浅埋房式采空区下长壁采场动载矿压发生机制

为了揭示浅埋房式采空区对下位煤层开采矿压显现的控制机制,降低工作面过房式采空区的动压显现强度和压架风险,以神东矿区霍洛湾煤矿2-2煤层房式采空区下3-1煤层长壁开采工作面动压特征为研究对象,将3-1煤层覆岩结构分为四类,利用理论分析和相似材料模拟等方法,系统研究了不同覆岩结构类型运动特征、力学模型及对3-1煤层长壁工作面的动压控制机制。结果表明:房式采空区稳定房柱下易形成上下位关键层双悬臂梁结构,双悬臂梁结构协同失稳是形成动载矿压的主要原因;房柱失稳区主关键层形成的不稳定砌体梁结构及靠近大煤柱未失稳的房柱随下位煤层开采滑落失稳是导致长壁工作面动载矿压发生的原因;当3-1煤层工作面上覆前方为房柱失稳区时,工作面推出集中煤柱时的动载矿压是由于大煤柱两侧关键块已提前滑落失稳,两关键块间无作用力,倒梯形岩柱与亚关键层联合失稳作用结果;当3-1煤层工作面上覆前方为房柱稳定区时,工作面推出集中煤柱时,动载矿压是由房柱失稳所致。

Dynamic-static coupling analysis on rockburst mechanism in jointed rock mass

A numerical code called RFPA-Dynamics was used to study the rockburst mechanism under dynamic load based on coupled static-dynamic analysis.The results show that dynamic disturbance has a very distinct triggering effect on rockburst.Under the dynamic load,rockburst is motivated by tensile stress formed by the overlapping of dynamic waves in the form of instantaneous open and cutting through of cracks in weak planes and pre-damaged areas.Meanwhile,the orientation of joint sets has an obvious leading effect on rockburst locations.Finally,a higher initial static stress state before dynamic loading can cause more pre-damaged area,thus leading to a larger rockburst scope.

Hydraulic cylinder control of injection molding machine based on differential evolution fractional order PID

Injection molding machine,hydraulic elevator,speed actuators belong to variable speed pump control cylinder system.Because variable speed pump control cylinder system is a nonlinear hydraulic system,it has some problems such as response lag and poor steady-state accuracy.To solve these problems,for the hydraulic cylinder of injection molding machine driven by the servo motor,a fractional order proportion-integration-diferentiation(FOPID)control strategy is proposed to realize the speed tracking control.Combined with the adaptive differential evolution algorithm,FOPID control strategy is used to determine the parameters of controller on line based on the test on the servo-motor-driven gear-pump-controlled hydraulic cylinder injection molding machine.Then the slef-adaptive differential evolution fractional order PID controller(SADE-FOPID)model of variable speed pump-controlled hydraulic cylinder is established in the test system with simulated loading.The simulation results show that compared with the classical PID control,the FOPID has better steady-state accuracy and fast response when the control parameters are optimized by the adaptive differential evolution algorithm.Experimental results show that SADE-FOPID control strategy is effective and feasible,and has good anti-load disturbance performance.

Crack propagation mechanism of compression-shear rock under static-dynamic loading and seepage water pressure

To reveal the water inrush mechanics of underground deep rock mass subjected to dynamic disturbance such as blasting, compression-shear rock crack initiation rule and the evolution of crack tip stress intensity factor are analyzed under static-dynamic loading and seepage water pressure on the basis of theoretical deduction and experimental research. It is shown that the major influence factors of the crack tip stress intensity factor are seepage pressure, dynamic load, static stress and crack angle. The existence of seepage water pressure aggravates propagation of branch cracks. With the seepage pressure increasing, the branch crack experiences unstable extension from stable propagation. The dynamic load in the direction of maximum main stress increases type I crack tip stress intensity factor and its influence on type II crack intensity factor is related with crack angle and material property. Crack initiation angle changes with the dynamic load. The initial crack initiation angle of type I dynamic crack fracture is 70.5°. The compression-shear crack initial strength is related to seepage pressure, confining pressure, and dynamic load. Experimental results verify that the initial crack strength increases with the confining pressure increasing, and decreases with the seepage pressure increasing.

Hybrid force control of astronaut rehabilitative training robot under active loading mode

In order to mitigate the effects of space adaptation syndrome(SAS) and improve the training efficiency of the astronauts, a novel astronaut rehabilitative training robot(ART) was proposed. ART can help the astronauts to carry out the bench press training in the microgravity environment. Firstly, a dynamic model of cable driven unit(CDU) was established whose accuracy was verified through the model identification. Secondly, to improve the accuracy and the speed of the active loading, an active loading hybrid force controller was proposed on the basis of the dynamic model of the CDU. Finally, the actual effect of the hybrid force controller was tested by simulations and experiments. The results suggest that the hybrid force controller can significantly improve the precision and the dynamic performance of the active loading with the maximum phase lag of the active loading being 9° and the maximum amplitude error being 2% at the frequency range of 10 Hz. The controller can meet the design requirements.

A Preliminary Study on Mechanisms of Well Water Temperature Responses Based on the Modes of Stress Loading

Based on the studies of the predecessors, and contrasting the modes of stress loading with water level and water temperature response characteristics of a well-aquifer system, this paper draws a preliminary conclusion on the mechanisms of water temperature responses in a well caused by three modes of stress loading, i.e. gas escape, heat dispersion and cold water penetration mechanisms for elastic seismic wave stress loading; the fracture seepage mechanism for seismic wave stress loading and the hydrodynamic mechanism for earth tide stress loading and stress-dissipative heat mechanism for long period slow stress loading in the earthquake preparation stage. This paper illustrates the typical observation examples for each mode of stress loading and makes a preliminary study on their mechanisms.

Nonlinear Rolling Control Technology of Liquid Launch Vehicle Based on Single Engine

New program was proposed in LM-6 rolling control technology that using high-pressure staged combustion gas. Launch vehicle rolling control by just one engine was realized. Under the limit of the rolling control moment of the launch vehicle, a new attitude dynamic model is established. Interference source and how to reduce the effect was analyzed, and method of designing a pre-compensated robust controller was proposed. Simulation and flight resuits showed that the attitude dynamic model established and the pre-compensation robust controller proposed in this paper could solve the key problems with a strong coupling attitude controller, and realize high quality and high reliability control in wind areas, and improve the capability of the launch vehicle.

Load Frequency Control of a Two Area-Power System with Non-reheat Turbines by SMC Approach

Load frequency is an important issue in power system operation and control. In this paper, load frequency control for suppression frequency deviation in an interconnected power system with nonlinearities using SMC （sliding mode control） is studied. The governor dead band and GRC （generation rate constraint） is considered in this article. Digit simulations for both two areas and three areas power system with non-reheat turbines are provided to validate the effectiveness of the proposed scheme. The results show that, the robustness of the control method under parameters variation and different load disturbances with the SMC technique.

浅埋煤层“主控层-软弱层”组合结构的形成机理及应用

通过分析组合承载结构的形成条件、冲击载荷作用下组合承载结构破坏情况判定方法,对浅埋煤层覆岩主控岩层及其所控软弱岩层协调运动过程进行了深入研究。结果表明:在一定的条件下,主控岩层及其所控软弱岩层断裂岩块将形成协同承载的“主控层-软弱层”组合结构,上覆冲击载荷将影响“主控层-软弱层”组合结构的稳定性;基于此,提出了神东矿区浅埋采空区下回采时煤层间3种结构形态,基于“主控层-软弱层”组合结构定量化地分析了煤层群开采期间层间结构的破坏过程。

Parallel architecture and optimization for discrete-event simulation of spike neural networks

Spike neural networks are inspired by animal brains,and outperform traditional neural networks on complicated tasks.However,spike neural networks are usually used on a large scale,and they cannot be computed on commercial,off-the-shelf computers.A parallel architecture is proposed and developed for discrete-event simulations of spike neural networks.Furthermore,mechanisms for both parallelism degree estimation and dynamic load balance are emphasized with theoretical and computational analysis.Simulation results show the effectiveness of the proposed parallelized spike neural network system and its corresponding support components.

Autonomous energy efficient wheel loader research at TUT

Future worksites will be occupied by different level of automation work machines. How these machines are working individually and how a fleet of these machines cooperates will be in focus of research and development work in the future. In this paper the studied off-road vehicle is a wheel loader. It can be controlled manually, remotely or autonomously. The control strategy of autonomous wheel loader is consisting of, e.g., static and dynamic mapping, path planning, obstacle observation and avoidance. In the autonomous machines and also in machines where operator assistance system is active the situational awareness is the key research field. Power management in hydraulic work machines are still active fields of research. Multiple architectures and configurations have been suggested concerning this area. In addition, implemented solutions that consider an entire machine are rarely presented. This paper introduces the research work of the control systems which are minimising the fuel consumption.