Mechanism and practice of rock control in deep large span cut holes

Deep large span cut holes are difficult to stabilize. The 7801 cut hole in the Lu'an Wuyang Mine was used as this project's background. The main factors affecting large span cut hole stability are analyzed. Pre- stressed bolting theory was used to design a roof control method for a large span roadway. By reducing the span and applying equal strength coordinated supports the rock could be stabilized. The control prin- ciples and methods are given herein along with the analysis. A double micro arch cross section roadway is defined and its use in solving the current problem is described. Beam arch theory was used to build a model of the double micro arch cross section roadway. A support reverse force model for the arch foot intersection was also derived. A support method based upon reducing the width of the large span in the cut hole is presented. These results show that the reduced span of the roadway roof plus the use of cable anchors and single supports gives an effective way to control the large span cut hole. On site monitoring showed that the reduced span support from the double micro arch cross section roadway design had a significant effect. The roadway surface displacement was small and harmful deformation of the cut hole was effectively controlled. This will ensure its long term stability.

Research and Design of Coordinated Control Strategy for Smart Electromechanical Actuator System

In order to improve the frequency response and anti-interference characteristics of the smart electromechanical actuator(EMA)system,and aiming at the force fighting problem when multiple actuators work synchronously,a multi input multi output(MIMO)position difference cross coupling control coordinated strategy based on double‑closed-loop load feedforward control is proposed and designed.In this strategy,the singular value method of return difference matrix is used to design the parameter range that meets the requirements of system stability margin,and the sensitivity function and the H_(∞)norm theory are used to design and determine the optimal solution in the obtained parameter stability region,so that the multi actuator system has excellent synchronization,stability and anti-interference.At the same time,the mathematical model of the integrated smart EMA system is established.According to the requirements of point-to-point control,the controller of double-loop control and load feedforward compensation is determined and designed to improve the frequency response and anti-interference ability of single actuator.Finally,the 270 V high-voltage smart EMA system experimental platform is built,and the frequency response,load feedforward compensation and coordinated control experiments are carried out to verify the correctness of the position difference cross coupling control strategy and the rationality of the parameter design,so that the system can reach the servo control indexes of bandwidth 6 Hz,the maximum output force 20000 N and the synchronization error≤0.1 mm,which effectively solves the problem of force fighting.

Contouring error modeling and simulation of a four-axis motion control system

A layered modeling method is proposed to resolve the problems resulting from the complexity of the error model of a multi-axis motion control system. In this model, a low level layer can be used as a virtual axis by the high level layer. The first advantage of this model is that the complex error model of a four-axis motion control system can be divided into several simple layers and each layer has different coupling strength to match the real control system. The second advantage lies in the fact that the controller in each layer can be designed specifically for a certain purpose. In this research, a three-layered cross coupling scheme in a four-axis motion control system is proposed to compensate the contouring error of the motion control system. Simulation results show that the maximum contouring error is reduced from 0.208 mm to 0.022 mm and the integration of absolute error is reduced from 0.108 mm to 0.015 mm, which are respectively better than 0.027 mm and 0.037 mm by the traditional method. And in the bottom layer the proposed method also has remarkable ability to achieve high contouring accuracy.

Digital implementation and analysis of a high dynamic frequency tracking loop

In the wireless guidance system, the signals that receiver received has obvious Doppler shift for the high dynamic characteristic of the carrier. A new solution of carrier frequency tracking loop with frequency modifying system is put forward. The characteristic of cross product auto frequency control and the second order loop filter in this loop are analyzed. The simulation shows that this loop can accomplish frequency tracking well in high dynamic circumstance.