground faults.First,an improved DRFNN sliding mode control(SMC)method is proposed to overcome the chattering and transient overshoot inherent in the classical SMC and reduce the reliance on a precise mathematical model of the control system.To improve the robustness of the system,an adaptive parameter-adjustment strategy for the DRFNN is designed,where its dynamic mapping capabilities are leveraged to improve the transient compensation control.Additionally,a quasi-continuous second-order sliding mode controller with a calculus-driven sliding mode surface is developed to improve the current monitoring accuracy and enhance the system stability.The stability of the proposed method and the convergence of the network parameters are verified using the Lyapunov theorem.A simulation model of the three-port FMS with its control system is constructed in MATLAB/Simulink.The simulation result confirms the feasibility and effectiveness of the proposed control strategy based on a comparative analysis.

Trajectory tracking guidance of interceptor via prescribed performance integral sliding mode with neural network disturbance observer

This paper investigates interception missiles’trajectory tracking guidance problem under wind field and external disturbances in the boost phase.Indeed,the velocity control in such trajectory tracking guidance systems of missiles is challenging.As our contribution,the velocity control channel is designed to deal with the intractable velocity problem and improve tracking accuracy.The global prescribed performance function,which guarantees the tracking error within the set range and the global convergence of the tracking guidance system,is first proposed based on the traditional PPF.Then,a tracking guidance strategy is derived using the integral sliding mode control techniques to make the sliding manifold and tracking errors converge to zero and avoid singularities.Meanwhile,an improved switching control law is introduced into the designed tracking guidance algorithm to deal with the chattering problem.A back propagation neural network(BPNN)extended state observer(BPNNESO)is employed in the inner loop to identify disturbances.The obtained results indicate that the proposed tracking guidance approach achieves the trajectory tracking guidance objective without and with disturbances and outperforms the existing tracking guidance schemes with the lowest tracking errors,convergence times,and overshoots.

Enhanced Fuzzy Logic Control Model and Sliding Mode Based on Field Oriented Control of Induction Motor

In the context of induction motor control, there are various control strategies used to separately control torque and flux. One common approach is known as Field-Oriented Control (FOC). This technique involves transforming the three-phase currents and voltages into a rotating reference frame, commonly referred to as the “dq” frame. In this frame, the torque/speed and flux components are decoupled, allowing for independent control, by doing so, the motor’s speed can be regulated accurately and maintain a constant flux which is crucial to ensure optimal motor performance and efficiency. The research focused on studying and simulating a field-oriented control system using fuzzy control techniques for an induction motor. The aim was to address the issue of parameter variations, particularly the change in rotor resistance during motor operation, which causes the control system to deviate from the desired direction. This deviation implies to an increase in the magnetic flux value, specifically the flux component on the q-axis. By employing fuzzy logic techniques to regulate flux vector’s components in the dq frame, this problem was successfully resolved, ensuring that the magnetic flux value remains within the nominal limits. To enhance the control system’s performance, response speed, and efficiency of the motor, sliding mode controllers were implemented to regulate the current in the inner loop. The simulation results demonstrated the proficiency of the proposed methodology.

基于Slide2的某铁矿尾矿库坝体稳定性分析

尾矿库是冶金矿山的重要附属设施,一旦失事将造成严重的环境污染和重大损失,尾矿库安全的核心在于尾矿坝是否稳定。通过采用Slide2软件,根据岩土工程勘察资料,建立山西某铁矿尾矿库坝体典型剖面的二维数值模型,对坝体三种运行工况下的渗流稳定性和坝坡稳定性进行分析,以确定尾矿库的安全性,并分析Slide2软件应用于尾矿坝稳定性分析中的可靠性和功能性。

支气管镜在儿童Slide气管成形术中的应用

目的 总结支气管镜在儿童Slide气管成形术中的作用。方法 回顾性分析2017—2020年湖南省人民医院收治的4例气管狭窄患儿的诊疗经过,总结支气管镜在Slide气管成形术术前评估、术中定位与测量及术后创面评估和治疗中的作用。结果 Slide气管成形术术前支气管镜评估显示,4例患儿中3例存在完全气管环,2例合并肺动脉吊带,2例存在多处狭窄。3例在该院完成Slide气管成形术,术中支气管镜下判断狭窄段中点及测量狭窄段长度,协助离断气管狭窄段,术后灌洗明确病原;1例外院Slide气管成形术术后9个月出现瘢痕牵拉,经支气管镜下介入治疗好转。2例术后第4天支气管镜下发现气管黏膜改变,调整治疗方案;2例术后1个月出现肉芽增生,经支气管镜下冷冻治疗好转。1例因吻合口坏死放弃治疗死亡,存活的3例随访6个月以上,预后可,但均存在气管支气管软化。结论 支气管镜可用于气管狭窄患儿Slide气管成形术的管理,有助于术后康复及随访。

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,

Landslide distribution and sliding mode control along the Anninghe fault zone at the eastern edge of the Tibetan Plateau

Tibetan Plateau is known as the roof of the world.Due to the continuous uplift of the Tibetan Plateau,many active fault zones are present.These active fault zones such as the Anninghe fault zone have a significant influence on the formation of special geomorphology and the distribution of geological hazards at the eastern edge of the Tibetan Plateau.The Anninghe fault zone is a key part of the Y-shaped fault pattern in the Sichuan-Yunnan block of China.In this paper,high-resolution topographic data,multitemporal remote sensing images,numerical calculations,seismic records,and comprehensive field investigations were employed to study the landslide distribution along the active part of the Anninghe.The influence of active faults on the lithology,rock mass structures and slope stress fields were also studied.The results show that the faults within the Anninghe fault zone have damaged the structure and integrity of the slope rock mass,reduced the mechanical strength of the rock mass and controlled the slope failure modes.The faults have also controlled the stress field,the distribution of the plastic strain zone and the maximum shear strain zone of the slope,thus have promoted the formation and evolution of landslides.We find that the studied landslides are linearly distributed along the Anninghe fault zone,and more than 80%of these landslides are within 2–3 km of the fault rupture zone.Moreover,the Anninghe fault zone provides abundant substance for landslides or debris flows.This paper presents four types of sliding mode control of the Anninghe fault zone,e.g.,constituting the whole landslide body,controlling the lateral boundary of the landslide,controlling the crown of the landslide,and constituting the toe of the landslide.The results presented merit close attention as a valuable reference source for local infrastructure planning and engineering projects.

HL-2A托卡马克上slide-away放电特征研究

托卡马克装置上等离子体不稳定性会被非麦克斯韦分布的逃逸电子激发。逃逸电子在特定条件下会与不稳定性发生反常多普勒共振,此共振结果将降低逃逸电子的能量,减小对装置造成的危害。本文利用电子回旋辐射(ECE)等诊断系统分析了HL-2A上slide-away放电中反常多普勒共振特征。实验结果表明:slide-away放电模式下ECE信号主要有台阶型、指数型、指数-台阶型和双波型4类波形。统计显示不稳定性阈值与等离子体电流以及磁场强度值无线性关系。反常多普勒不稳定性阈值(ωpe/ωce)统计分布范围约为0.17~0.80,其中最高值分布范围为0.35~0.40。

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.