以大隆矿二水平S1E-1303运顺为研究对象,结合大隆矿历年来支护设计类型和国内外先进支护技术方案,采用FLAC 3D 5。0建立数值模拟模型,分析其巷道稳定情况;对深部动压影响区、构造压力带、软岩破碎带等特殊地质情况分析,对历年来常规支...以大隆矿二水平S1E-1303运顺为研究对象,结合大隆矿历年来支护设计类型和国内外先进支护技术方案,采用FLAC 3D 5。0建立数值模拟模型,分析其巷道稳定情况;对深部动压影响区、构造压力带、软岩破碎带等特殊地质情况分析,对历年来常规支护设计方案的模拟及优化,优化形成的支护设计方案,有效地控制顶板下沉,使巷道围岩能最大限度地发挥自身承载作用,可以减少锚杆2500根/千米及配套树脂药卷等,具有较好的经济效益,可在今后的工程中推广采用。展开更多
This paper investigates the attitude tracking control problem for the cruise mode of a dual-system convertible unmanned aerial vehicle(UAV)in the presence of parameter uncertainties,unmodeled uncertainties and wind di...This paper investigates the attitude tracking control problem for the cruise mode of a dual-system convertible unmanned aerial vehicle(UAV)in the presence of parameter uncertainties,unmodeled uncertainties and wind disturbances.First,a fixed-time disturbance observer(FXDO)based on the bi-limit homogeneity theory is designed to estimate the lumped disturbance of the convertible UAV model.Then,a fixed-time integral sliding mode control(FXISMC)is combined with the FXDO to achieve strong robustness and chattering reduction.Bi-limit homogeneity theory and Lyapunov theory are applied to provide detailed proof of the fixed-time stability.Finally,numerical simulation experimental results verify the robustness of the proposed algorithm to model parameter uncertainties and wind disturbances.In addition,the proposed algorithm is deployed in a open-source UAV autopilot and its effectiveness is further demonstrated by hardware-in-the-loop experimental results.展开更多
文摘以大隆矿二水平S1E-1303运顺为研究对象,结合大隆矿历年来支护设计类型和国内外先进支护技术方案,采用FLAC 3D 5。0建立数值模拟模型,分析其巷道稳定情况;对深部动压影响区、构造压力带、软岩破碎带等特殊地质情况分析,对历年来常规支护设计方案的模拟及优化,优化形成的支护设计方案,有效地控制顶板下沉,使巷道围岩能最大限度地发挥自身承载作用,可以减少锚杆2500根/千米及配套树脂药卷等,具有较好的经济效益,可在今后的工程中推广采用。
基金supported by National Natural Science Foundation of China (Grant Nos.52072309 and 62303379)Beijing Institute of Spacecraft System Engineering Research Project (Grant NO.JSZL2020203B004)+1 种基金Natural Science Foundation of Shaanxi Province,Chinese (Grant NOs.2023-JC-QN-0003 and 2023-JC-QN-0665)Industry-University-Research Innovation Fund of Ministry of Education for Chinese Universities (Grant NO.2022IT189)。
文摘This paper investigates the attitude tracking control problem for the cruise mode of a dual-system convertible unmanned aerial vehicle(UAV)in the presence of parameter uncertainties,unmodeled uncertainties and wind disturbances.First,a fixed-time disturbance observer(FXDO)based on the bi-limit homogeneity theory is designed to estimate the lumped disturbance of the convertible UAV model.Then,a fixed-time integral sliding mode control(FXISMC)is combined with the FXDO to achieve strong robustness and chattering reduction.Bi-limit homogeneity theory and Lyapunov theory are applied to provide detailed proof of the fixed-time stability.Finally,numerical simulation experimental results verify the robustness of the proposed algorithm to model parameter uncertainties and wind disturbances.In addition,the proposed algorithm is deployed in a open-source UAV autopilot and its effectiveness is further demonstrated by hardware-in-the-loop experimental results.
