Four-point dynamic leveling method for drilling platform application

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Dongmin Li ◽  
Guofang Ma ◽  
Jia Li
Keyword(s):  
Coal Mine ◽  
Control Method ◽  
Dynamic Performance ◽  
Three Dimensional ◽  
Underground Coal Mine ◽  
Content Type ◽  
Displacement Sensors ◽  
Leveling Control ◽  
Combined Sensor ◽  
Support Rod

Purpose It is essential to level the drilling platform across which a drilling robot travels in a slant underground coal mine tunnel to ensure smooth operation of the drill rod. However, existing leveling methods do not provide dynamic performance under the drilling conditions of the underground coal mine. A four-point dynamic leveling algorithm is presented in this paper based on the platform attitude and support rod displacement (DLAAD). An experimental drilling robot demonstrates its dynamic leveling capability and ability to ensure smooth drill rod operations. Design/methodology/approach The attitude coordinate of the drilling robot is established according to its structure. A six-axis combined sensor is adopted to detect the platform attitude, thus revealing the three-axis Euler angles. The support rod displacement values are continuously detected by laser displacement sensors to obtain the displacement increment of each support rod as needed. The drilling robot is leveled according to the current support rod displacement and three-dimensional (3 D) attitude detected by the six-axis combined sensor dynamically. Findings Experimental results indicate that the DLAAD algorithm is correct and effectively levels the drilling platform dynamically. It can thus provide essential support in resolving drill rod sticking problems during actual underground coal mine drilling operations. Practical implications The DLAAD algorithm supports smooth drill rod operations in underground coal mines, which greatly enhances safety, reduces power consumption, and minimizes cost. The approach proposed here thus represents considerable benefits in terms of coal mine production and shows notable potential for application in similar fields. Originality/value The novel DLAAD algorithm and leveling control method are the key contributions of this work, they provide dynamical 3 D leveling and help to resolve drill rod sticking problems.

An adaptive PI control design for multi-phase machines in healthy and faulty operations

2019 ◽  
Vol 38 (6) ◽  
pp. 1986-2000
Author(s):  
Ali Hajary ◽  
Seyed Ghodratollah Seifossadat ◽  
Reza Kianinezhad ◽  
Alireza Saffarian ◽  
Seyed Saeedollah Mortazavi
Keyword(s):  
Control Method ◽  
Dynamic Performance ◽  
Tracking Error ◽  
Induction Machine ◽  
Experimental Tests ◽  
Content Type ◽  
Simulink Model ◽  
Model Efficiency ◽  
Multi Phase ◽  
Linear Disturbance

Purpose This paper aims to present a novel robust control method based on an adaptive PI controller (APIC) to compensate for different disturbances and unknown dynamics for multi-phase induction machines. Design/methodology/approach The gains of the APIC are adapted online according to the tracking error. Proposed APIC is accompanied with designed linear disturbance observer (LDO) to present robust behavior to machine parameter variations and fault disturbances. Findings The results show remarkable dynamic performance in both healthy and faulty conditions when the six-phase induction machine works under APIC and LDO schemes. Originality/value The proposed controller need not readjust current controllers for the post-fault condition. The developed Simulink model efficiency is confirmed through experimental tests.

scholarly journals Carbon copy

2018 ◽  
Vol 24 (1) ◽  
pp. 20-36 ◽  
Author(s):  
James Reveley ◽  
John Singleton
Keyword(s):  
New Zealand ◽  
Coal Mining ◽  
Coal Mine ◽  
Safety Management ◽  
Underground Coal Mining ◽  
Underground Coal Mine ◽  
New Approach ◽  
Content Type ◽  
Carbon Copy ◽  
Historical Usage

Purpose By juxtaposing fatal colliery explosions in early twentieth-century Britain and in 2010 at Pike River, New Zealand, this paper aims to investigate the generalizability of the mock bureaucracy concept to underground coal mining disasters. Design/methodology/approach The main source is published official accident inquiries; a methodological reflection justifies the use of these materials. Findings Mock bureaucracies existed in the British underground coal mining milieu from the time when safety rules were first formulated in that industry context. As for Pike River, it is an exemplary case. The development in 1970s Britain of a new approach to safety management (the Robens system), and its subsequent export to New Zealand, means that a contemporary coal mine under financial duress, such as Pike River, is a prime site for mock bureaucracy to flourish. Originality/value Although the concept of mock bureaucracy has been applied to an explosion in an underground coal mine before, this is the first paper to explore the concept’s historical usage and generalizability in explaining the environing context of such explosions.

Scanning system development and digital beam control method for electron beam selective melting

2015 ◽  
Vol 21 (3) ◽  
pp. 313-321 ◽  
Author(s):  
Chao Guo ◽  
Jing Zhang ◽  
Jun Zhang ◽  
Wenjun Ge ◽  
Bo Yao ◽  
...  
Keyword(s):  
Electron Beam ◽  
Large Deflection ◽  
Control Method ◽  
Three Dimensional ◽  
Beam Deflection ◽  
Scanning System ◽  
Content Type ◽  
Metal Parts ◽  
Digital Scanning ◽  
Electron Beam Selective Melting

Purpose – The purpose of this paper is to correct the beam deflection errors and beam defocus by using a digital scanning system. Electron beam selective melting (EBSM) is an additive manufacturing technology for metal parts. Beam deflection errors and beam defocus at large deflection angles would greatly influence the accuracy of the built parts. Design/methodology/approach – The 200 × 200 mm2 scanning area of the electron beam is discretized into 1001 × 1001 points arranged in array, based on which a digital scanning system is developed. To correct the deflection errors, the electron beam scans a 41 × 41 testing grid, and the corrective algorithm is based on the bilinear transformation from the grid points’ nominal coordinates to their measured coordinates. The beam defocus is corrected by a dynamic focusing method. A three-dimensional testing part is built with and without using the corrective algorithm, and their accuracies are quantitatively compared. Findings – The testing grid scanning result shows that the accuracy of the corrected beam deflection system is better than ± 0.2 mm and beam defocus at large deflection angles is eliminated visibly. The testing part built with using the corrective algorithm is of greater accuracy than the one built without using it. Originality/value – Benefiting from the digital beam control method, the model-to-part accuracy of the system is effectively improved. The digital scanning system is feasible in rapid manufacturing large and complex three-dimensional metal parts.

Stabilization and circuit implementation of a novel chemical oscillating chaotic system

Circuit World ◽  
2019 ◽  
Vol 45 (2) ◽  
pp. 93-106
Author(s):  
Li Xiong ◽  
Wanjun Yin ◽  
Xinguo Zhang
Keyword(s):  
Chaotic System ◽  
Control Method ◽  
Three Dimensional ◽  
Chaotic Attractors ◽  
The Novel ◽  
Content Type ◽  
Initial Values ◽  
Parameters Selection ◽  
Chaotic Circuits ◽  
Simulation Results

Purpose This paper is aimed at investigating a novel chemical oscillating chaotic system with different attractors at fixed parameters. The typical dynamical behavior of the new chemical oscillating system is discussed, and it is found that the state selection is dependent on initial values. Then, the stabilization problem of the chemical oscillating attractors is investigated analytically and numerically. Subsequently, the novel electronic circuit of the proposed chemical oscillating chaotic system are constructed, and the influences of the changes of circuit parameters on chemical oscillating chaotic attractors are investigated. Design/methodology/approach The different attractors of the novel chemical oscillating chaotic system are investigated by changing the initial values under fixed parameters. Moreover, the active control and adaptive control methods are presented to make the chemical oscillating chaotic systems asymptotically stable at the origin based on the Lyapunov stability theory. The influences on chemical oscillating chaotic attractors are also verified by changing the circuit parameters. Findings It is found that the active control method is easier to be realized by using physical components because of its less control signal and lower cost. It is also confirmed that the adaptive control method enjoys strong anti-interference ability because of its large number of selected controllers. What can be seen from the simulation results is that the chaotic circuits are extremely dependent on circuit parameters selection. Comparisons between MATLAB simulations and Multisim simulation results show that they are consistent with each other and demonstrate that changing attractors of the chemical oscillating chaotic system exist. It is conformed that circuit parameters selection can be effective to control and realize chaotic circuits. Originality/value The different attractors of the novel chemical oscillating chaotic system are investigated by changing the initial values under fixed parameters. The characteristic of the chemical oscillating attractor is that the basin of attraction of the three-dimensional attractor is located in the first quadrant of the eight quadrants of the three-dimensional space, and the ranges of the three variables are positive. This is because the concentrations of the three chemical substances are all positive.

A new variable stiffness actuator and its control method

2019 ◽  
Vol 46 (4) ◽  
pp. 553-560 ◽  
Author(s):  
Lei Zhang ◽  
Wendong Wang ◽  
Yikai Shi ◽  
Yang Chu ◽  
Xing Ming
Keyword(s):  
Control Method ◽  
Three Dimensional ◽  
Variable Stiffness ◽  
Magnetorheological Fluid ◽  
Human Robot Interaction ◽  
Crash Test ◽  
Three Dimensional Model ◽  
Content Type ◽  
Variable Stiffness Actuator

Purpose To achieve variable stiffness, this paper aims to design a flexible actuator with variable stiffness by using the magnetorheological effect of magnetorheological fluid. The variable stiffness actuator can well meet the safety requirements of human–robot interaction and be more adaptable to unknown or complex environments. The variable stiffness actuator designed in this study can realize the continuous and controllable change of stiffness compared with the existing actuator. Design/methodology/approach The principle of variable stiffness actuator is illustrated in detail; the three-dimensional model and mechanical model of the flexible actuator are provided. The magnetic field distribution of the actuator coil is analyzed, and the dynamic model of the actuator is provided. Findings Output torque test suggests that the magnetorheological fluid variable stiffness actuator (VSAMF) can output a stable torque which meets the designing requirements of the test; sinusoidal follow-up test shows that VSAMF can implement sinusoidal follow-up; variable stiffness test shows that VSAMF can achieve real-time variable stiffness adjustment; the crash test suggests that VSAMF can well protect machines when meeting obstacles. Originality/value In this paper, a new variable stiffness joint is proposed through changing the current to change the performance of the stiffness, and it can realize the continuous and controllable change of stiffness.

A new hyperchaotic system from T chaotic system: dynamical analysis, circuit implementation, control and synchronization

Circuit World ◽  
2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Selcuk Emiroglu ◽  
Akif Akgül ◽  
Yusuf Adıyaman ◽  
Talha Enes Gümüş ◽  
Yılmaz Uyaroglu ◽  
...  
Keyword(s):  
Chaotic System ◽  
Passive Control ◽  
Control Method ◽  
Initial Conditions ◽  
Three Dimensional ◽  
Dynamical Analysis ◽  
Hyperchaotic System ◽  
Content Type ◽  
Control And Synchronization ◽  
New Hyperchaotic System

Purpose The purpose of this paper is to develop new four-dimensional (4D) hyperchaotic system by adding another state variable and linear controller to three-dimensional T chaotic dynamical systems. Its dynamical analyses, circuit experiment, control and synchronization applications are presented. Design/methodology/approach A new 4D hyperchaotic attractor is achieved through a simulation, circuit experiment and mathematical analysis by obtaining the Lyapunov exponent spectrum, equilibrium, bifurcation, Poincaré maps and power spectrum. Moreover, hardware experimental measurements are performed and obtained results well validate the numerical simulations. Also, the passive control method is presented to make the new 4D hyperchaotic system stable at the zero equilibrium and synchronize the two identical new 4D hyperchaotic system with different initial conditions. Findings The passive controllers can stabilize the new 4D chaotic system around equilibrium point and provide the synchronization of new 4D chaotic systems with different initial conditions. The findings from Matlab simulations, circuit design simulations in computer and physical circuit experiment are consistent with each other in terms of comparison. Originality/value The 4D hyperchaotic system is presented, and dynamical analysis and numerical simulation of the new hyperchaotic system were firstly carried out. The circuit of new 4D hyperchaotic system is realized, and control and synchronization applications are performed.

Study on the Section's Extreme Position of Roadheader's Cutting Arm in Coal Mine Laneway

2011 ◽  
Vol 88-89 ◽  
pp. 5-9 ◽  
Author(s):  
Jing Mu ◽  
Yi Bo Du ◽  
Rui Li ◽  
Jie Tian ◽  
Miao Wu
Keyword(s):  
Coal Mine ◽  
Spatial Modeling ◽  
Control Method ◽  
Three Dimensional ◽  
Research Direction ◽  
Boundary Values ◽  
Modeling And Analysis ◽  
Cutting Head ◽  
Section Shape ◽  
Important Research Direction

Directional excavation technology in the coal mine laneway is the important research direction of integrated excavation project. This paper studies the changes of cutting section shape and boundary values caused by the swing of boom-type roadheader's cutting arm ​​to calculate the maximum values of compensable pose deviation when cutting, as the research basis for the accuracy analysis of boom-type roadheader's directional excavation. This paper gives the calculation method of cutting arm control, spatial modeling and analysis of cutting head position changes caused by cutting arm in thought of the three-dimensional analytic geometry, and also gives verification in the way of Matlab graphics simulation. At last, a control method to compensate section boundary by cutting arm is put forward.

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