基于加速度传感器反馈控制的谐波驱动系统的研究

在机器人驱动中经常采用谐波传动。但谐波减速器的柔性、非线性摩擦、随速度波动、低阻尼等因素会给负载端带来振动 ,导致工作端的轨迹跟踪精度不高。为了抑制其振动 ,实现高精度轨迹跟踪控制 ,提出利用加速度传感器反馈控制来抑制负载端的振动、力矩干扰和动力学效应 ,提高其响应性能。理论分析和实验结果证实了提出方法的可行性。

直接驱动机器人关节加速度反馈解耦控制

以利用线加速度传感器实际测量转动关节的加速度为基础 ,分析了机器人关节加速度反馈控制的开环模型 ,以及影响其闭环稳定性的主要因素 ;提出了闭环控制策略的设计准则 .在一台三自由度直接驱动机器人上的实验结果证明了该文分析的正确性 ,与不具备加速度反馈控制时的实验结果相比较 ,显示出这种方法的有效性

加速度反馈控制抑制谐波传动系统振动的研究

在分析谐波传动系统特性的基础上，建立了谐波传动系统的基于加速度传感器反馈控制的数学模型，通过仿真分析和实验研究结果表明，加速度反馈控制能有效地换制谐波传动系统负载端的振动。

一种基于运动状态反馈的机器人接触力控制

针对机器人从自由空间运动控制过渡到约束空间力控制的过程中，存在冲撞、振荡甚至不稳定等问题，提出了利用加速度反馈为力控制提供阻尼，克服单纯依靠速度反馈的局限，进而稳定力控制系统的方法．这种方法不增加系统的复杂性，易于实现．本文对控制系统结构及控制策略作了分析．在一个直接驱动关节上的实验结果证明了本文分析的正确性，与只采用速度反馈的接触力控制相比，显示了这种方法的有效性。

基于运动速度的机器人学习控制

为了使机器人跟踪给定的期望轨线，提出了一种新的基于机器人运动重复性的学习控制法．在这种方法中机器人通过重复试验得到期望运动，这种控制法的优点：一是对于在期望运动附近非线性机器人动力学的近似表达式的线性时变机械系统产生期望运动的输入力矩可不由估计机器人动力学的物理参数形成；二是可以适当的选择位置、速度和加速度反馈增益矩阵，从而加快误差收敛速度；三是加入了加速度反馈，减少了速度反馈，减少了重复试验的次数．这是因为在每次试验的初始时刻不存在位置和速度误差，但存在加速度误差．另外，这种控制法的有效性通过ＰＵＭＡ５６２机器人的前三个关节的计算机仿真结果得到验证。

基于加速度传感器的机器人极点配置控制

本文为工业机器人提出了一种极点配置控制法．这种控制方法的优点有：一是它的积分作用消除了机器人的微小扰动和稳态误差；二是能任意设置系统的极点，因此能保证闭环系统的稳定性和规定状态变量的暂态响应；三是加入了加速度反馈，抑制了由电枢电感所引起的机械手的振动．最后，给出了ＰＵＭＡ５６２机器人的计算机仿真和实验结果验证了此控制法的有效性。

基于加速度传感器的机器人最优学习控制

为工业机器人提出了一种最优学习控制法。这种控制法用加速度误差校正驱动器运动。并提出了一种基于几何级数的极限条件估计学习控制过程收敛条件的理论方法。所提出学习控制法的有效性通过PUMA562机器人的计算机仿真结果得到了证实。

工业机器人的学习控制

加速度传感器装在机械手手部,各关节的加速度由加速度分解算法得到.然后,提出了一种学习控制法,这种控制法利用加速度误差校正驱动器运动.并提出了一种基于几何级数的极限条件估计学习控制过程收敛条件的理论方法.本文所提出的学习控制理论的有效性通过 PUMA-562 机器人的计算机仿真实验得到了证实.

组装式感应同步器的高速角度编码器

本文以感应同步器工作原理为出发点,提出基本环节的设计思想,研制出高速角度编码器。

地震力对高架桥梁上轨道车辆的动态分析与安全性研究

The stability and derailment behavior analysis of railway vehicle system has been discussed by many papers in the past. In stability, give first place to consider hunting behavior of vehicle, therefore most of papers was only consider lateral and yaw motion, but vertical motion is the important factor in derailment behavior, and it will be quite effect in stability. We will probe the running stability and derailment behavior of railway vehicle moving on the viaduct in this paper. In this paper, we use Nadal’s formula to get the derailment quotient. In this paper, the railway vehicle is considered to be three subsystems, carbody, bogie and wheelset. There are secondary suspension systems between carbody and bogies, and primary suspension systems connecting bogies and wheelsets. A vehicle with vertical, lateral, roll, and yaw directions motion is considered to derive the mathematical equations. A vehicle with three-dimensional model has 16 degrees of freedom is used to develop the equations of train motion. In this study, results show that the track shift force and derailment factor increase with an increase of ground acceleration. But for the track shift force and derailment factor, the effects of track irregularities and train speed are very small. Key words: earthquake, railway vehicle, viaduct, derailment factor.

植物对环境污染的磁学响应机理研究

With development of industry and acceleration of urbanization, problems of air quality as well as their influences on human health have recently been regarded highly by current international communities and governments. Generally, industrializations can result in exhausting of a lot of industry gases and dusts, while urbanization can cause increasing of modern vehicles. Comparing with traditional chemical methods, magnetic method is simple, rapid, exact, low-cost and non-destructive for monitoring air pollution and has been widely applied in domestic and international studies. In this thesis, with an aim of better monitoring air pollution, we selected plants (highroad-side perennial pine trees (Pinus pumila Regel) along a highroad linking Beijing City and the Capital International Airport, and tree bark and tree ring core samples (willow, Salix matsudana) nearby a smelting industry in northeast Beijing) for magnetic studies. With systemic magnetic measurements on these samples, magnetic response mechanism of contamination（e.g. tree leaves, tree ring）to both short- and long-term environmental pollution has been constructed, and accordingly the pollution range, degree and process of different time-scale human activities could be assessed. A series of rock magnetic experiments of tree leaves show that the primary magnetic mineral of leaf samples was identified to be magnetite, in pseudo-single domain (PSD) grain size range of 0.2-5.0 μm. Magnetite concentration and grain size in leaves are ascertained to decrease with increasing of sampling distance to highroad asphalt surface, suggesting that high magnetic response to traffic pollution is localized within a distance of about 2 m away from highroad asphalt surface. On the other hand, highroad-side trees and rainwater can effectively reduce the concentration of traffic pollution-induced particulate matters (PMs) in the atmosphere. This study is the first time to investigate the relationship of smelting factory activities and vicissitudes of environment with tree rings by magnetic methods. Results indicate that magnetic particles are omnipresent in tree bark and trunk wood. Magnetic techniques including low-temperature experiment, successive acquisition of IRM, hysteresis loops and SIRM measurements suggest that magnetic particles are predominated by magnetite in pseudo-single domain state. Comparison of magnetic properties of tree trunk and branch cores collected from different directions and heights implies that collection of magnetic particles depends on both sampling direction and height. Pollution source-facing tree trunk wood contains significantly more magnetic particles than other sides. These indicate that magnetic particles are most likely intercepted and collected by tree bark first, then enter into tree xylem tissues by translocation during growing season, and are finally enclosed in a tree ring by lignifying. Correlation between magnetic properties such as time-dependent SIRM values of tree ring cores and the annual steel yields of the smelting factory is significant. Considering the dependence of magnetic properties in sampling directions, heights, and ring cores, we proposed that magnetic particles in the xylem cannot move between tree rings. Accordingly, the SIRM and some other magnetic parameters of tree ring cores from the source-facing side could be contributed to historical study of atmospheric pollution produced by heavy metal smelting activities, isoline diagrams of SIRM values of all the tree rings indicate that air pollution is increasing worse. We believed that a synthetic rock magnetic study is an effective method for determining concentration and grain size of ferromagnets in the atmospheric PMs, and then it should be a rapid and feasible technique for monitoring atmospheric pollution.

空间电流体系地磁反演及理论研究

The space currents definitely take effects on electromagnetic environment and also are scientific highlight in the space research. Space currents as a momentum and energy provider to Geospace Storm, disturb the varied part of geomagnetic field, distort magnetospheric configuration and furthermore take control of the coupling between magnetosphere and ionosphere. Due to both academic and commercial objectives above, we carry on geomagnetic inverse and theoretical studies about the space currents by using geomagnetic data from INTERMAGNET. At first, we apply a method of Natural Orthogonal Components (NOC) to decomposition the solar daily variation, especially for (solar quiet variation). NOC is just one of eign mode analysis, the most advantage of this method is that the basic functions (BFs) were not previously designated, but naturally came from the original data so that there are several BFs usually corresponding to the process really happened and have more physical meaning than the traditional spectrum analysis with the fixed BFs like Fourier trigonometric functions. The first two eign modes are corresponding to the and daily variation and their amplitudes both have the seasonal and day-to-day trend, that will be useful for evaluating geomagnetic activity indices. Because of the too strict constraints of orthogonality, we try to extend orthogonal contraints to the non-orthogonal ones in order to give more suitable and appropriate decomposition of the real processes when the most components did not satisfy orthogonality. We introduce a mapping matrix which can transform the real physical space to a new mathematical space, after that process, the modified components which associated with the physical processes have satisfied the orthogonality in the new mathematical space, furthermore, we can continue to use the NOC decomposition in the new mathematical space, and then all the components inversely transform back to original physical space, so that we would have finished the non-orthogonal decomposition which more generally in the real world. Secondly, geomagnetic inverse of the ring current’s topology is conducted. Configurational changes of the ring current in the magnetosphere lead to different patterns of disturbed ground field, so that the global configuration of ring current can be inferred from its geomagnetic perturbations. We took advantages of worldwide geomagnetic observatories network to investigate the disturbed geomagnetic field which produced by ring current. It was found that the ring current was not always centered at geomagnetic equator, and significantly deviated off the equator during several intense magnetic storms. The deviation owing to the tilting and latitudinal shifting of the ring current with respect to the earth’s dipole can be estimated from global geomagnetic survey. Furthermore those two configurational factors which gave a quantitative description of the ring current configuration, will be helpful to improve the Dst calibration and understand the dependence of ring current’s configuration on the plasma sheet location relative to the equator when magnetotail field warped. Thirdly, the energization and physical acceleration process of ring current during magnetic storm has been proposed. When IMF Bz component increase, the enhanced convection electric field drive the plasma injection into the inner magnetosphere. During the transport process, a dynamic heating is happened which make the particles more ‘hot’ when the injection is more deeply inward. The energy gradient along the injection path is equivalent to a kind of force, which resist the plasma more earthward injection, as a diamagnetic effect of the magnetosphere anti and repellent action to the exotically injected plasma. The acceleration efficiency has a power law form. We use analytical way to quantitatively describe the dynamical process by introducing a physical parameter: energization index, which will be useful to understand how the particle is heated. At the end, we give a scheme of how to get the from storm time geomagnetic data. During intense magnetic storms, the lognormal trend of geomagnetic Dst decreases depend on the heating dynamic of magnetosphere controlling ring current. The descending pattern of main phase is governed by the magnetospheric configuration, which can be describled by the energization index. The amplitude of Dst correlated with convection electric field or south component of the solar wind. Finally, the Dst index is predicted by upstream solar wind parameter. As we known space weather have posed many chanllenges and impacts on techinal system, the geomagnetic index for evaluating the activity space weather. We review the most popular Dst prediction method and repeat the Dst forecasting model works. A concise and convnient Key Points model of the polar region is also introduced to space weather. In summary, this paper contains some new quantitative and physical description of the space currents with special focus on the ring current. Whatever we do is just to gain a better understanding of the natural world, particularly the space environment around Earth through analytical deduction, algorithm designing and physical analysis, to quantitative interpretation. Applications of theoretical physics in conjunction with data analysis help us to understand the basic physical process govering the universe.

地震P-S波时差耦合作用的斜坡崩滑效应研究

China locates between the circum-Pacific and the Mediterranean-Himalayan seismic belt. The seismic activities in our country are very frequent and so are the collapses and slides of slope triggered by earthquakes. Many collapses and slides of slope take place mainly in the west of China with many earthquakes and mountains, especially in Sichuan and Yunnan Provinces. When a strong earthquake happening, the damage especially in mountains area caused by geological hazards it triggered such as rock collapses, landslides and debris flows is heavier than that it caused directly. A conclusion which the number of lives lost caused by geological hazards triggered by a strong earthquake in mountains area often accounts for a half even more of the total one induced by the strong earthquake can be made by consulting the statistical loss of several representative earthquakes. As a result, geological hazards such as collapses and slides of slope triggered by strong earthquakes attract wide attention for their great costs. Based on field geological investigation, engineering geological exploration and material data analysis, chief conclusions have been drawn after systematic research on formation mechanism, key inducing factors, dynamic characteristics of geological hazards such as collapses and slides of slope triggered by strong earthquakes by means of engineering geomechanics comprehensive analysis, finite difference numerical simulation test, in-lab dynamic triaxial shear test of rock, discrete element numerical simulation. Based on research on a great number of collapses and landslides triggered by Wenchuan and Xiaonanhai Earthquake, two-set methods, i.e. the method for original topography recovering based on factors such as lithology and elevation comparing and the method for reconstructing collapsing and sliding process of slope based on characteristics of seism tectonic zone, structural fissure, diameter spatial distribution of slope debris mass, propagation direction and mechanical property of seismic wave, have been gotten. What is more, types, formation mechanism and dynamic characteristics of collapses and slides of slope induced by strong earthquakes are discussed comprehensively. Firstly, collapsed and slided accumulative mass is in a state of heavily even more broken. Secondly, dynamic process of slope collapsing and sliding consists of almost four stages, i.e. broken, thrown, crushed and river blocked. Thirdly, classified according to failure forms, there are usually four types which are made up of collapsing, land sliding, land sliding-debris flowing and vibrating liquefaction. Finally, as for key inducing factors in slope collapsing and sliding, they often include characteristics of seism tectonic belts, structure and construction of rock mass, terrain and physiognomy, weathering degree of rock mass and mechanical functions of seismic waves. Based on microscopic study on initial fracturing of slope caused by seismic effect, combined with two change trends which include ratio of vertical vs. horizontal peak ground acceleration corresponding to epicentral distance and enlarging effect of peak ground acceleration along slope, key inducing factor of initial slope fracturing in various area with different epicentral distance is obtained. In near-field area, i.e. epicentral distance being less than 30 km, tensile strength of rock mass is a key intrinsic factor inducing initial fracturing of slope undergoing seismic effect whereas shear strength of rock mass is the one when epicentral distance is more than 30 km. In the latter circumstance, research by means of finite difference numerical simulation test and in-lab dynamic triaxial shear test of rock shows that initial fracture begins always in the place of slope shoulder. The fact that fracture strain and shear strength which are proportional to buried depth of rock mass in the place of slope shoulder are less than other place and peak ground acceleration is enlarged in the place causes prior failure at slope shoulder. Key extrinsic factors inducing dynamic fracture of slope at different distances to epicenter have been obtained through discrete element numerical simulation on the total process of collapsing and sliding of slope triggered by Wenchuan Earthquake. Research shows that combined action of P and S seismic waves is the key factor inducing collapsing and sliding of slope at a distance less than 64 km to initial epicenter along earthquake-triggering structure. What is more, vertical tensile action of P seismic wave plays a leading role near epicenter, whereas vertical shear action of S seismic wave plays a leading role gradually with epicentral distance increasing in this range. On the other hand, single action of P seismic wave becomes the key factor inducing collapsing and sliding of slope at a distance between 64 km and 216 km to initial epicenter. Horizontal tensile action of P seismic wave becomes the key factor gradually from combined action between vertical and horizontal tensile action of P seismic wave with epicentral distance increasing in this distance range. In addition, initial failure triggered by strong earthquakes begins almost in the place of slope shoulder. However, initial failure beginning from toe of slope relates probably with gradient and rock occurrence. Finally, starting time of initial failure in slope increases usually with epicentral distance. It is perhaps that the starting time increasing is a result of attenuating of seismic wave from epicenter along earthquake-triggering structure. It is of great theoretical and practical significance for us to construct towns and infrastructure in fragile geological environment along seism tectonic belts and conduct risk management on earthquake-triggered geological hazards by referring to above conclusions.

东喜马拉雅构造结新生代碰撞变形与岩石圈演化

The Eastern Himalayan Syntaxis (EHS) is one of the strongest deformation area along the Himalayan belt resulted from the collision between Indian plate and the Eurasian Plate since the 50～60Ma, and has sensitivity tracked and preserved the whole collisional processes. It should depend on the detail geological investigations to establish the deformational accommodate mode, and the uplift history, to elucidate the deep structure and the crust-mantle interaction of the Tibet Plateau of the EHS. The deep-seated (Main Mantle Thrusts) structures were exhumed in the EHS. The MMT juxtapose the Gangdese metamorphic basement and some relic of Gangdese mantle on the high Himalayan crystalline series. The Namjagbawa group which is 1200～1500Ma dated by U/Pb age of zircon and the Namla group which is 550Ma dated by U/Pb age of zircon is belong to High Himalayan crystalline series and Gangdese basement respectively. There is some ophiolitic relic along the MMT, such as metamorphic ocean mantle peridotite and metamorphic tholeiite of the upper part of ocean-crust. The metamorphic ocean mantle peridotites (spinel-orthopyroxene peridotite) show U type REE patterns. The ~(87)Sr/~(86)Sr ratios were, 0.709314～0.720788, and the ~(143)Nd/~(144)Nd ratios were 0.512073～0.512395, plotting in the forth quadrant on the ~(87)Sr/~(86)Sr-~(143)Nd/~(144)Nd isotope diagram. Some metamorphic basalt (garnet amphibolite) enclosures have been found in the HP garnet-kynite granulite. The garnet amphibolites can be divided two groups, the first group is deplete of LREE, and the second group is flat or rich LREE, and their ~(87)Sr/~(86)Sr, ~(143)Nd/~(144)Nd ratios were 0.70563～0.705381 and 0.512468～0.51263 respectively. Trace element and isotopic characteristics of the garnet amphibolites display that they formed in the E-MORB environment. Some phlogolite amphibole harzburgites, which exhibit extensive replacement by Phl, Amp, Tc and Dol etc, were exhumed along the MMT. The Phl-Amp harzburgites are rich in LREE and LILE, such as Rb, K etc, and depletes Eu (Eu~* = 0.36 ～ 0.68) and HFSE, such as Nb, Ta, Zr, Hf, P, Ti etc. The trace element indicate that the Phl-Amp harzburgites have island arc signature. Their ~(87)Sr/~(86)Sr are varied from 0.708912 to 0.879839, ~(143)Nd/~(144)Nd from 0.511993 to 0.512164, ε Nd from- 9.2 to - 12.6. Rb/Sr isochrone age of the phlogolite amphibole harzburgite shows the metasomatism took place at 41Ma, and the Amp ~(40)Ar/~(39)Ar cooling age indcate the Phl-Amp harzburgite raising at 16Ma. There is an intense crust shortening resulted from the thrust faults and folds in the Cayu block which is shortened more 120km than that of the Lasha block in 35～90Ma. With the NE corner of the India plate squash into the Gangdese arc, the sinistral Pai shear fault and the dextral Aniqiao shear fault on the both sides of the Great bent of Yalun Zangbu river come into active in 21～26Ma. On the other hand, the right-lateral Gongrigabu strike-slip faults come into activity at the same period, a lower age bound for the Gongrigabu strike-slip fault is estimated to be 23～24Ma from zircon of ion-probe U/Pb thermochronology. The Gongrigabu strike-slip faults connect with the Lhari strike-slip fault in the northwestern direction and with the Saganing strike-slip at the southeastern direction. Another important structure in the EHS is the Gangdese detachment fault system (GDS) which occurs between the sedimental cover and the metamorphic basement. The lower age of the GDS is to be 16Ma from the preliminary 40Ar/39Ar thermochronology of white mica. The GDS is thought to be related to the reverse of the subducted Indian crust and the fast uplift of the EHS. Structural and thermochronology investigation of the EHS suggest that the eastern Tibet and the western Yunnan rotated clockwise around the EHS in the period of 35～60Ma. Later, the large-scale strike-slip faults (RRD, Gaoligong and Saganing fault) prolongate into the EHS, and connect with the Guyu fault and Gongrigabu fault, which suggest that the Indianchia block escape along these faults. Two kind of magmatic rocks in the EHS have been investigated, one is the mantle-derived amphibole gabbro, dioposide diorite and amphibole diorite, another is crust origin biotit-garnet adamellite, biotit-garnet granodiorite and garnet-amphibole-biotite granite. The amphibole gabbro dioposite diorite and amphibole diorite are rich in LREE, and LILE, such as Ba, Rb, Th, K, Sr etc, depleted in HFSE, such as Nb, Ta, Zr, Hf, Ti etc. The ratio of ~(87)Sr/~(86)Sr are from 0.7044 to 0.7048, ~(143)Nd/~(144)Nd are from 0.5126 to 0.5127. The age of the mantle origin magamatic rocks, which result from the partial melt of the raising and decompression anthenosphere, is 8Ma by ~(40)Ar/~(39)Ar dating of amphibole from the diorite. The later crust origin biotite-garnet adamellite, biotite-garnet granodiorite and garnet-amphibole-biotite granite are characterized by aboudance in LREE, and strong depletion of Eu. The ratios of ~(87)Sr-~(86)Sr are from 0.795035 to 0.812028, ~(143)Nd/~(144)Nd from 0.51187 to 0.511901. The ~(40)Ar/~(39)Ar plateau age of the amphibole from the garnet-amphibole-biotite granite is 17.5±0.3Ma, and the isochrone age is 16.8±0.6Ma. Their geochemical characteristics show that the crust-derived magmatic rocks formed from partial melting of the lower curst in the post-collisional environment. A group of high-pressure kaynite-garnet granulites and enclave of high-pressure garnet-clinopyroxene grnulites and calc-silicate grnulites are outcroped along the MMT. The peak metamorphic condition of the high-pressure granulites yields T=800～960 ℃, P=1.4～1.8Gpa, corresponding the condition of 60km depth. The retrograde assemblages of the high-pressure grnulites occur at the condition of T=772.3～803.3 ℃, P=0.63～0.64Gpa. The age of the peak metamorphic assemblages are 45 ～ 69Ma indicated by the zircon U/Pb ion-plobe thermochronology, and the retrograde assemblage ages are 13～26Ma by U/Pb, ~(40)Ar/~(39)Ar thermochronology. The ITD paths of the high-pressure granulites show that they were generated during the tectonic thickening and more rapid tectonic exhumation caused by the subducting of the Indian plate and subsequent break-off of the subducted slab. A great deal of apatite, zircon and sphene fission-track ages, isotopic thermochronology of the rocks in the EHS show that its rapid raising processes of the EHS can be divided into three main periods. There are 35～60Ma, 13～25Ma, 0～3Ma. 3Ma is a turn in the course of raising in the EHS which is characterized by abruptly acceleration of uplifting. The uplift ratios are lower than 1mm .a~(-1) before 3Ma, and higher than 1mm .a~(-1) with a maximum ratio of 30mm .a~(-1) since 3Ma. The bottom (knick point) of the partial anneal belt is 3.8km above sea level in the EHS, and correspond to age of 3Ma determined by fission-track age of apatite. The average uplift ratio is about 1.4 mm .a~(-1) below the knick point. The EHS has raised 4.3km from the surface of 2.36km above sea level since 3Ma estimated by the fossil partial anneal belt of the EHS. We propose a two-stage subduction model (B+A model) basing on Structural, thermochronological, magmatical, metamorphic and geophysical investigations of the EHS. The first stage is the subduction of the Indian continental margin following after the subduction of the Tethys Ocean crust and subsequent collision with the Gangdese arc, and the second stage is the Indian crust injecting into the lower crust and upper mantle of the Tibet plateau. Slab break-off seems to be occurred between these two stages.

边坡动力响应分析及应用研究

As a marginal subject, dynamic responses of slopes is not only an important problem of engineering geology (Geotechnical problem), but also of other subjects such as seismology, geophysics, seismic engineering and engineering seismic and so on. Owning to the gulf between different subjects, it is arduous to study dynamic responses of slopes and the study is far from ripeness. Studying on the dynamic responses of slopes is very important in theories as well as practices. Supported by hundreds of bibliographies, this paper systemically details the development process of this subject, introduces main means to analyze this subject, and then gives brief remarks to each means respectively. Engineering geology qualitative analysis is the base of slopes dynamic responses study. Because of complexity of geological conditions, engineering geology qualitative analysis is very important in slopes stability study, especially to rock slopes with complex engineering geology conditions. Based on research fruits of forerunners, this paper summarizes factors influencing slopes dynamic stability into five aspects as geology background, stratums, rock mass structure, and topography as well as hydrogeology condition. Based on rock mass structure controlling theory, engineering geology model of the slope is grouped into two typical classes, one is model with obvious controlling discontinuities, which includes horizontal bedded slope, bedding slope, anti-dip slope, slide as well as slope with base rock and weathered crust; the other is model without obvious controlling discontinuities, which includes homogeneous soil slope, joint rock mass slope. Study on slope failure mechanism under dynamic force, the paper concludes that there are two effects will appear in slope during strong earthquake, one is earthquake inertia force, the other is ultra pore pressure buildup. The two effects lead to failure of the slope. To different types of slope failure, the intensity of two effects acting on the slope is different too. To plastic flow failure, pore pressure buildup is dominant; to falling rock failure and toppling failure, earthquake inertia force is dominant in general. This paper briefly introduces the principle of Lagrangian element method. Through a lot of numerical simulations with FLAC3D, the paper comprehensively studies dynamic responses of slopes, and finds that: if the slope is low, displacement, velocity and acceleration are linear enlarging with elevation increasing in vertical direction; if the slope is high enough, displacement, velocity and acceleration are not linear with elevation any more, on the other hand, they fluctuate with certain rhythm. At the same time, the rhythm appears in the horizontal direction in the certain area near surface of the slope. The distribution form of isoline of displacement, velocity and acceleration in the section of the slope is remarkably affected by the slope angle. In the certain area near the slope surface, isoline of displacement, velocity and acceleration is parallel to the surface of the slope, in the mean time, the strike direction of the extreraum area is parallel to the surface of the slope too. Beyond this area, the isoline direction and the strike direction of the extremum area turn to horizontal with invariable distance. But the rhythm appearing or not has nothing to with the slope angle. The paper defines the high slope effect and the low slope effect of slopes dynamic responses, discusses the threshold height H^t of the dynamic high slope effect, and finds that AW is proportional to square root of the dynamic elastic moduli El P , at the same time, it is proportional to period Tof the dynamic input. Thus, the discriminant of H^t is achieved. The discriminant can tell us that to a slope, if its height is larger than one fifth of the wavelength, its response regular will be the dynamic high slope effect; on the other hand, its response regular will be the dynamic low slope effect. Based on these, the discriminant of different slopes taking on same response under the same dynamic input is put forward in this paper. At the same time, the paper studies distribution law of the rhythm extremum point of displacement, velocity and acceleration, and finds that there exists relationship of N = int among the slope height H, the number of the rhythm extremum VHlhro) point N and ffthre- Furthermore, the paper points out that if N^l, the response of the slope will be dynamic high slope effect; \fNacceleration) of the site is decided (about 197.1cm/s2) by engineering seismology, and then the seismic input used in the slope dynamic analysis is determined. Comprehensive studies are carried out on the slope, especially to its deep fractures, and then the paper concludes that the deep fractures of slope are the result of the combination unloading effect of gravity and tectonic stress. At the same time, the failure model of the slope under dynamic input is attained. Based on these, the stability is comprehensively studied for section IV-IV with numerical simulation method as well as method putting forward in chapter 5. At last, the paper concludes that under dynamic input, the section will slide along fault f9, some deep fractures and fault/5 with certain permanent displacement, and this must be taken into consideration in the engineering.