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SEDIMENTARY PROCESS OF THE CENOZOIC BASIN AND ITS RESPONSE TO THE SLIP-HISTORY OF THE ALTYN TAGH FAULT, NW CHINA 被引量:1
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作者 Chen Zhengle 1, Zhang Yueqiao 1, Chen Xuanhua 1,Wang Xiaofeng 1, Z.Washburn 2,J.Arrowsmith 2 2.Department of Geology, Arizona State Unive 《地学前缘》 EI CAS CSCD 2000年第S1期245-246,共2页
The NEE\|striking Altyn Tagh Fault (ATF) has been well known as one major point to know the growth history of the Tibetan plateau. Lots of investigations done since 1970’s were mostly focus on active features, partic... The NEE\|striking Altyn Tagh Fault (ATF) has been well known as one major point to know the growth history of the Tibetan plateau. Lots of investigations done since 1970’s were mostly focus on active features, particularly on determining slip, slip rate and their distribution along the fault. However, Cenozoic slip\|history of this fault remains poorly understood, and the age of initiation and total offset are controversial. Several Cenozoic sedimentary basins develop in Suo’erkulinan to Mangya regions (Fig.1). Their sedimentary processes are closely related with the ATF. The studies of the Neogene sedimentary sequences and the reconstruction of the paleo\|geography are essential to establish the displacement history of the fault during Late Cenozoic.Located at the southern side of the ATF, the Suo’erkulinan basin consists of more than 600\|meter\|thick Pliocene Shizigou Formation below and about 120\|meter\|thick Early to Middle Pleistocene Qigequan Formation above according to the 1∶200000 geological map by Xinjiang Province. An obvious erosional surface can be seen on the top of the lower sequence. Sediments in the Shizigou Formation are characterized by 400\|meter\|thick yellow to red cobble\|sized conglomerates in the bottom, up\|grading to sandstones and grey\|green mudstones. This indicated that the sedimentary facies changed from alluvial fan to fluvial fan and sediments became more and more mature. The upper sequence, the Qigequan Formation, corresponds to an alluvial facies series composed of yellow to white cobble\|sized conglomerates intercalated with lenticular sandstones. Paleo\|current indicators showed that the Shizhigou conglomeratic series were sourced from northwest. Well\|developed syn\|sedimentary faults, normal faults mostly inherited from syn\|sedimentary faults, and some striation lineations on the surface indicated transtensional tectonic environment of the strike\|slip faulting. 展开更多
关键词 Altyn Tagh fault CENOZOIC BASINS SEDIMENTARY PROCESS slip\| history reconstruction of the paleo\|geography
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An improved limit equilibrium method for rock slope stability analysis under stress-based calculation mode for slip surface
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作者 DENG Dong-ping ZHANG Dian +1 位作者 PENG Yi-hang CHEN Hao-yu 《Journal of Central South University》 2025年第1期262-287,共26页
This study proposes an alternative calculation mode for stresses on the slip surface(SS).The calculation of the normal stress(NS)on the SS involves examining its composition and expanding its unknown using the Taylor ... This study proposes an alternative calculation mode for stresses on the slip surface(SS).The calculation of the normal stress(NS)on the SS involves examining its composition and expanding its unknown using the Taylor series.This expansion enables the reasonable construction of a function describing the NS on the SS.Additionally,by directly incorporating the nonlinear Generalized Hoke-Brown(GHB)strength criterion and utilizing the slope factor of safety(FOS)definition,a function of the shear stress on the SS is derived.This function considers the mutual feedback mechanism between the NS and strength parameters of the SS.The stress constraints conditions are then introduced at both ends of the SS based on the spatial stress relation of one point.Determining the slope FOS and stress solution for the SS involves considering the mechanical equilibrium conditions and the stress constraint conditions satisfied by the sliding body.The proposed approach successfully simulates the tension-shear stress zone near the slope top and provides an intuitive description of the concentration effect of compression-shear stress of the SS near the slope toe.Furthermore,compared to other methods,the present method demonstrates superior processing capabilities for the embedded nonlinear GHB strength criterion. 展开更多
关键词 stability of rock slope nonlinear GHB strength criterion limit equilibrium method stress function on slip surface stress constraint conditions at both ends of slip surface
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Time-SLIP、CE-MRA、DSA在颈动脉斑块管腔狭窄检查的对照研究 被引量:13
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作者 周东晓 王雨 +1 位作者 陈杰 黄丙仓 《中国医学计算机成像杂志》 CSCD 北大核心 2017年第4期314-319,共6页
目的:评估Time-SLIP血管成像的成像质量,评价Time-SLIP、CE-MRA以及DSA在颈动脉狭窄度评估方面的差异。方法:(1)35例具有颈动脉斑块的患者先后使用磁共振进行Time-SLIP和CE-MRA扫描,其中10例患者三天后进一步行颈动脉DSA检查。(2)在获取... 目的:评估Time-SLIP血管成像的成像质量,评价Time-SLIP、CE-MRA以及DSA在颈动脉狭窄度评估方面的差异。方法:(1)35例具有颈动脉斑块的患者先后使用磁共振进行Time-SLIP和CE-MRA扫描,其中10例患者三天后进一步行颈动脉DSA检查。(2)在获取Time-SLIP和CE-MRA颈动脉血管图像后分别由两位副高级影像诊断医师对每幅图像质量、组织污染情况进行技术评分。(3)对Time-SLIP、CEMRA显示的血管数量进行评价。(4)对其中进行过DSA检查的10例患者,以NASCET法计算上述三种方法显示的颈动脉血管狭窄率。结果:(1)35例患者,Time-SLIP组和CE-MRA组中,图像质量为3分以上者分别占94.2%、97.1%;组织污染评分小于等于1分者分别占88.6%、82.9%;双侧颈动脉总共210条血管,Time-SLIP和CE-MRA分别显示两侧颈总动脉、颈内动脉及颈外动脉血管为199/210条和202/210条,其符合率分别为94.8%和96.2%。上述诊断两位医师的一致性较高,Kappa值>0.80,两种方法的差异无统计学意义(P>0.05)。(2)其中接受DSA检查的10例患者,以DSA诊断为金标准,在颈动脉狭窄的诊断中Time-SLIP诊断的敏感性92.31%,特异性97.87%,准确性96.67%,Kappa=0.90;CE-MRA诊断的敏感性100%,特异性97.87%,准确率98.33%,Kappa=0.95。结论:(1)Time-SLIP是一种无创MRA成像技术,成像质量较好。(2)Time-SLIP可以用于颈动脉狭窄评估。(3)由于Time-SLIP技术能有效提示管腔狭窄程度,因此其有较高的临床应用价值。 展开更多
关键词 颈动脉 磁共振成像 Time—slip CE—MRA DSA
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HiSLIP协议的原理及机制剖析 被引量:1
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作者 庞新法 《现代电子技术》 北大核心 2015年第17期41-44,48,共5页
为了对Hi SLIP协议的网络化仪器编程建立理论基础并方便编程,通过分析该协议的结构和功能、消息格式、交互过程以及标志,提出了语法规则,参数含义,编程过程,初始化连接,请求锁和释放锁,最大消息尺寸,传输数据请求,服务及状态请求,消息... 为了对Hi SLIP协议的网络化仪器编程建立理论基础并方便编程,通过分析该协议的结构和功能、消息格式、交互过程以及标志,提出了语法规则,参数含义,编程过程,初始化连接,请求锁和释放锁,最大消息尺寸,传输数据请求,服务及状态请求,消息可用标志等,在局域网环境下,实现了两台示波器之间的通信,从而解决了测量系统中网络化仪器间难以协同工作,进而限制测量系统测量效率的问题。 展开更多
关键词 网络化仪器 HI slip协议 通信 TCP连接
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基于SLIP模型的液压驱动单腿机器人竖直跳跃控制 被引量:2
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作者 陈志伟 金波 +3 位作者 朱世强 庞云天 黄翰林 陈刚 《中南大学学报(自然科学版)》 EI CAS CSCD 北大核心 2018年第1期72-79,共8页
针对液压驱动足式机器人竖直跳跃控制,提出一种基于SLIP竖直跳跃动力学模型实现液压驱动机器人竖直跳跃的控制策略。分析SLIP竖直跳跃动力学模型并求解其动力学微分方程得到质心运动轨迹,将关节型单腿机器人竖直跳跃髋部的运动轨迹映射... 针对液压驱动足式机器人竖直跳跃控制,提出一种基于SLIP竖直跳跃动力学模型实现液压驱动机器人竖直跳跃的控制策略。分析SLIP竖直跳跃动力学模型并求解其动力学微分方程得到质心运动轨迹,将关节型单腿机器人竖直跳跃髋部的运动轨迹映射到SLIP模型质心的运动轨迹,通过机器人运动学逆解得到机器人关节运动轨迹,以此驱动关节运动;同时建立关节型单腿机器人竖直跳跃动力学方程和液压驱动执行器动力学方程,应用MATLAB/Simulink软件进行动态跳跃控制仿真并进行样机试验。研究结果表明:基于SLIP竖直跳跃动力学模型的控制策略可实现液压驱动单腿机器人持续稳定的竖直跳跃,为足式机器人动态步态行走控制研究提供参考。 展开更多
关键词 弹簧倒立摆 单腿机器人 液压驱动 竖直跳跃
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Trumpet Winsock SLIP/PPP线路适应分析与调节
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作者 肖庆 李肖坚 《广西师范大学学报(自然科学版)》 CAS 1998年第2期92-97,共6页
通过对PPP/SLIP协议在支撑Dialup软件TrumpetWinsock的分析,从原理出发,对物理/逻辑线路的速度、质量、干扰以及个人计算机(PC)相互制约的参数进行分析、验证,得出具体PPP/SLIP调节和性能... 通过对PPP/SLIP协议在支撑Dialup软件TrumpetWinsock的分析,从原理出发,对物理/逻辑线路的速度、质量、干扰以及个人计算机(PC)相互制约的参数进行分析、验证,得出具体PPP/SLIP调节和性能优化方案. 展开更多
关键词 PPP/slip TCP/IP 拨号入网 校园风 电话线
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带基础隔震器结构的Stick-slip运动模型 被引量:2
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作者 冯奇 张相庭 《同济大学学报(自然科学版)》 EI CAS CSCD 北大核心 2000年第4期430-433,共4页
带基础隔振器结构的Stick-slip运动研究是一个很年轻的课题.有关文献指出:带可滑动基础的结构存在Stick-slip运动的可能,它将导致结构失稳以及由此引起疲劳破坏,因此该类结构的Stick-slip运动研究是... 带基础隔振器结构的Stick-slip运动研究是一个很年轻的课题.有关文献指出:带可滑动基础的结构存在Stick-slip运动的可能,它将导致结构失稳以及由此引起疲劳破坏,因此该类结构的Stick-slip运动研究是有价值的.据此,调查了在地震作用下带滑动基础或基础隔振器结构,并建立其Stick-slip运动的离散动力学模型,指出了系统的复杂的非线性特性. 展开更多
关键词 基础隔振器 离散动力学 抗震设计
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两自由度随机干摩擦系统的Stick-slip运动 被引量:2
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作者 温建明 冯奇 《科学技术与工程》 2010年第6期1341-1346,共6页
研究具有两个摩擦面的两自由度系统,引入随机摩擦模型,考虑摩擦力的随机特性,建立了系统的随机动力学模型。通过解耦,将系统分为确定性运动和随机运动的叠加。采用事件驱动法确定系统的运动状态,是全局stick状态,还是全局slip状态,或者... 研究具有两个摩擦面的两自由度系统,引入随机摩擦模型,考虑摩擦力的随机特性,建立了系统的随机动力学模型。通过解耦,将系统分为确定性运动和随机运动的叠加。采用事件驱动法确定系统的运动状态,是全局stick状态,还是全局slip状态,或者是一个slip状态而另一个stick状态。在确定的Stick-slip运动状态下,分别求解确定性方程的解和随机方程的均值。实例分析发现,阻尼可以改变摩擦系统的运动模式跃迁的周期特性。噪声摄动改变了Stick-slip运动的运动模式,可以通过噪声摄动控制Stick-slip运动。 展开更多
关键词 干摩擦 随机 Stick-slip运动
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测定建材散发关键参数的密闭舱C-history方法与其他方法的比较 被引量:5
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作者 黄少丹 熊建银 张寅平 《化工学报》 EI CAS CSCD 北大核心 2012年第S1期194-198,共5页
室内建材中散发的挥发性有机物(VOC)所引起的空气品质问题显著影响着人们的健康、舒适和工作效率。目前有不少测定建材VOC散发3大关键参数(初始可散发浓度、分配系数和扩散系数)的密闭舱方法,本文将最近提出的密闭舱C-history方法与其... 室内建材中散发的挥发性有机物(VOC)所引起的空气品质问题显著影响着人们的健康、舒适和工作效率。目前有不少测定建材VOC散发3大关键参数(初始可散发浓度、分配系数和扩散系数)的密闭舱方法,本文将最近提出的密闭舱C-history方法与其他密闭舱测定散发关键参数的方法(多次散发回归法、多平衡态回归法及多气固比法)进行了比较研究。结果表明,密闭舱C-history方法与其他测试方法对于所选建材中目标VOC散发关键参数测定的最大偏差均不超过25%。而密闭舱C-history方法只需在密闭舱中对建材执行一次散发过程即可求得上述3大关键参数,通常不超过3d,大大节省了实验时间,因而比其他方法更便于工程应用。 展开更多
关键词 室内空气品质 挥发性有机物(VOC) 散发关键参数 密闭舱 C-history方法
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一种流量自适应的iSLIP算法 被引量:1
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作者 王景存 张晓彤 +1 位作者 谢馨艾 刘兰军 《北京工业大学学报》 CAS CSCD 北大核心 2007年第2期219-224,共6页
针对iSLIP(iterative round robin matching with slip)算法在处理突发业务时性能严重恶化的问题,在iSLIP算法的基础上提出了一种流量自适应的时隙间迭代算法TA-iSLIP(traffic adaptive iSLIP).该算法根据队列长度智能判断当前流量情况... 针对iSLIP(iterative round robin matching with slip)算法在处理突发业务时性能严重恶化的问题,在iSLIP算法的基础上提出了一种流量自适应的时隙间迭代算法TA-iSLIP(traffic adaptive iSLIP).该算法根据队列长度智能判断当前流量情况,采取不同的调度策略,充分利用已经匹配的资源,使系统的匹配开销尽可能减小.并给出了TA-iSLIP的算法描述和性能评价,与iSLIP算法、FIRM(fcfs in round-robin matching)算法进行了比较.仿真结果表明,TA-iSLIP在均匀和非均匀流量下都达到了较好的性能,在非均匀流量下的吞吐率达到97%以上. 展开更多
关键词 islip 交换结构 调度算法 虚拟输出队列 时隙间迭代
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Sprag-slip现象实验设计及初探 被引量:4
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作者 张佳慧 冯奇 《噪声与振动控制》 CSCD 北大核心 2008年第6期92-96,共5页
摩擦现象在日常生活中随处可见,在工业界中,有时需要减小摩擦,有时需要利用摩擦。关注一类非线性动力系统中自激振动的sprag-slip现象。根据前人的简化机械模型,考虑不同的系统参数对该现象的影响,设计出一套满足实验需要的装置。在完... 摩擦现象在日常生活中随处可见,在工业界中,有时需要减小摩擦,有时需要利用摩擦。关注一类非线性动力系统中自激振动的sprag-slip现象。根据前人的简化机械模型,考虑不同的系统参数对该现象的影响,设计出一套满足实验需要的装置。在完备实验装置的基础上,通过测量对不同系统参数下的sprag-slip现象的稳定性进行初探。 展开更多
关键词 sprag—slip 弹簧一阻尼系统 刹车力
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国内外学界对“ethnohistory”的研究与认知 被引量:1
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作者 刘海涛 《青海民族研究》 CSSCI 北大核心 2018年第2期79-86,共8页
国内学界在涉及"ethnohistory"等相关概念的翻译及使用问题上,缺乏统一认识,对"ethnohistory"这种学术现象而言亦缺乏足够的关注。西方学者的有关研究与讨论,在量上确实不少,但从他们对"ethnohistory"的... 国内学界在涉及"ethnohistory"等相关概念的翻译及使用问题上,缺乏统一认识,对"ethnohistory"这种学术现象而言亦缺乏足够的关注。西方学者的有关研究与讨论,在量上确实不少,但从他们对"ethnohistory"的总体认知来看,处于众说不一、不断变化、低估乃至漠视其学术地位的状态。国内外学界对"ethnohistory"的研究与认知,为初步廓清和复原美国学界"ethnohistory"在历史人类学历史形成与体系建构中的独特作用提供了可资借鉴、批判和依托的基础平台。 展开更多
关键词 西方历史人类学 ETHNOhistory 西方史学 西方人类学
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足式机器人SLIP模型向上跳跃台阶的运动控制 被引量:1
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作者 肖乐 伞红军 +1 位作者 孙海杰 陈久朋 《控制理论与应用》 EI CAS CSCD 北大核心 2024年第4期631-637,共7页
由于存在地势起伏,台阶对足式机器人运动稳定性会带来较大挑战.弹簧负载倒立摆模型(SLIP)作为研究足式机器人的优良模板,能否完成向上跳跃台阶的动作与其腿部摆角,起跳位置和跳跃高度都有密切的关系.由于调整模型腿部摆角规律容易引发... 由于存在地势起伏,台阶对足式机器人运动稳定性会带来较大挑战.弹簧负载倒立摆模型(SLIP)作为研究足式机器人的优良模板,能否完成向上跳跃台阶的动作与其腿部摆角,起跳位置和跳跃高度都有密切的关系.由于调整模型腿部摆角规律容易引发运动失效,故本文在算法中引入虚拟弹簧腿,根据虚拟弹簧腿的运行规律确定合理起跳位置,根据起跳位置来控制系统跳跃高度进而完成跳跃台阶的动作.最后利用仿真软件进行多组仿真,结果表明本文算法对起跳区间划分合理,对起跳高度控制精准,能够实现SLIP模型跳跃台阶前后的稳定运动. 展开更多
关键词 足式机器人 运动控制 slip模型 台阶地形 能量补充
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Directly searching method for slip plane and its influential factors based on critical state of slope 被引量:30
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作者 林杭 曹平 +2 位作者 宫凤强 李江腾 桂易林 《Journal of Central South University》 SCIE EI CAS 2009年第1期131-135,共5页
In order to determine the slip plane of slope directly by the calculation results of strength reduction method, and analyze the influential factors of slope stability, a numerical model was established in plane strain... In order to determine the slip plane of slope directly by the calculation results of strength reduction method, and analyze the influential factors of slope stability, a numerical model was established in plane strain mode by FLAC3D for homogeneous soil slope, whose parameters were reduced until the slope reached the critical state. Then FISH program was used to get the location data of slip plane from displacement contour lines. Furthermore, the method to determine multiple slip planes was also proposed by setting different heights of elastic areas. The influential factors for the stability were analyzed, including cohesion, internal friction angle, and tensile strength. The calculation results show that with the increase of cohesion, failure mode of slope changes from shallow slipping to the deep slipping, while inclination of slip plane becomes slower and slipping volume becomes larger; with the increase of friction angle, failure mode of slope changes from deep slipping to shallow slipping, while slip plane becomes steeper and upper border of slip plane comes closer to the vertex of slope; the safety factor increases little and slip plane goes far away from vertex of slope with the increase of tensile strength. 展开更多
关键词 SLOPE strength reduction slip plane STABILITY influential factors
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Method of adaptive PLL bandwidth adjustment without phase slipping 被引量:3
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作者 Yannian Lou Chaojie Zhang +1 位作者 Xiaojun Jin Zhonghe Jin 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2014年第6期949-958,共10页
In a system based on the phase lock loop(PLL), a trade-off must be made between the tracking precision and the dynamic performance if constant parameters are adopted. To overcome this drawback, a new method called n... In a system based on the phase lock loop(PLL), a trade-off must be made between the tracking precision and the dynamic performance if constant parameters are adopted. To overcome this drawback, a new method called no phase slipping adaptive bandwidth(NPS-AB) is proposed, which can adjust the loop bandwidth adaptively for different working conditions. As a result, both the tracking precision and the dynamic performance can be achieved concurrently. NPS-AB has two features to keep the loop stable: one is the capability of quick response to dynamics; the other is a series of additional constraints when the bandwidth is switched. Compared with other methods, there is no phase slipping during the adjustment process for NPS-AB. The phase integer ambiguity can be avoided and the phase value is kept valid. It is meaningful for carrier ranging systems. Simulation results show that NPS-AB can deal with sudden dynamics and keep the pseudo-range value stable in the entire dynamic process. 展开更多
关键词 bandwidth adjustment tracking performance phase slipping adaptive loop
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Seismic response of tunnel under normal fault slips by shaking table test technique 被引量:17
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作者 FAN Ling CHEN Jie-ling +3 位作者 PENG Shu-quan QI Bin-xi ZHOU Qi-wen WANG Fan 《Journal of Central South University》 SCIE EI CAS CSCD 2020年第4期1306-1319,共14页
Mountain tunnel crossing a normal fault in seismically active zone is easily affected by normal fault slip and earthquake. It is necessary to study tunnel dynamic response under action of normal fault slip and earthqu... Mountain tunnel crossing a normal fault in seismically active zone is easily affected by normal fault slip and earthquake. It is necessary to study tunnel dynamic response under action of normal fault slip and earthquake. In this paper, a three-dimensional normal fault sliding device was designed, and a shaking table test was carried out to study tunnel seismic performance under normal fault slip. The results show that peak acceleration of lining is dominated by an existence of fault and direction of seismic excitation, not normal fault slip. And the incremental strains of lining in critical zone with 1.7 times fault thickness and centered in faults induced by normal fault slip and seismic excitation are larger than ones only by seismic excitation. And the incremental strains in critical zone increase with the increase of normal fault slip magnitude ranging from 0 to 2 mm. And normal fault slip results in a significant reduction of overall tunnel stiffness subjected to an earthquake. These experimental results provide a scientific reference for prevention and control measurement of tunnel damage under earthquake and normal fault slip. 展开更多
关键词 TUNNEL normal fault EARTHQUAKE fault slip shaking table test peak acceleration
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SLIP RATE AND RECURRENCE INTERVAL OF STRONG EARTHQUAKE OF QIANNING—KANGDING SEGMENT ON XIANSHUIHE FAULT 被引量:2
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作者 Zhou Rongjun, He Yulin, Huang Zhuzhi, Li Xiaogang, Yang Tao(Engineer Earthquake Institute of Seismological Bureau of Sichuan Province, Chengdu 610041,China) 《地学前缘》 EI CAS CSCD 2000年第S1期297-298,共2页
Located on the western of Sichuan, the east border of Tibet plateau, Xianshuihe fault is a significant strong earthquake zone. From Huiyuansi pull\|apart basin in Qianning, Xianshuihe fault can be divided two segments... Located on the western of Sichuan, the east border of Tibet plateau, Xianshuihe fault is a significant strong earthquake zone. From Huiyuansi pull\|apart basin in Qianning, Xianshuihe fault can be divided two segments\|NW section and SE section: the construction of the former is single and a main fault; the construction of the latter is complex and composed by three parallel faults, its main fault is named as Selaha—Kangding fault, which distributes along Jinlongsi, Sehala, Mugecuo and Kangding. Yalahe fault, located at the NE direction of the main fault, and Zeduotang fault, located at the SW direction of the main fault, are all secondary faults, which are 9~13km away from the main fault. At the south of Kangding, the segment of Xianshuihe fault is a single main section, called as Moxi fault. On the basis of recent researching results, this paper mainly discusses the slip rate and recurrence interval of strong earthquake of the SE segment (Qianning—Kangding) on Xianshuihe. 展开更多
关键词 slip rate RECURRENCE interval FAULTING LANDFORM paleoea rthquake seismic TENDENCY
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GPS dynamic cycle slip detection and correction with baseline constraint 被引量:3
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作者 Liu Zhenkun Huang Shunji 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2009年第1期60-64,共5页
When the cycle slips take place in the attitude determination of a moving platform, the precision of the attitude will be impaired badly. A method of cycle slip detection and correction is proposed, which is suitable ... When the cycle slips take place in the attitude determination of a moving platform, the precision of the attitude will be impaired badly. A method of cycle slip detection and correction is proposed, which is suitable to the dynamic measurement using GPS carrier phase: the cycle slips detection is first achieved by triple difference observables, then the cycle slips correction is performed with baseline length constraint. The simulation results show that the proposed method is effective to the dynamic cycle slips problem. 展开更多
关键词 dynamic cycle slip dectection triple difference observable baseline constraint attitude determination.
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柔性多体系统含摩擦碰撞stick-slip过程动力学仿真 被引量:6
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作者 钱震杰 章定国 金诚谦 《振动与冲击》 EI CSCD 北大核心 2017年第23期32-37,共6页
基于高次刚柔耦合理论和Lagrange乘子法,研究了柔性多体含摩擦碰撞stick-slip过程的全局动力学的精确建模与自动切换仿真问题。基于变拓扑思想,根据分离、碰撞、黏滞接触和滑动接触等状态分别构造相应的约束条件和动力学方程。运用冲量... 基于高次刚柔耦合理论和Lagrange乘子法,研究了柔性多体含摩擦碰撞stick-slip过程的全局动力学的精确建模与自动切换仿真问题。基于变拓扑思想,根据分离、碰撞、黏滞接触和滑动接触等状态分别构造相应的约束条件和动力学方程。运用冲量/动量法求解碰撞初始条件;引入切向滑动摩擦力势能的概念描述切向滑动接触力;给出接触、分离、黏滞、正向/逆向滑动状态之间的切换准则,实现了系统全局动力学自动切换。通过算例的数值仿真,分析了滑移/黏滞(微滑动)、正/逆向滑动等复杂非光滑现象,验证了该模型和算法的有效性。 展开更多
关键词 含摩擦碰撞 黏滞/滑移 接触约束 柔性机械臂 动力学建模
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Wheel slip-sinkage and its prediction model of lunar rover 被引量:11
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作者 丁亮 高海波 +1 位作者 邓宗全 陶建国 《Journal of Central South University》 SCIE EI CAS 2010年第1期129-135,共7页
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
关键词 lunar rover slip-sinkage loose lunar soil stress distribution slip ratio
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