Cooperatively surrounding control for multiple Euler–Lagrange systems subjected to uncertain dynamics and input constraints

In this paper, we investigate cooperatively surrounding control （CSC） of multi-agent systems modeled by Euler- Lagrange （EL） equations under a directed graph. With the consideration of the uncertain dynamics in an EL system, a backstepping CSC algorithm combined with neural-networks is proposed first such that the agents can move cooperatively to surround the stationary target. Then, a command filtered backstepping CSC algorithm is further proposed to deal with the constraints on control input and the absence of neighbors＇ velocity information. Numerical examples of eight satellites surrounding one space target illustrate the effectiveness of the theoretical results.

Surrounding Rock Control Technology of Strong Dynamic Pressure Roadway in Hudi Coal Industry

Aiming at the problems of large deformation and difficult maintenance of deep soft rock roadway under the influence of high ground stress and strong dynamic pressure, taking the surrounding rock control of 1105 lane in Hudi Coal Industry as an example, the deformation characteristics and surrounding rock control measures of deep soft rock roadway are analyzed and discussed by means of geological data analysis, roadway deformation monitoring, rock crack drilling and field test. The results show that the main causes of roadway deformation are high ground stress, synclinal tectonic stress, advance mining stress, roadway penetration and surrounding rock fissure development. Based on the deformation characteristics and mechanism of lane 1105, the supporting countermeasures of “roof synergic support, layered grouting, anchor cable beam support, closed hardening of roadway surface” are proposed, which can provide reference for the control of deep roadway surrounding rock under similar conditions.

Stability mechanism and control of the pumpable supports in longwall recovery room

The load-bearing performance(LBP)of pumpable supports(PPS)is crucial for the stability of longwall pre-driven recovery room(PRR)surrounding rock.However,the unbalanced bearing coefficient(UBC)of the PPS(undertaking unequal load along the mining direction)has not been investigated.A mechanical model of the PRR was established,considering the main roof cantilever beam structure,to derive an assessment formula for the load,the failure criteria,and the UBC of the PPS.Subsequently,the generation mechanisms,and influencing factors of the UBC were revealed.Global sensitivity analysis shows that the main roof hanging length(l_(2))and the spacing between the PPS(r)significantly impact the UBC.A novel design of the PPS and the coupling control technology were proposed and applied to reduce the UBC of the PPS in the adjacent longwall PRR.Monitor results showed no failure of the PPS at the test site,with the UBC(ζ)reduced to 1.1 consistent with the design value(1.15)basically,fully utilizing the collaborative LBP of the PPS.Finally,the maximum roof-to-floor convergence of the PRR was 234 mm,effectively controlling the stability of the surrounding rock of the PRR and ensuring the mining equipment recovery.

Surrounding rock control theory and longwall mining technology innovation

To accommodate surrounding rock structure stability control problem in underground mining, we study the coupling effect principle between hydraulic support and surrounding rock, and develop a series of longwall mining technology and equipment, which solves four common technical problems that significantly undermine coal mining safety, efficiency, and high recovery and extraction rates. Based on the coupling characteristic between mining-induced stress field and supporting stress field of hydraulic support, we identify six controllable factors in the application of hydraulic support to surrounding rock, and further reveal the relationship between hydraulic support and surrounding rock in terms of the strength, the stiffness, and the stability coupling. Our findings provide a plausible solution to the longwall mining technical problem with 6-8 m mining height. By analyzing the dynamic disequilibrium characteristics between hydraulic support and surrounding rock, we propose the intelligent top coal caving control method and the high-coal-recovery-rate tech- nology for fully mechanized caving faces. With the invention of this technology, China is likely to lead the world in terms of the fully mechanized top coal caving mining technology. We are also the first to employ the intelligent coupling technology between hydraulic support and surrounding rock, and automated mining mode, and supporting system coop- erative control with automatic organization. We develop the comprehensive multi-index intelligence adjusting height decision-making mechanism and three-dimensional navigation automatic adjusting straightness technology based on shearer cutting height memory association, cutting power parameters, vibration, and video information, leading to the first set of intelligent longwall mining technology and equipment for thin seam. Our innovation makes a solid contribution to the revolution of intelligence mining technology. With the innovative use of three-dimensional coupling control principle for surrounding rock, we successfully resolve the technological difficulties of longwall mining equipment and surrounding rock control for steep dipping seam, making a breakthrough of longwall mining technology with steep dipping seam.

Analysis and application in controlling surrounding rock of support reinforced roadway in gob-side entry with fully mechanized mining

In order to optimize gob-side entry in fully-mechanized working face in moderate-thick-coal seams, we adopt a new attempt to pack roadside by pumping ordinary concrete, which is very important for the development of gob-side entry technology. The concrete has a long initial setting time and a low initial strength. So it is difficult to control the surrounding rock. In this paper, we analyze the effect of using roadside cable to reinforce supporting in gob-side entry surrounding rock controlling based on elas-tic-plastic and material mechanics knowledge. And then we propose a scheme that cable is used to reinforce roadside supporting and a single hydraulic prop is used as the temporary supporting in gob side. Using the numerical simulation software FLAC2D, we numerically simulated supporting scheme. Results of both the 2D modeling and the industrial test on No.3117 face in Jingang Mine prove that the scheme is feasible. The results show that the technology of protecting the roadway in gob-entry retained efficiently make up the deficiency of roadside packing with ordinary concrete, effectively control the roof strata and acquire a good result of retaining roadway.

Study on mechanism and practice of surrounding rock control of high stress coal roadway

The mechanical principle and surrounding rock deformation feature of highstress coal roadway was analyzed.The condition of stress balance of the kind of theroadway was put forward.The surrounding rock control principle and supporting techniqueof high stress coal roadway were discussed.It was very important to control early daysdeformation of coal sides.The supporting strength is should increased,so the strengthloss of coal sides is decreased.The range of plastic fluid zone is reduced.The abovemention-ned principle is applied in industrial test,and the new supporting technique is ap-plied successfully.

Strength and damage evolution mechanism of rock mass with holes under cyclic loading

The damage and failure law of rock mass with holes is of great significance to the stability control of roadways. This study investigates the mechanical properties and failure modes of porous rock masses under cyclic loading, elucidates the acoustic emission (AE) characteristics and their spatial evolution, and establishes the interrelation among AE, stress, strain, time, and cumulative damage. The results reveal that the rock mass with holes and the intact rock mass show softening and hardening characteristics after cyclic loading. The plastic strain of the rock mass with holes is smaller than that of the intact rock mass, and the stress −strain curve shows hysteresis characteristics. Under uniaxial compression, the pore-bearing rock mass shows the characteristics of higher ringing count, AE energy, b-value peak, and more cumulative ringing count in the failure stage, while it shows lower characteristics under cyclic action. At the initial stage of loading, compared with the intact rock mass, the pore-containing rock mass shows the characteristics of a low b-value. The AE positioning and cumulative damage percentage are larger, and the AE positioning is denser around the hole. The specimen with holes is mainly shear failure, and the complete specimen is mainly tensile shear failure.

Combined blasting for protection of gob-side roadway with thick and hard roof

The deformation control of surrounding rock in gobside roadway with thick and hard roof poses a significant challenge to the safety and efficiency of coal mining.To address this issue,a novel approach combining directional and non-directional blasting techniques,known as combined blasting,was proposed.This study focuses on the experimental investigation of the proposed method in the 122108 working face in Caojiatan Coal Mine as the engineering background.The initial phase of the study involves physical model experiments to reveal the underlying mechanisms of combined blasting for protecting gob-side roadway with thick and hard roof.The results demonstrate that this approach effectively accelerates the collapse of thick and hard roofs,enhances the fragmentation and expansion coefficient of gangue,facilitates the filling of the goaf with gangue,and provides support to the overlying strata,thus reducing the subsidence of the overlying strata above the goaf.Additionally,the method involves cutting the main roof into shorter beams to decrease the stress and disrupt stress transmission pathways.Subsequent numerical simulations were conducted to corroborate the findings of the physical model experiments,thus validating the accuracy of the experimental results.Furthermore,field engineering experiments were performed,affirming the efficacy of the combined blasting method in mitigating the deformation of surrounding rock and achieving the desired protection of the gob-side roadway.

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.

Stability of coal pillar in gob-side entry driving under unstable overlying strata and its coupling support control technique

Considering the situation that it is difficult to control the stability of narrow coal pillar in gob-side entry driving under unstable overlying strata, the finite difference numerical simulation method was adopted to analyze the inner stress distribution and its evolution regularity, as well as the deformation characteristics of narrow coal pillar in gob-side entry driving, in the whole process from entry driving of last working face to the present working face mining. A new method of narrow coal pillar control based on the triune coupling support technique (TCST), which includes that high-strength prestressed thread steel bolt is used to strain the coal on the goaf side, and that short bolt to control the integrity of global displacement zone in coal pillar on the entry side, and that long grouting cable to fix anchor point to constrain the bed separation between global displacement zone and fixed zone, is thereby generated and applied to the field production. The result indicates that after entry excavating along the gob under unstable overlying strata, the supporting structure left on the gob side of narrow coal pillar is basically invalid to maintain the coal-pillar stability, and the large deformation of the pillar on the gob side is evident. Except for the significant dynamic pressure appearing in the coal mining of last working face and overlying strata stabilizing process, the stress variation inside the coal pillar in other stages are rather steady, however, the stress expansion is obvious and the coal pillar continues to deform. Once the gob-side entry driving is completed, a global displacement zone on the entry side appears in the shallow part of the pillar, whereas, a relatively steady fixed zone staying almost still in gob-side entry driving and present working face mining is found in the deep part of the pillar. The application of TCST can not only avoid the failure of pillar supporting structure, but exert the supporting capacity of the bolting structure left in the pillar of last sublevel entry, thus to jointly maintain the stability of coal pillar.

Study of dynamic pressure roadway supporting scheme under condi- tion of thick composite roof

This paper analyzed the strata behaviors of solid-coal roadway, gob-side entry driving and deformation law of surrounding rock in depth under high stress and thick composite roof based on the dynamic pressure roadway as engineering background in Fengcheng mining area, Jiangxi province. The results, both field measurement and numerical simulation show that gob-side entry driving results the deformation of coal roadway main wall, however, entity-coal roadway driving results deformation of main roof and floor. The maintenance state of gob-side entry driving is better than entity-coal roadway, this situation is relevant to thick composite roof layered and easy collapse characteristics. At the same time, this paper put fox＇ward and proved proper dynamic pressure roadway supporting scheme under the surrounding rock condition and stress environment.

Research on the "three shells" cooperative support technology of large-section chambers in deep mines

The"three shells"cooperative support technology was proposed herein according to both the large deformation of the rock surrounding large-section chambers in deep mines and the precarious stability of the support structures therein.The development range of the plastic zone in the surrounding rock was controlled by a stress shell to reduce the difficulty of controlling the surrounding rock.Additionally,the residual strength of the rock mass in the plastic zone and the self-bearing capacity of the surrounding rock were improved by a reinforced load-bearing shell.Furthermore,a passive load-bearing shell could restore the triaxial stress state of the surrounding rock on the free surface,reduce the influence of the external environment on the surrounding rock,and reinforce the surrounding rock with the strength of the shell.Reasonable layouts of large-section chambers were determined by analyzing the control effect of the stress shell on the surrounding rock under three kinds of in situ stress fields.The orthogonal test method was applied to reveal the influences of different support parameters in the reinforced loadbearing shell and passive load-bearing shell on the surrounding rock stability.The surrounding rock control effect of the"three shells"collaborative support technology was analyzed through numerical simulation and field monitoring.The results show that the maximum displacement between the roof and floor of the coal preparation chamber in the Xinjulong coal mine was approximately 48 mm,and the maximum displacement between its two sides was approximately 65 mm,indicating that the technology proposed herein could meet the long-term control requirements of the surrounding rock stability for large-section chambers in deep mines.