Inverted pendulum stabilization: Characterization of codimension-three triple zero bifurcation via multiple delayed proportional gains

The paper considers the problem of stabilization of systems possessing a multiple zero eigenvalue at the origin. The controller that we propose, uses multiple delayed measurements instead of derivative terms. Doing so, we increase the performances of the closed loop in presence of system uncertainties and/or noisy measurements. The problem formulation and the analysis is presented through a classical engineering problem which is the stabilization of an inverted pendulum on a cart moving horizontally. On one hand, we perform a nonlinear analysis of the center dynamics described by a three dimensional system of ordinary differential equations with a codimension-three triple zero bifurcation. On the other hand, we present the complementary stability analysis of the corresponding linear time invariant system with two delays describing the behavior around the equilibrium. The aim of this analysis is to characterize the possible local bifurcations. Finally, the proposed control scheme is numerically illustrated and discussed.     

Study on maximum power point tracking of photovoltaic array in irregular shadow

Traditional maximum power point tracking (MPPT) methods can hardly find global maximum power point (MPP) because output characteristics curve of photovoltaic (PV) array may have multi local maximum power points in irregular shadow, and thus easily fall into the local maximum power point. To address this drawback, Considering that sliding mode variable structure (SMVS) control strategy have such advantages as simple structure, fast response and strong robustness, and P&O method have the advantages of simple principle and convenient implementation, so a new algorithm combining SMVS control method and P&O method is proposed, besides, PI controller is applied to reduce system chattering caused by switching sliding surface. It is applied to MPPT control of PV array in irregular shadow to solve the problem of multi-peak optimization in partial shadow. In order to verity the rationality of the proposed algorithm, the experimental circuit is built, which achieves MPPT control by means of the proposed algorithm and P&O method. The experimental results show that compared with the traditional P&O algorithm, the proposed algorithm can fast track the global MPP, tracking speed increases by 60% and the relative error decreased by 20%. Moreover, the system becomes more stable near the MPP, the fluctuations of output power is greatly reduced, and thus make full use of solar energy.     

大型高扬程泵站出水塔结构振动模态分析

针对大型高扬程泵站出水塔结构在运行过程中存在的振动问题,以甘肃省景泰川电力提灌二期总干六泵站出水塔结构为例,构建ANSYS环境下的泵站出水塔三维有限元仿真模型,在正常工作状态下采用子空间迭代法进行基于环境激励的模态参数辨识,并获取其模态振型,分析了泵站出水塔结构的振动特性。结果表明:该出水塔结构在运行期的基频为9.91 Hz,主振方向为垂直压力管道法线方向;结构的模态振型基本按照横向-竖向-扭转的规律进行,且主要发生在结构中部镂空立柱部位。数值分析结果与现场DASP测试结果基本相符,表明有限元子空间迭代法模拟分析结果有效可靠,实现方便。研究成果能为大型高扬程泵站出水塔的更新改造设计提供理论依据,同时能为灌区水工结构的模态参数辨识提供技术参考。     

两种动水压力模型重力坝地震动力损伤比较分析

采用基于位移格式的流体单元与弹塑性损伤本构的固体单元分析了坝体—水库耦合系统在强震下库水对重力坝的动力响应、坝体内部应力分布以及损伤的影响。对流固耦合模型与附加质量模型的坝体损伤分析结果进行比较发现,附加质量模型不仅对上游坝面的动水压力有放大作用,而且对坝体的其他动力响应,如位移、加速度,也有不同程度的放大作用。同时,附加质量模型对地震中坝体内部应力及损伤也有一定的放大作用。可见,流固耦合模型分析大坝—水库系统相互作用更接近现实情况。     

The failure processes analysis of rock slope using numerical modelling techniques

The slope failure process includes crack initiation, propagation and coalescence during the formation of a slip surface (small deformation stage) and block movement, rotation and fragmentation during the sliding process (large deformation stage). Neither the finite element method (FEM) nor the discontinuous deformation analysis method (DDA) can solve such problems satisfactorily due to the complex mechanical behaviour of slope failure. To study the entire process of slope failure, we develop here a model that combines the FEM and DDA approaches. The main concept of this approach is to first apply FEM to model crack growth behaviour and then automatically switch to the DDA module to model the post-failure process when the slip surface forms. The efficiency and simplicity of this approach lies in keeping the FEM and DDA algorithms separate and solving each equation individually. The heterogeneous nature of the slope material at the mesoscopic level is considered by assuming that the mechanical properties of individual elements follow a Weibull statistical distribution. The slope models are progressively destabilized by the critical gravity approach, and both the failure onset and the slope collapse process are analysed. Our modelling reveals that shear cracks first initiate at the toe of slope and subsequently promote the propagation of tensile fractures due to the stress accumulation at the shear crack tips. Throughout the entire failure process, failure in tension occurs at a higher rate than shear failure and plays a dominant role in the formation of the slip surface. The effects of slope angle and pre-formed cracks on the post-failure process are studied using the proposed method. This study demonstrates that the modelling approach outlined herein is able to tackle the fundamental problems of rock slope failure and offers a better understanding of the slope failure mechanisms at both the macroscopic and microscopic levels.     

Application of the Cosserat continua to numerical studies on the properties of the materials

The finite element models of Cosserat continuum in two- and three-dimensions are presented. The size effects of a cantilever beam and a micro-rod, the well-posedness, the mesh-independent solutions of the boundary value problems with non-associated elastoplastic and strain softening constitutive behavior, and the progressive failure of the two- and three-dimensional vertical excavations are studied. Numerical results illustrate that the proposed Cosserat continuum models are capable of reflecting the size effects of micro-structures, preserving the well-posedness of the boundary value problem characterized by the strain localization, ensuring mesh-independent solutions, and simulating the entire progressive failure process occurring in engineering structures.     

A generalized Hill’s lemma and micromechanically based macroscopic constitutive model for heterogeneous granular materials

Based on the Hill’s lemma for classical Cauchy continuum, a generalized Hill’s lemma for micro–macro homogenization modeling of gradient-enhanced Cosserat continuum is presented in the frame of the average-field theory. In this context not only the strain and stress tensors defined in classical Cosserat continuum but also their gradients are attributed to assigned micro-structural representative volume element (RVE), that leads to a higher-order macroscopic Cosserat continuum modeling and enables to incorporate the micro-structural size effects. The enhanced Hill–Mandel condition for gradient-enhanced Cosserat continuum is extracted as a corollary of the presented generalized Hill’s lemma. The derived admissible boundary conditions for the modeling are deduced to direct the proper presentation of boundary conditions to be prescribed on the RVE in order to ensure the satisfaction of the Hill–Mandel energy condition.With the link between the discrete particle assembly and its effective Cosserat continuum in an individual RVE, the boundary conditions prescribed on the RVE modeled as Cosserat continuum are transformed into those prescribed to the peripheral particles of the RVE modeled as the discrete particle assembly. The micromechanically based macroscopic constitutive model and corresponding rate forms of the macroscopic stress–strain relations taking into account the local microstructure and its evolution are formulated with neither need of specifying the macroscopic constitutive relation nor need of providing macroscopic material parameters.     

Application of support vector machines in scour prediction on grade-control structures

Research into the problem of predicting the maximum depth of scour on grade-control structures like sluice gates, weirs and check dams, etc., has been mainly of an experimental nature and several investigators have proposed a number of empirical relations for a particular situation. These traditional scour prediction equations, although offer some guidance on the likely magnitude of maximum scour depth, yet applicable to a limited range of the situations. It appears from the literature review that a regression mathematical model for predicting maximum depth of scour under all circumstances is not currently available. This paper explores the potential of support vector machines in modeling the scour from the available laboratory and field data obtained form the earlier published studies. To compare the results, a recently proposed empirical relation and a feed forward back propagation neural network model are also used in the present study. The outcome from the support vector machines-based modeling approach suggests a better performance in comparison to both the empirical relation and back propagation neural network approach with the laboratory data. The results also suggest an encouraging performance by the support vector machines learning technique in comparison to both empirical relation as well as neural network approach in scaling up the results from laboratory to field conditions for the purpose of scour prediction.     

海上风机桩基础与上部结构灌浆连接段优化分析

目的 研究海上风机基础与上部灌浆连接段在轴压、弯矩、剪力及扭转共同作用下,连接段受力特性以及应力分布规律,对结构进行优化设计,探求最优结构形式.方法 在理论分析的基础上,借助有限元ANSYS分析软件建立了2D和3D模型对结构进行仿真分析,通过改变连接段灌浆环形空间厚度、剪力键空间布置及连接长度对结构强度进行敏感性分析.结果 连接段应力集中程度随剪力键空间布置、灌浆环形空间厚度以及连接段长度呈规律性变化.经优化得单机3MW单桩基础结构灌浆连接合理环形空间厚度tg为95 mm,剪力键间距s为500 mm,剪力键宽高比w/h为2,连接长度Lg为6500 mm.结论 实际工程中,给定风机基础结构外形型尺寸后,可以优化求得连接段的最优构造形式.