Research on the Resistance of Cutting Mechanism of Mining Longitudinal Roadheader

In order to accurately obtain the dynamic characteristics of the cutting mechanism of the mining longitudinal roadheader,combined with the working principle of the mining longitudinal roadheader,the theoretical analysis and derivation are carried out in detail.By using ADAMS to simulate,the resistance curve and torque curve of the cutting mechanism in different directions are obtained.The results show that ADAMS can effectively predict the excavation resistance and torque of the cutting mechanism of mining longitudinal roadheader,which has certain reference value for future optimization design.

Prediction of roadheaders' performance using artificial neural network approaches (MLP and KOSFM)

A pplication o f m echanical excavators is one o f th e m o st com m only used excavation m eth o d s because itcan bring th e p ro ject m ore productivity, accuracy and safety. A m ong th e m echanical excavators, roadhead ers are m echanical m iners w h ich have b een extensively u se d in tu n n elin g , m ining an d civil indu stries. Perform ance pred ictio n is an im p o rta n t issue for successful ro a d h e a d e r application andgenerally deals w ith m achine selection, p ro d u ctio n rate an d b it consu m p tio n . The m ain aim o f thisresearch is to investigate th e c u ttin g p erfo rm an ce （in stan tan eo u s c u ttin g rates （ICRs）） o f m ed iu m -d u tyro ad h ead ers by using artificial neural n etw o rk （ANN） approach. T here are d ifferent categories forANNs, b u t based o n train in g alg o rith m th e re are tw o m ain k in d s： supervised and u n su p erv ised . Them u lti-lay er p ercep tro n （MLP） an d K ohonen self-organizing feature m ap （KSOFM） are th e m o st w idelyused neu ral netw o rk s for supervised an d u n su p erv ised ones, respectively. For gaining this goal, ad atab ase w as prim arily provided from ro ad h e a d e rs＇ p erfo rm an ce an d geom echanical characteristics o frock form ations in tu n n els and d rift galleries in Tabas coal m ine, th e larg est an d th e only fullymech an ized coal m ine in Iran. T hen th e datab ase w as analyzed in o rd e r to yield th e m ost im p o rtan tfactor for ICR by using relatively im p o rta n t factor in w hich G arson eq u atio n w as utilized. The MLPn etw o rk w as train ed by 3 in p u t p ara m e te rs including rock m ass pro p erties, rock quality d esignation（RQD）, in tact rock p ro p erties such as uniaxial com pressive stre n g th （UCS） an d Brazilian ten sile stren g th（BTS）, and o n e o u tp u t p a ra m e te r （ICR）. In o rd e r to have m ore v alidation o n MLP o u tp u ts, KSOFM visualizationw as applied. The m ean square e rro r （MSE） an d regression coefficient （R ） o f MLP w e re found tobe 5.49 an d 0.97, respectively. M oreover, KSOFM n etw o rk has a m ap size o f 8 x 5 and final qu an tizatio nan d topographic erro rs w e re 0.383 an d 0.032, respectively. The results show th a t MLP neural n etw orkshave a strong capability to p red ict an d ev alu ate th e perfo rm an ce o f m ed iu m -d u ty ro ad h ead ers in coalm easu re rocks. Furtherm ore, it is concluded th a t KSOFM neural n etw o rk is an efficient w ay for u n d e rstand in g system beh av io r an d know ledge extraction. Finally, it is indicated th a t UCS has m ore influenceo n ICR b y applying th e b e st train ed MLP n etw o rk w eig h ts in G arson eq u atio n w h ich is also confirm ed byKSOFM.

A new model to predict roadheader performance using rock mass properties

Prediction of roadheader performance plays a significant role in the plan of tunnel construction, which is influenced by different key parameters, including rock strength, discontinuity in rock mass, type and specifications of roadheader machine, and brittleness. The main aim of this study is to build a robust empirical equation based on rock mass properties for the roadheader performance prediction. For achieving the aim, a dataset composed of roadheader performance rate and rock properties is established using the dataset compiled from an underground coal mine located in a remote rugged desert environment some 85 km south of Tabas City in mid east Iran. By using gathered data, the statistical analyses are conducted between rock mass properties and roadheader performance to find whether there is a significant relationship between input variables and roadheader performance. The results show that rock mass properties have a considerable impact on the rate of the roadheader performance. It is demonstrated that the proposed model can accurately predict the roadheader performance as a function of rock mass properties.

Influence of different parameters on numerical simulation of vertical-axis marine current turbine based on OpenFOAM

Using the PimpleDyMFoam solver in open-source computing software OpenFOAM,based on the SST k-ωturbulence model and PIMPLE algorithm,a numerical simulation method of vertical-axis marine current turbines(VMCTs)is proposed,and the calculated results are compared with the experimental results.The results show that the numerical simulation method is feasible.Compared with other commercial softwares,this method has the advantages of higher solution efficiency and greater flexibility.According to the needs of users,the solver can be built on the basis of original code,and the corresponding discrete method can be optimized.This method can achieve optimization algorithms,save time and cost,etc.Secondly,the effects of different parameters(mesh density,time step,the selection of sidewall boundary conditions and inlet turbulence intensity)on numerical simulation of the VMCT are studied in detail.The findings summarize an effective CFD simulation strategy based on OpenFOAM and provide a valuable reference for future CFD simulations of VMCTs.

Numerical Investigation of Contra Rotating Vertical-Axis Tidal-Current Turbine

In this study,the performance of a contra rotating vertical-axis tidal-current turbine was investigated.The incompressible unsteady Reynolds-averagedNavier-Stokes(U-RANS)equations were solved via two-dimensional(2D)numerical simulation using ANSYS Fluent computational fluid dynamics(CFD)code.An algorithm known as SIMPLE from the CFD code was used to calculate the pressure-velocity coupling and second-order finite-volume discretization for all the transport equations.The base turbine model was validated using the available experimental data.Three given scenarios for the contra rotating turbine were modeled.The contra rotating turbine performs better in a low tip speed ratio(TSR)than in a high TSR operation.In a high TSR operation,the contra rotating turbine inefficiently operates,surviving to rotate in the chaotic flow distribution.Thus,it is recommended to use contra rotating turbine as a part of new design to increase the performance of a vertical-axis tidal-current turbine with a lower TSR.

Cenozoic Vertical-Axis Rotations of the Hoh Xil Basin, Central–Northern Tibet

Understanding the Cenozoic vertical-axis rotation in the Tibetan Plateau is crucial for continental dynamic evolution. Paleomagnetic and rock magnetic investigations were carried out for the Oligocene and Miocene continental rocks of the Hoh Xii basin in order to better understand the tectonic rotations of central Tibet. The study area was located in the Tongtianhe area located in the southern part of the Hoh Xil basin and northern margin of the Tanggula thrust system in central-northern Tibet. A total of 160 independently oriented paleomagnetic samples were drilled from the Tongtianhe section for this study. The magnetic properties of magnetite and hematite have been recognized by measurements of magnetic susceptibility vs. temperature curves and unbiocking temperatures. The mean directions of the Oligocene Yaxicuo Group in stratigraphic coordinates （Declination/Inclination = 354.9°/29.3°, k = 33.0, a9s = 13.5°, N =5 Sites） and of the Miocene Wudaoliang Group in stratigraphic coordinates （Declination/Inclination = 3.60/36.4°, k = 161.0, a9s = 9.7°, N =3 Sites） pass reversal tests, indicating the primary nature of the characteristic magnetizations. Our results suggested that the sampled areas in the Tuotuohe depression of the Hoh Xil basin have undergone no paleomagnetically detectable rotations under single thrusting from the Tanggula thrust system. Our findings, together with constraints from other tectonic characteristics reported by previous paleomagnetic studies, suggest tectonic rotations in the Cuoredejia and Wudaoliang depressions of the Hoh Xil basin were affected by strike-slip faulting of the Fenghuo Shan-Nangqian thrust systems. A closer examination of geological data and different vertical-axis rotation magnitudes suggest the tectonic history of the Hoh Xil basin may be controlled by thrust and strike-slip faulting since the Eocene.

Numerical and Experimental Investigation of Aerodynamic Performance of Vertical-Axis Wind Turbine Models with Various Blade Designs

Due to the importance and advantages of Vertical-axis wind turbines (VAWTs) over traditional horizontal-axis wind turbines (HAWTs), this paper is implemented. Savonius turbines with drag-based rotors are adopted from the two more extensive arrangements of vertical wind turbines because of their advantages. In this paper, six diverse rotor plans with measure up to cleared regions are analyzed with exploratory wind burrow testing and numerical reenactments. These proposed models incorporate a conventional Savonius with two different edges criteria and 90 degree helical bend models with two, three and four sharp edges. The models were designed using SolidWorks software then the physical models were 3D printed for testing. A subsonic open-sort wind burrow was utilized for Revolution per Minute (RPM) and torque estimation over a scope of wind speeds. ANSYS Fluent reenactments were utilized for dissecting streamlined execution by using moving reference outline and sliding lattice display methods. A 3-dimensional and transient strategy was utilized for precisely tackling torque and power coefficients. The five new rotor geometries have important advantages such as making a focal point of weight advance from the hub of revolution and causing more noteworthy torque on the turbine shaft contrasted with the customary Savonius turbine. Our new models with the names of CC model and QM model display cross-areas lessen the aggregate scope of negative torque on the edges by 20 degrees, contrasted with the customary Savonius demonstrate. Helical plans are better spread the connected torque over a total transformation resulting in positive torque over every single operational point. Moreover, helical models with 2 and 3 cutting edges have the best self-starting ability in low wind speeds. Helical VAWT with 3 edges starts revolution of 35 RPM at only 1.4 m/s wind speed under no generator stacking. The most noteworthy power coefficient is accomplished, both tentatively and numerically, by the helical VAWT with 2 sharp edges.

Vibration Control on Roadheader with Horizontal Cutting Head of Electric-Control-Box

Analysis and measurements of the vibration on AM50 horizontal axis roadheader of electric-control-box was carried out, and the vibration characteristics were obtained. Based on the results, a new type of wire rope isolator was designed, whose characteristics were examined by experiments. The tests show that the wire rope isolator achieves satisfied results and can meet the requirements for the vibration control of the roadheader of electric-control-box.

Technology Readiness of a Vertical-Axis Hydro-Kinetic Turbine

In this paper, the development of a vertical axis hydrokinetic twin turbine for harvesting energy from flowing water in man-made channels is described. The Technology Readiness Level (TRL) assessment procedure, developed by NASA and modified by the US Department of Energy, is followed and it is shown that the hydrokinetic turbine successfully reaches TRL 7, which is a full-scale, similar (prototypical) system demonstrated in a relevant environment. The concept of the twin turbine (TRL 1 - 3) is first validated and tested using a 1:10 scale laboratory model at Cardiff University and efficiencies of up to 75% are achieved (TRL 4 - 5). In order to justify system functionality and performance in a relevant environment as well as up-scalability, a 1:3 scale model of the twin turbine is implemented and tested in a discharge channel of a water treatment plant in Atlanta, thereby achieving TRL6. This paved the way for an application in the form of an array of ten full-scale twin turbine prototypes, including all relevant components such as housing, drive-train, gear-box and generator. Successful deployment and testing in the South Boulder Canal near Denver means that the hydrokinetic twin turbine system reached TRL7.

Application of 2D Numerical Model to Unsteady Performance Evaluation of Vertical-Axis Tidal Current Turbine

Abstract Tidal current energy is renewable and sustainable, which is a promising altemative energy resource for the future elec- tricity supply. The straight-bladed vertical-axis turbine is regarded as a useful tool to capture the tidal current energy especially under low-speed conditions. A 2D unsteady numerical model based on Ansys-Fluent 12.0 is established to conduct the numerical simulation, which is validated by the corresponding experimental data. For the unsteady calculations, the SST model, 2x 105 and 0.01 s are se- lected as the proper turbulence model, mesh number, and time step, respectively. Detailed contours of the velocity distributions around the rotor blade foils have been provided for a flow field analysis. The tip speed ratio （TSR） determines the azimuth angle of the appearance of the torque peak, which occurs once for a blade in a single revolution. It is also found that simply increasing the incident flow velocity could not improve the turbine performance accordingly. The peaks of the averaged power and torque coeffi- cients appear at TSRs of 2.1 and 1.8, respectively. Furthermore, several shapes of the duct augmentation are proposed to improve the turbine performance by contracting the flow path gradually from the open mouth of the duct to the rotor. The duct augmentation can significantly enhance the power and torque output. Furthermore, the elliptic shape enables the best performance of the turbine. The numerical results prove the capability of the present 2D model for the unsteady hydrodynamics and an operating performance analy- sis of the vertical tidal stream turbine.

煤矿井下掘进机器人路径规划方法研究

针对煤矿非全断面巷道条件下掘进机器人移机难度大、效率低下等问题,分析了煤矿井下非结构化环境特征及掘进机器人运动特性,提出了基于深度强化学习的掘进机器人机身路径规划方法。利用深度相机将巷道环境实时重建,在虚拟环境中建立掘进机器人与巷道环境的碰撞检测模型,并使用层次包围盒法进行虚拟环境碰撞检测,形成巷道边界受限下的避障策略。考虑到掘进机器人形体大小且路径规划过程目标单一,在传统SAC算法的基础上引入后见经验回放技术,提出HER-SAC算法,该算法通过环境初始目标得到的轨迹扩展目标子集,以增加训练样本、提高训练速度。在此基础上,基于奖惩机制建立智能体,根据掘进机器人运动特性定义其状态空间与动作空间,在同一场景下分别使用3种算法对智能体进行训练,综合平均奖励值、最高奖励值、达到最高奖励值的步数以及鲁棒性4项性能指标进行对比分析。为进一步验证所提方法的可靠性,采用虚实结合的方式,通过调整目标位置设置2种实验场景进行掘进机器人的路径规划,并将传统SAC算法和HER-SAC算法的路径结果进行对比。结果表明:相较于PPO算法和SAC算法,HER-SAC算法收敛速度更快、综合性能达到最优;在2种实验场景下,HER-SAC算法相比传统SAC算法规划出的路径更加平滑、路径长度更短、路径终点与目标位置的误差在3.53 cm以内,能够有效地完成移机路径规划任务。该方法为煤矿掘进机器人的自主移机控制奠定了理论基础,为煤矿掘进设备自动化提供了新方法。

基于改进滑模控制的悬臂式掘进机轨迹跟踪技术

针对传统滑模控制在悬臂式掘进机轨迹跟踪中存在全局收敛速度慢、抖振显著等不足,提出了一种基于新型趋近律的改进滑模控制方法。通过在传统指数趋近律基础上引入掘进机机身的横向偏差、航向角偏差以及幂次趋近项,实现了掘进机轨迹偏差的快速收敛以及抖振的削弱;同时,采用边界层法进一步抑制抖振,解决了趋近律中符号函数乘积项易引起抖振的问题。分析了新型趋近律的存在性、可达性以及稳定性,并推导了干扰稳态误差的区间。考虑掘进机的不确定扰动,对传统滑模控制与改进滑模控制方法进行了仿真对比。结果表明,改进滑模控制的控制精度、收敛速度及抗干扰能力均优于传统滑模控制。最后,通过搭建实验平台测试了掘进机轨迹跟踪控制系统的性能,验证了改进滑模控制方法的可行性和有效性。研究结果可为煤矿井下恶劣环境中采掘装备的智能控制提供重要参考。

煤矿掘进巷道断面尺寸变化对噪声传播的影响

为研究煤矿掘进巷道长空间内断面尺寸变化对噪声传播的影响,采用仿真模拟方法研究巷道内噪声传播,分析煤矿掘进巷道断面积大小、断面形状及断面面积突变率的变化对巷道内噪声传播影响。结果表明:煤矿掘进巷道内断面面积大小、断面形状及断面面积突变率均会影响巷道内噪声的传播,当噪声源功率、频率相同时,声压级衰减随巷道截面积增大而增大;对于给定的断面面积(18 m2),当断面形状不同时,声压级衰减也不同,且断面形状为拱形时会产生明显的声聚焦效应,不利于噪声衰减;当断面面积发生突变时,巷道内的声压级分布会有所变化,其中断面面积由大变小时不利于噪声的衰减,断面面积由小变大时仅影响突变后的声场,而对巷道内整体声压级影响并不明显;巷道内噪声衰减现场测试与数值模拟结果基本一致,验证了搭建的模型及模拟结果的可靠性。

基于主动激励的掘进机回转台振动抑制研究

悬臂式掘进机截割过程由于煤岩形状、硬度分布的随机性,当截割到硬岩时截割头会产生无规则的剧烈振动,瞬时高强度的冲击对掘进机关键受力部件回转台影响最大,其动态可靠性和寿命影响着截割效率和截割稳定性,为减弱截割过程回转台的振动,首先,基于截割现场回转台易失效损坏现象,建立截割过程回转台力学模型,推导回转台力学方程,研究回转台受力随截割参数变化规律;通过搭建截割试验台,测试截割过程回转台振动响应,结合有限元进行回转台振动模态分析,求解回转台前6阶固有频率及振型,分析回转台剧烈振动的原因。其次,基于工况路径分析理论,建立截割过程回转台工况传递路径分析模型,模拟回转台合成振动,分析各激励点对回转台振动贡献量及贡献程度,准确找到回转台主要激振源。最后,通过施加外部主动激励的方式,分析不同激励频率加载下回转台振动情况,探寻能够降低截割过程回转台振动的激励频段。试验结果表明:外部激振频率处于20~60 Hz,回转台振动幅值降低明显,此频段激励频率对回转台振动控制效果良好,有益于提高回转台寿命,且激振频率为40 Hz时回转台振动最小,回转台振动抑制效果最佳。研究结果有益于丰富回转台振动相关研究理论,实现在不改变机械结构基础上,降低回转台受力与结构变形,可为掘进机回转台的振动问题提供理论参考。

煤矿掘进机自定位截割控制方法及试验研究

开展了掘进机自定位截割控制方法及试验研究,提出了掘进机自定位截割控制策略,使用基于单目视觉与深度学习的掘进机机体六自由度位姿检测方法,以及具有规定性能的双层模糊自适应反步控制方法实现了掘进机自定位截割,并将其用于机体任意位姿下的截割头循迹跟踪控制。在掘进机两种不同的机体位姿下进行了截割头循迹跟踪控制试验,试验结果显示最大轮廓误差分别在48 mm和52 mm(约2.14%与2.32%)以内,验证了提出的掘进机自定位截割控制方法的有效性。

基于模糊神经网络PID的煤矿掘进机俯仰控制研究

目前煤矿掘进机俯仰控制主要采用PID控制方法,在掘进机俯仰控制时变性与液压系统非线性情况下的控制精度不高。掘进机俯仰控制通过控制液压缸行程实现,将传统PID算法与模糊控制、神经网络等相结合,可有效提高液压缸行程控制精度。提出了一种基于模糊神经网络PID的煤矿掘进机俯仰控制方法。通过分析掘进机支撑部运动学关系,得到俯仰角与支撑部液压缸的数学关系;介绍了掘进机俯仰控制液压系统工作原理,建立了液压系统及其传递函数模型;将模糊控制与神经网络相结合,形成模糊神经网络,利用模糊神经网络优化PID控制参数,再结合支撑机构数学模型和液压系统传递函数模型,建立掘进机俯仰角模糊神经网络PID控制模型,实现煤矿掘进机俯仰机构自动精确控制。该方法可使掘进机俯仰机构更加快速、准确到达预设位置,解决掘进机俯仰控制中的时变性与非线性难题。仿真结果表明:模糊神经网络PID控制算法相较于模糊PID和PID控制算法,跟踪误差分别降低了69.34%和74.49%。通过液压缸位移控制模拟煤矿掘进机在突变工况和跟随工况下的俯仰控制,结果表明:模糊神经网络PID控制算法相比模糊PID和PID控制算法,俯仰控制跟踪误差最小,对位置信号的平均响应时间分别缩短了27.22%和50.33%,动态控制性能更好。

掘进机截割机构联接座有限元分析与优化

针对掘进机联接座焊接耳架焊缝处出现裂纹问题,通过对截割机构进行建模和有限元仿真分析,提出合理化的优化方案,并对优化后的结构再进行建模和相同条件下的有限元仿真分析,进行优化效果验证。验证结果表明,通过结构优化改造,降低了联接座焊接耳架焊缝的剪切应力,可以有效地改善掘进机联接座焊接耳架焊缝裂纹问题。

光学靶标遮挡条件下掘进机定位解算方法

针对目前常用的基于惯导+视觉测量+光学靶标的掘进机组合式导航定位存在的光学靶标被遮挡情况下掘进机定位中断问题,提出了一种光学靶标遮挡条件下掘进机定位解算方法。首先,采集4个呈矩形分布的靶标点组成的光学靶标在无遮挡情况下的图像,得到靶标点在相机内成像光斑的像素坐标并构造成矩形,再按照一定比例扩大构造辅助矩形区域框。其次,采集部分靶标点被遮挡情况下的图像,得到无遮挡靶标点在相机内成像光斑的像素坐标,根据靶标点的成像光斑与辅助矩形区域框顶点的欧氏距离,确定无遮挡靶标点与成像光斑的对应关系,进而确定被遮挡的靶标点。然后,利用已知的靶标几何尺寸和惯导提供的靶标姿态信息,建立投影后的靶标点与成像光斑的对应关系,进而求解出被遮挡靶标点对应的光斑像素坐标。最后,利用N点位姿透视求解(PNP)算法求得光学靶标中心位置的空间坐标,实现掘进机定位解算。试验结果表明,光学靶标被遮挡情况下,通过推算被遮挡靶标点对应的光斑像素坐标,可以解决掘进机定位中断问题,保证了掘进机定位的实时性,且定位误差满足掘进机实际定位需求。

煤矿井下用全断面掘进机安全技术要求研究及建议

煤矿井下用全断面掘进机是最新引入煤矿井下施工的大型巷道掘进装备,有效地改善了煤矿巷道建设过程中掘进速度慢、效率低等问题。介绍了煤矿井下用全断面掘进机结构组成、分类以及工作原理,并基于煤矿井下用全断面掘进机性能研究,结合煤矿瓦斯爆炸环境和工作特点提出了适合煤矿井下用全断面掘进机的安全技术要求和建议,为煤矿井下用全断面掘进机设计制造、安全使用提供了技术指导和参考。

截齿截割角度对截割性能的影响研究

以悬臂式掘进机为主的机械开挖是实现金属矿山连续化开采、推动智能矿山建设的重要手段,截齿截割角度是影响截齿受力情况的重要参数,从而影响掘进机掘进效率。为了优化截齿参数,采用Rhino软件和PFC3D软件建立了截齿截割岩石模型,在对试验数据进行验证的基础上,开展了不同截割角度(45°、50°、55°、60°和65°)下截齿截割花岗岩数值模拟试验研究。结果表明:基于PFC3D软件的截齿模拟试验具有可靠的精度,模拟试验与室内试验结果之间的相对误差分别为13.59%和16.92%。同时,不同截割角度下截齿的受力情况不同,在55°时截齿截割角度能够得到较好的改善。