Posture adjustment of open-type hard rock tunnel boring machine(TBM) can be achieved by properly adjusting the hydraulic pressure of gripper cylinder and torque cylinders. However, the time-varying inhomogeneous load ...Posture adjustment of open-type hard rock tunnel boring machine(TBM) can be achieved by properly adjusting the hydraulic pressure of gripper cylinder and torque cylinders. However, the time-varying inhomogeneous load acting on tunneling face of TBM and complex stratum working condition can cause the trajectory deviation. In this paper,the position and posture rectification kinematics and dynamics models of TBM have been established in order to track the trajectory. Moreover, there are uncertain parameters and uncertain loads from complex working conditions in the dynamic model. An indirect adaptive robust control strategy is applied to achieve precise position and posture trajectory tracking control. Simulation results show when the position deviation only occurs in Y-axis and the current orientation is parallel with the designed axis, the deviation can be corrected by controlling the pressure of gripper cylinder and the actual trajectory meets the designed axis when TBM is pushed forward 0.14 m in X-axis. If the deviation only occurs in Z-axis, then the deviation can be corrected by controlling torque cylinders. If the position deviation occurs both in Y-axis and Z-axis at the same time, the pressure of gripper cylinder and torque cylinders should be controlled at the same time to rectify the deviation. Simulation results are shown to illustrate the e ectiveness and robustness of the proposed controller. This research proposes an indirect adaptive robust controller that can track the planned tracking trajectory smoothly and rapidly.展开更多
The multi-radiation of X-rays was investigated with special attention to their energy spectrum in a Mather-type plasma focus device （operated with argon gas）. The analysis is based on the effect of anomalous resista...The multi-radiation of X-rays was investigated with special attention to their energy spectrum in a Mather-type plasma focus device （operated with argon gas）. The analysis is based on the effect of anomalous resistances. To study the energy spectrum, a four-channel diode X-ray spectrometer was used along with a special set of filters. The filters were suitable for detection of medium range X-rays as well as hard X-rays with energy exceeding 30 keV. The results indicate that the anomalous resistivity effect during the post pinch phase may cause multi-radiation of X-rays with a total duration of 300 ± 50 ns. The significant contribution of Cu-Kα was due to the medium range X-rays, nonetheless, hard X-rays with energies greater than 15 keV also participate in the process. The total emitted X-ray energy in the forms of Cu-K and Cu-K/3 was around 0.14 ± 0.02 （J/Sr） and 0.04 ±0.01 （J/Sr）, respectively. The total energy of the emitted hard X-ray （〉 15 keV） was around 0.12± 0.02 （J/Sr）.展开更多
基金Supported by National Basic Research Program of China(973 Program,Grant No.2013CB035406)Science Fund for Creative Research Groups of National Natural Science Foundation of China(Grant No.61621002)National Natural Science Foundation of China(Grant No.61633019)
文摘Posture adjustment of open-type hard rock tunnel boring machine(TBM) can be achieved by properly adjusting the hydraulic pressure of gripper cylinder and torque cylinders. However, the time-varying inhomogeneous load acting on tunneling face of TBM and complex stratum working condition can cause the trajectory deviation. In this paper,the position and posture rectification kinematics and dynamics models of TBM have been established in order to track the trajectory. Moreover, there are uncertain parameters and uncertain loads from complex working conditions in the dynamic model. An indirect adaptive robust control strategy is applied to achieve precise position and posture trajectory tracking control. Simulation results show when the position deviation only occurs in Y-axis and the current orientation is parallel with the designed axis, the deviation can be corrected by controlling the pressure of gripper cylinder and the actual trajectory meets the designed axis when TBM is pushed forward 0.14 m in X-axis. If the deviation only occurs in Z-axis, then the deviation can be corrected by controlling torque cylinders. If the position deviation occurs both in Y-axis and Z-axis at the same time, the pressure of gripper cylinder and torque cylinders should be controlled at the same time to rectify the deviation. Simulation results are shown to illustrate the e ectiveness and robustness of the proposed controller. This research proposes an indirect adaptive robust controller that can track the planned tracking trajectory smoothly and rapidly.
文摘The multi-radiation of X-rays was investigated with special attention to their energy spectrum in a Mather-type plasma focus device （operated with argon gas）. The analysis is based on the effect of anomalous resistances. To study the energy spectrum, a four-channel diode X-ray spectrometer was used along with a special set of filters. The filters were suitable for detection of medium range X-rays as well as hard X-rays with energy exceeding 30 keV. The results indicate that the anomalous resistivity effect during the post pinch phase may cause multi-radiation of X-rays with a total duration of 300 ± 50 ns. The significant contribution of Cu-Kα was due to the medium range X-rays, nonetheless, hard X-rays with energies greater than 15 keV also participate in the process. The total emitted X-ray energy in the forms of Cu-K and Cu-K/3 was around 0.14 ± 0.02 （J/Sr） and 0.04 ±0.01 （J/Sr）, respectively. The total energy of the emitted hard X-ray （〉 15 keV） was around 0.12± 0.02 （J/Sr）.
