Active fault creep slip induces deformation of rock mass buried deeply in fault zones that significantly affect the operational safety of long linear projects passing through it.Displacement distribution patterns of r...Active fault creep slip induces deformation of rock mass buried deeply in fault zones that significantly affect the operational safety of long linear projects passing through it.Displacement distribution patterns of rock masses in active fault zones which have been investigated previously are the key design basis for such projects.Therefore,a discrete element numerical model with different fault types,slip time,dip angles,and complex geological features was established,and then the creep slip for normal,reverse,and strike-slip faults were simulated to analyze the displacement distribution in the fault rock mass.A disk rotation test system and the corresponding laboratory test method were developed for simulating rock mass displacement induced by creep slippage of faults.A series of rotation tests for softand hard-layered specimens under combined compression and torsional stress were conducted to verify the numerical results and analyze the factors influencing the displacement distribution.An S-shaped displacement distribution independent of fault dip angle was identified corresponding to reverse,normal,and strike-slip faults.The results indicated that the higher the degree of horizontal extrusion,the softer the rock mass at the fault core,and the higher the degree of displacement concentration in the fault core;about 70%of the creep slip displacement occurs within this zone under 100 years of creep slippage.展开更多
An analytical tuning method was proposed for fuzzy PID controller used in Smith predictor in order to extend its application and improve its robustness. The fuzzy PID controller was expressed as a sliding mode control...An analytical tuning method was proposed for fuzzy PID controller used in Smith predictor in order to extend its application and improve its robustness. The fuzzy PID controller was expressed as a sliding mode control. Based on Lyapunov theory, Smith predictor was analyzed in time domain. The parameters of the fuzzy PID controller can be obtained using traditional linear control theory and sliding mode control theory. The simulation experiments were implemented. The simulation results show that the control performance, robustness and stability of the fuzzy PID controller are better than those of the PID controller in Smith predictor.展开更多
A control allocation algorithm based on pseudo-inverse method was proposed for the over-actuated system of four in-wheel motors independently driving and four-wheel steering-by-wire electric vehicles in order to impro...A control allocation algorithm based on pseudo-inverse method was proposed for the over-actuated system of four in-wheel motors independently driving and four-wheel steering-by-wire electric vehicles in order to improve the vehicle stability. The control algorithm was developed using a two-degree-of-freedom(DOF) vehicle model. A pseudo control vector was calculated by a sliding mode controller to minimize the difference between the desired and actual vehicle motions. A pseudo-inverse controller then allocated the control inputs which included driving torques and steering angles of the four wheels according to the pseudo control vector. If one or more actuators were saturated or in a failure state, the control inputs are re-allocated by the algorithm. The algorithm was evaluated in Matlab/Simulink by using an 8-DOF nonlinear vehicle model. Simulations of sinusoidal input maneuver and double lane change maneuver were executed and the results were compared with those for a sliding mode control. The simulation results show that the vehicle controlled by the control allocation algorithm has better stability and trajectory-tracking performance than the vehicle controlled by the sliding mode control. The vehicle controlled by the control allocation algorithm still has good handling and stability when one or more actuators are saturated or in a failure situation.展开更多
Titanium metal matrix composite(Ti-MMC)has excellent features and capabilities which can be considered a potential candidate to replace commercial titanium and superalloys within an extensive range of products and ind...Titanium metal matrix composite(Ti-MMC)has excellent features and capabilities which can be considered a potential candidate to replace commercial titanium and superalloys within an extensive range of products and industrial sectors.Regardless of the superior features in Ti-MMC,however,referring to several factors including high unit cost and existence of rigid and abrasive ceramic particles in the generated matrices of the work part,the Ti-MMC is grouped as extremely difficult to cut with a poor level of machinability.Furthermore,adequate process parameters for machining Ti-MMCs under several lubrication methods are rarely studied.Therefore,adequate knowledge of this regard is strongly demanded.Among machinability attributes,ultrafine particles(UFPs)and fine particles(FPs)have been selected as the main machinability attributes and the factors leading to minimized emission have been studied.According to experimental observations,despite the type of coating used,the use of higher levels of flow rate led to less UFPs,while no significant effects were observed on UFPs.Under similar cutting conditions,higher levels of FPs were recorded under the use of uncoated inserts.Moreover,cutting speed had no significant influence on UFPs;nevertheless,it significantly affects the FPs despite the type of insert used.展开更多
Based on RNG k-ε turbulence model and sliding grid technique, solid-liquid two-phase three-dimensional(3-D) unsteady turbulence of full passage in slurry pump was simulated by means of Fluent software. The effects of...Based on RNG k-ε turbulence model and sliding grid technique, solid-liquid two-phase three-dimensional(3-D) unsteady turbulence of full passage in slurry pump was simulated by means of Fluent software. The effects of unsteady flow characteristics on solid-liquid two-phase flow and pump performance were researched under design condition. The results show that clocking effect has a significant influence on the flow in pump, and the fluctuation of flow velocity and pressure is obvious, particularly near the volute tongue, at the position of small sections of volute and within diffuser. Clocking effect has a more influence on liquid-phase than on solid-phase, and the wake-jet structure of relative velocity of solid-phase is less obvious than liquid-phase near the volute tongue and the impeller passage outlet. The fluctuation of relative velocity of solid-phase flow is 7.6% smaller than liquid-phase flow at the impeller outlet on circular path. Head and radial forces of the impeller are 8.1% and 85.7% of fluctuation, respectively. The results provide a theoretical basis for further research for turbulence, improving efficient, reducing the hydraulic losses and wear. Finally, field tests were carried out to verify the operation and wear of slurry pump.展开更多
In order to investigate wheel slip-sinkage problem, which is important for the design, control and simulation of lunar rovers, experiments were carried out with a wheel-soil interaction test system to measure the sink...In order to investigate wheel slip-sinkage problem, which is important for the design, control and simulation of lunar rovers, experiments were carried out with a wheel-soil interaction test system to measure the sinkage of three types of wheels in dimension with wheel lugs of different heights and numbers under a series of slip ratios (0-0.6). The curves of wheel sinkage versus slip ratio were obtained and it was found that the sinkage with slip ratio of 0.6 is 3-7 times of the static sinkage. Based on the experimental results, the slip-sinkage principle of lunar's rover lugged wheels (including the sinkage caused by longitudinal flow and side flow of soil, and soil digging of wheel lugs) was analyzed, and corresponding calculation equations were derived. All the factors that can cause slip sinkage were considered to improve the conventional wheel-soil interaction model, and a formula of changing the sinkage exponent with the slip ratio was established. Mathematical model for calculating the sinkage of wheel according to vertical load and slip ratio was developed. Calculation results show that this model can predict the slip-sinkage of wheel with high precision, making up the deficiency of Wong-Reece model that mainly reflects longitudinal slip-sinkage.展开更多
基金Project(U1865203)supported by the Key Projects of the Yalong River Joint Fund of the National Natural Science Foundation of ChinaProjects(41941018,51879135)supported by the National Natural Science Foundation of China。
文摘Active fault creep slip induces deformation of rock mass buried deeply in fault zones that significantly affect the operational safety of long linear projects passing through it.Displacement distribution patterns of rock masses in active fault zones which have been investigated previously are the key design basis for such projects.Therefore,a discrete element numerical model with different fault types,slip time,dip angles,and complex geological features was established,and then the creep slip for normal,reverse,and strike-slip faults were simulated to analyze the displacement distribution in the fault rock mass.A disk rotation test system and the corresponding laboratory test method were developed for simulating rock mass displacement induced by creep slippage of faults.A series of rotation tests for softand hard-layered specimens under combined compression and torsional stress were conducted to verify the numerical results and analyze the factors influencing the displacement distribution.An S-shaped displacement distribution independent of fault dip angle was identified corresponding to reverse,normal,and strike-slip faults.The results indicated that the higher the degree of horizontal extrusion,the softer the rock mass at the fault core,and the higher the degree of displacement concentration in the fault core;about 70%of the creep slip displacement occurs within this zone under 100 years of creep slippage.
基金Project(70473068) supported by the National Natural Science Foundation of ChinaProject(05JZD00024) supported by the Major Subject of Ministry of Education, China
文摘An analytical tuning method was proposed for fuzzy PID controller used in Smith predictor in order to extend its application and improve its robustness. The fuzzy PID controller was expressed as a sliding mode control. Based on Lyapunov theory, Smith predictor was analyzed in time domain. The parameters of the fuzzy PID controller can be obtained using traditional linear control theory and sliding mode control theory. The simulation experiments were implemented. The simulation results show that the control performance, robustness and stability of the fuzzy PID controller are better than those of the PID controller in Smith predictor.
基金Project(51175015)supported by the National Natural Science Foundation of ChinaProject(2012AA110904)supported by the National High Technology Research and Development Program of China
文摘A control allocation algorithm based on pseudo-inverse method was proposed for the over-actuated system of four in-wheel motors independently driving and four-wheel steering-by-wire electric vehicles in order to improve the vehicle stability. The control algorithm was developed using a two-degree-of-freedom(DOF) vehicle model. A pseudo control vector was calculated by a sliding mode controller to minimize the difference between the desired and actual vehicle motions. A pseudo-inverse controller then allocated the control inputs which included driving torques and steering angles of the four wheels according to the pseudo control vector. If one or more actuators were saturated or in a failure state, the control inputs are re-allocated by the algorithm. The algorithm was evaluated in Matlab/Simulink by using an 8-DOF nonlinear vehicle model. Simulations of sinusoidal input maneuver and double lane change maneuver were executed and the results were compared with those for a sliding mode control. The simulation results show that the vehicle controlled by the control allocation algorithm has better stability and trajectory-tracking performance than the vehicle controlled by the sliding mode control. The vehicle controlled by the control allocation algorithm still has good handling and stability when one or more actuators are saturated or in a failure situation.
基金financial support received from Fonds Québécois de la Recherche sur la Nature et les Technologies (FQRNT)
文摘Titanium metal matrix composite(Ti-MMC)has excellent features and capabilities which can be considered a potential candidate to replace commercial titanium and superalloys within an extensive range of products and industrial sectors.Regardless of the superior features in Ti-MMC,however,referring to several factors including high unit cost and existence of rigid and abrasive ceramic particles in the generated matrices of the work part,the Ti-MMC is grouped as extremely difficult to cut with a poor level of machinability.Furthermore,adequate process parameters for machining Ti-MMCs under several lubrication methods are rarely studied.Therefore,adequate knowledge of this regard is strongly demanded.Among machinability attributes,ultrafine particles(UFPs)and fine particles(FPs)have been selected as the main machinability attributes and the factors leading to minimized emission have been studied.According to experimental observations,despite the type of coating used,the use of higher levels of flow rate led to less UFPs,while no significant effects were observed on UFPs.Under similar cutting conditions,higher levels of FPs were recorded under the use of uncoated inserts.Moreover,cutting speed had no significant influence on UFPs;nevertheless,it significantly affects the FPs despite the type of insert used.
基金Project(51375498)supported by the National Natural Science Foundation of China
文摘Based on RNG k-ε turbulence model and sliding grid technique, solid-liquid two-phase three-dimensional(3-D) unsteady turbulence of full passage in slurry pump was simulated by means of Fluent software. The effects of unsteady flow characteristics on solid-liquid two-phase flow and pump performance were researched under design condition. The results show that clocking effect has a significant influence on the flow in pump, and the fluctuation of flow velocity and pressure is obvious, particularly near the volute tongue, at the position of small sections of volute and within diffuser. Clocking effect has a more influence on liquid-phase than on solid-phase, and the wake-jet structure of relative velocity of solid-phase is less obvious than liquid-phase near the volute tongue and the impeller passage outlet. The fluctuation of relative velocity of solid-phase flow is 7.6% smaller than liquid-phase flow at the impeller outlet on circular path. Head and radial forces of the impeller are 8.1% and 85.7% of fluctuation, respectively. The results provide a theoretical basis for further research for turbulence, improving efficient, reducing the hydraulic losses and wear. Finally, field tests were carried out to verify the operation and wear of slurry pump.
基金Project(50975059) supported by the National Natural Science Foundation of ChinaProject(2006AA04Z231) supported by the National High-Tech Research and Development Program of China+2 种基金Project(ZJG0709) supported by Key Natural Science Foundation of Heilongjiang Province of ChinaProject(B07018) supported by the Program of Introducing Talents of Discipline to UniversityProject (SKLRS200801A02) supported by Chinese State Key Laboratory of Robotics and System Foundation
文摘In order to investigate wheel slip-sinkage problem, which is important for the design, control and simulation of lunar rovers, experiments were carried out with a wheel-soil interaction test system to measure the sinkage of three types of wheels in dimension with wheel lugs of different heights and numbers under a series of slip ratios (0-0.6). The curves of wheel sinkage versus slip ratio were obtained and it was found that the sinkage with slip ratio of 0.6 is 3-7 times of the static sinkage. Based on the experimental results, the slip-sinkage principle of lunar's rover lugged wheels (including the sinkage caused by longitudinal flow and side flow of soil, and soil digging of wheel lugs) was analyzed, and corresponding calculation equations were derived. All the factors that can cause slip sinkage were considered to improve the conventional wheel-soil interaction model, and a formula of changing the sinkage exponent with the slip ratio was established. Mathematical model for calculating the sinkage of wheel according to vertical load and slip ratio was developed. Calculation results show that this model can predict the slip-sinkage of wheel with high precision, making up the deficiency of Wong-Reece model that mainly reflects longitudinal slip-sinkage.
