基于MPC算法的飞机主动侧杆杆力控制研究

由于惯性多余力和电磁多余力的存在,主动侧杆存在杆力误差,特别是主动模式下侧杆受到突加多余力的影响易出现过冲和震荡进而影响飞行安全。为此,提出了一种基于MPC预测模型的系统杆力控制方法。将反馈力作为训练模型,经模型预测出期望反馈力并对不同反馈力做PID调节。通过仿真实验对该控制方法进行验证,结果表明,相比于传统的PID控制算法,所设计的主动侧杆杆力控制方法可有效提升控制精度。

白霍一级公路DBI系统精度控制实践

对水泥混凝土路面滑模摊铺施工过程中,缩缝传力杆自动插入装置(DBI)在施插精度方面存在的问题及其原因进行了分析,在现场反复检查量测基础上,通过DBI系统静、动态标定等方法,提高了水泥混凝土路面缩缝传力杆自动插入装置施插精度,使缩缝更好地实现设计功能,从而提高了水泥混凝土路面整体质量和使用寿命。

Study on gob-side entry retaining in fully-mechanized longwall with top-coal caving and its application

Based on the engineering background of gob-side entry retaining in fully-mechanized longwall with top coal caving(GER-FLTC) on N2105 working face of Yuwu coal mine, by adopting the methods of theoretical analysis and numerical calculation, the control techniques of surrounding rocks in GER-FLTC working face are studied in this paper. The two main difficulties of stability of surrounding rocks at gob-side retained entry in fully-mechanized longwall working face are the stability control of top coal and control of large deformation of GER-FLTC working face. Interaction mechanical model between roofing and roadside backfilling in GER-FLTC is established and the equations for the calculation of roof-cutting resistance of roadside backfilling are derived. Results of numerical calculation show that the damage zones of top coal can be categorized into the delaminating zone of top coal above the backfilling, tensile damage zone of top coal above the retained roadway and shear damage zone of the upper rib of the solid coal. Stability control of top coal is the critical part to success of GER-FLTC. With consideration of large deformation of surrounding rocks of gob-side retained entry in fully-mechanized longwall, the support technique of‘‘roofing control and wall strengthening'' is proposed where high strength and highly prestressed anchor rods and diagonal tensile anchor cables support are used for top coal, high strength and highly prestressed yielding anchor rod support is used for solid coal and roadside prestressed load-carrying backfilling is constructed by high-water material, in order to maintain the integrity of the top coal, transfer load, high resistance yielding load-carrying of solid coal, roof-cutting of roadside backfilling and support,and to achieve GER-FLTC. Results from this study are successfully applied in engineering practice.

Fluid Flow Past a Circular Cylinder with Tandem Rod and Staggered Rod at Low Reynolds Number

The flow past a primary cylinder with one tandem control rod and one staggered control rod is simulated in this paper through solving the Navier-Stokes equations. Two examples are simulated to validate the model, and the results matched well with those of previous researches. The Reynolds number based on the diameter of the primary cylinder is 500. The diameter ratio between the control rod and the primary cylinder （d/D） is 0.25. It was found that the effect of the combination of one upstream tandem control rod and one staggered control rod on the hydrodynamics of the primary cylinder is a linear superposition of the effect of a corresponding single control rod, and the effect of the upstream tandem control rod is dominant at larger spacing ratios such as G/D=2. For the combination of a downstream tandem control rod and a staggered control rod, the effect of the control rods is different from that of the corresponding single control rod in the region of 0.2〈G/D〈0.5 ＆ 30°〈a〈120° and 0.9〈G/D〈1.4 ＆ 30°〈a〈50°, where the additional effect is obvious. In this case, the effect of the downstream tandem control rod is dominant at small spacing ratios （such as G/D=0.1）. At moderate spacing ratios such as G/D=0.4, the effects of the tandem control rod and the staggered control rod are comparable in both cases.

Characteristics of stress distribution in floor strata and control of roadway stability under coal pillars

Given the difficulties encountered in roadway support under coal pillars,we studied the characteristics of stress distribution and their effect on roadway stability,using theoretical analysis and numerical simulation.The results show that,under a coal pillar,vertical stress in a floor stratum increases while horizontal stress decreases.We conclude that the increased difference between vertical and horizontal stress is an important reason for deformation of the surrounding rock and failures of roadways under coal pillars.Based on this,we propose control technologies of the surrounding rock of a roadway under a coal pillar,such as high strength and high pre-stressed bolt support,cable reinforcement support single hydraulic prop with beam support and reinforcement by grouting of the surrounding rock,which have been successfully applied in a stability control project of a roadway under a coal pillar.

Surrounding rock deformation regularity of roadway under extremely complicated geological conditions in deep mine and its control

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.

High Precision Motion Control of Hybrid Five-Bar Mechanism with an Intelligent Control

Hybrid mecihanism is a new type of planar controllable mechanism. Position control acouracy of system determines the output aconracy of the mechanism. In order to achieve the desired high acowacy, nonlinear factors as friction nmst be accurately compensated in the real-time servo control algoritinn. In this paper, the model of a hybrid five-bar mechanism is introduced. In terms of the characteristics of the hybrid mechanism, a hybrid intelligent control algorithm based on proportional-integral-derivative （PID） control and cerebellar model articulation control techniques was presented and used to perform control of hybrid five-bar mechanism for the lust time. The sinmulation results show that the hybrid control method can improve the control effect remarkably, compared with the traditional PID control strategy.