A mathematical hydraulic support self-tracking model for three-machine cooperative mining is proposed to address low efficiency and difficulties in strategy evaluation of a fully mechanized coal face.The proposed mode...A mathematical hydraulic support self-tracking model for three-machine cooperative mining is proposed to address low efficiency and difficulties in strategy evaluation of a fully mechanized coal face.The proposed model uses the coordinates and traction speed of the shearer to calculate the frequency of the circular hydraulic support and realize the coordinated operation of the three-machine mining technology.A unity3d hardware-in-the-loop simulation experimental hearer and hydraulic support platform was used to validate the model of autonomous follow-up.The results indicate that collaborative control of coal mining allowed for an efficiency 3.76%higher than under automatic operation mode and 46.03%higher than under manual control;thus,The mathematical model provided an improved production efficiency of the fully mechanized mining face.The mathematical model also provides a more intelligent and reliable security support,and improves the intelligent level of hydraulic support follow-up control.展开更多
A novel pressure and vacuum continuous control system, which adopts a hybrid pump as pressure and vacuum source, is presented. The mathematical model of the system is developed. The theoretical simulation and analysis...A novel pressure and vacuum continuous control system, which adopts a hybrid pump as pressure and vacuum source, is presented. The mathematical model of the system is developed. The theoretical simulation and analysis on the system are implemented in order to study the relationships among the characteristics, parameters and working points of the system. The experimental investigations on the system characteristics are presented with the adoption ofa fuzzy-PID controller. The simulation and experimental results indicate that the pressure and vacuum continuous control system based on hybrid pump has good dynamic and static performance, strong robustness and satisfactory adaptability to various system parameters. According to the results, system can successfully gain high accuracy and fast response signal. Also, the mathematical model of system is also testified by the experimental results.展开更多
This paper investigates fault tolerant attitude control theory and experiment for underactuated spacecraft with one reaction wheel completely broken and two others suffering actuator faults of partial loss of effectiv...This paper investigates fault tolerant attitude control theory and experiment for underactuated spacecraft with one reaction wheel completely broken and two others suffering actuator faults of partial loss of effectiveness or bias.A non-smooth robust adaptive fault tolerant control law is proposed under the zero-momentum and input saturation conditions.It shows that the available reaction wheels need to produce sufficient control torque for the fault tolerance.Such a new control method is implemented in a semi-physical simulation system of an air-bearing platform.Experimental results show the effectiveness of the proposed method in spacecraft practical engineering.展开更多
This work proposes a soft sensor based on a phenomenological model for online estimation of the density and viscosity of a slurry flowing through a pipe-and-fittings assembly(PFA). The model is developed considering t...This work proposes a soft sensor based on a phenomenological model for online estimation of the density and viscosity of a slurry flowing through a pipe-and-fittings assembly(PFA). The model is developed considering the conservation principle applied to mass and momentum transfer and considering frictional energy losses to include the variables directly affecting slurry properties. A reported proposal for state observers with unknown inputs is used to develop the first block of the observer structure. The second block is constructed with two options for evaluating slurry viscosity, generating two possible estimator structures, which are tested using real data. A comparison between them indicates different uses and capabilities according to available process information.展开更多
基金This work was supported by the Project funded by China Postdoctoral Science Foundation under Grant 2019M651081the Merit Funding for the Returned Overseas Personnel Sci-Tech Activities of Shanxi Province under Grant 2016 and Key Research and Development Program of Shanxi(2019)and Innovation Programs of Higher Education Institutions in Shanxi(2019L0305).
文摘A mathematical hydraulic support self-tracking model for three-machine cooperative mining is proposed to address low efficiency and difficulties in strategy evaluation of a fully mechanized coal face.The proposed model uses the coordinates and traction speed of the shearer to calculate the frequency of the circular hydraulic support and realize the coordinated operation of the three-machine mining technology.A unity3d hardware-in-the-loop simulation experimental hearer and hydraulic support platform was used to validate the model of autonomous follow-up.The results indicate that collaborative control of coal mining allowed for an efficiency 3.76%higher than under automatic operation mode and 46.03%higher than under manual control;thus,The mathematical model provided an improved production efficiency of the fully mechanized mining face.The mathematical model also provides a more intelligent and reliable security support,and improves the intelligent level of hydraulic support follow-up control.
基金This project is supported by National Natural Science Foundation of China (No.50675075).
文摘A novel pressure and vacuum continuous control system, which adopts a hybrid pump as pressure and vacuum source, is presented. The mathematical model of the system is developed. The theoretical simulation and analysis on the system are implemented in order to study the relationships among the characteristics, parameters and working points of the system. The experimental investigations on the system characteristics are presented with the adoption ofa fuzzy-PID controller. The simulation and experimental results indicate that the pressure and vacuum continuous control system based on hybrid pump has good dynamic and static performance, strong robustness and satisfactory adaptability to various system parameters. According to the results, system can successfully gain high accuracy and fast response signal. Also, the mathematical model of system is also testified by the experimental results.
基金supported by the National Natural Science Foundation of China(Nos.62073165 and 62233009)the 111 Project,China(No.B20007).
文摘This paper investigates fault tolerant attitude control theory and experiment for underactuated spacecraft with one reaction wheel completely broken and two others suffering actuator faults of partial loss of effectiveness or bias.A non-smooth robust adaptive fault tolerant control law is proposed under the zero-momentum and input saturation conditions.It shows that the available reaction wheels need to produce sufficient control torque for the fault tolerance.Such a new control method is implemented in a semi-physical simulation system of an air-bearing platform.Experimental results show the effectiveness of the proposed method in spacecraft practical engineering.
基金Colciencias and SUMICOL(Suministros de Colombia S.A.)for their support and financing for this project
文摘This work proposes a soft sensor based on a phenomenological model for online estimation of the density and viscosity of a slurry flowing through a pipe-and-fittings assembly(PFA). The model is developed considering the conservation principle applied to mass and momentum transfer and considering frictional energy losses to include the variables directly affecting slurry properties. A reported proposal for state observers with unknown inputs is used to develop the first block of the observer structure. The second block is constructed with two options for evaluating slurry viscosity, generating two possible estimator structures, which are tested using real data. A comparison between them indicates different uses and capabilities according to available process information.