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护盾式临时支护机器人带压行驶液压控制系统研究
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作者 马宏伟 李烺 +5 位作者 薛旭升 王川伟 王赛赛 赵英杰 周文剑 张恒 《工矿自动化》 CSCD 北大核心 2024年第7期21-31,共11页
护盾式临时支护机器人是适应夹矸与片帮共存的大断面巷道智能掘进机器人系统的重要组成部分,其主要功能是为实现“掘支并行”作业提供安全可靠的工作空间。为加强护盾式临时支护机器人推移行驶过程中对围岩的安全稳定支护,根据护盾式临... 护盾式临时支护机器人是适应夹矸与片帮共存的大断面巷道智能掘进机器人系统的重要组成部分,其主要功能是为实现“掘支并行”作业提供安全可靠的工作空间。为加强护盾式临时支护机器人推移行驶过程中对围岩的安全稳定支护,根据护盾式临时支护机器人结构、工作环境与作业需求,建立其带压行驶的推移量与支护力数学模型及带压行驶动力学模型,设计了护盾式临时支护机器人带压行驶液压控制系统。该系统主要由支护液压系统、行驶液压系统组成:静态支护时,支护液压系统需时刻输出大于上盾体自身重力的支护力,行驶液压系统处于待机状态;带压行驶时,支护液压系统和行驶液压系统同时工作,在保证临时支护机器人“减压不离顶”的同时,与顶板时刻带压并稳步前移。提出了基于模糊PID的护盾式临时支护机器人带压行驶精准控制方法:通过集成在推移油缸上的位移传感器与液压回路中的压力传感器实时采集临时支护机器人的压力与位移信号,用于反映临时支护机器人带压行驶途中支护力和行驶位移的变化情况,并根据支护力和推移量的误差和误差率,利用模糊PID算法对支护力和推移量的控制参数进行修正,实现基于模糊PID算法的带压行驶可靠控制。仿真与实验结果均表明,模糊PID控制的效果优于传统PID控制,在模糊PID控制下,护盾式临时支护机器人推移行驶过程中的支护力相对误差小于1%,行驶位移误差小于2 mm,且支护力和推移量控制响应速度快,保证了推移行驶过程中对围岩的安全稳定支护。 展开更多
关键词 护盾式临时支护机器人 液压控制系统 带压行驶 支护力控制 行驶位移控制 模糊PID控制
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Control technology for floor heave of Jurassic soft rock in the Erdos Basin of China: A case study 被引量:2
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作者 WEN Zhi-jie JING Suo-lin +1 位作者 MENG Fan-bao JIANG Yu-jing 《Journal of Central South University》 SCIE EI CAS CSCD 2022年第12期4051-4065,共15页
The deformation of soft rock roadway caused by floor heave is a major challenge for coal mines in China western mining areas. To achieve security and stability of soft rock roadway, this work considered the headgate a... The deformation of soft rock roadway caused by floor heave is a major challenge for coal mines in China western mining areas. To achieve security and stability of soft rock roadway, this work considered the headgate at panel 11505 of the Yushujing Coal Mine as background. First, based on the limit equilibrium method and slip line field theory,a model of floor heave was established, the mechanism of floor heave control was analyzed, and an optimized support method was proposed. Then, the displacement, stress and failure zones around the surrounding rock with the original and optimized support were studied by FLAC. Finally, the serviceability of the support method was verified by field application. The results showed that the main deformation form of soft rock roadway is floor heave, and 0.5 m is relatively reasonable thicknesses of the inverted arch. The extrusion failure zone and shear failure zone were mainly affected by tensile and shear failure, respectively. The modification of floor and the effective support are key points. The failure zone was consistent between numerical simulation and theoretical calculation. The maximum convergences of floor heave determined by numerical simulation and field measurement were 220 mm and 240 mm, respectively, which were reduced by 55% and 60% compared with the original support, and the convergence between sidewalls decreased considerably. The optimized support method controls the floor heave well. 展开更多
关键词 soft rock roadway floor heave mechanical model control mechanism optimized support
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Surrounding rock deformation regularity of roadway under extremely complicated geological conditions in deep mine and its control
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作者 刘长友 何卓军 万志军 《Journal of Coal Science & Engineering(China)》 2003年第1期12-16,共5页
By combining the practices of deep mine mining in Changguang Mine field and using the Universal Distinct Element Code 3 0(UDEC3 0) numerical computing method, the distribution characteristics of deformation field and ... By combining the practices of deep mine mining in Changguang Mine field and using the Universal Distinct Element Code 3 0(UDEC3 0) numerical computing method, the distribution characteristics of deformation field and stress field as well as the surrounding rock deformation regularity of soft rock roadway are analyzed under extremely complicated geological conditions, a technical principle of bolting to control the surrounding rock of roadway is put forward. And also using a dynamic control for surrounding rocks designing method, the supporting parameters and implement plan are rationally determined. The experimental tests have obtained a good controlling result of surrounding rock. 展开更多
关键词 deep mine extremely complicated geological condition surrounding rock deformation dynamic controlling design
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