scholarly journals Stability Analysis of Surrounding Rock of Large Section Ultradeep Shaft Wall

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Cheng Li ◽  
Wang Chunlong ◽  
Wang Xi ◽  
Chen Kexu
Keyword(s):  
Control Method ◽  
Stress Test ◽  
Stability Control ◽  
Surrounding Rock ◽  
Main Shaft ◽  
Large Section ◽  
Masonry Construction ◽  
Temporary Support ◽  
The Stability ◽  
Shaft Wall

In order to study the stability of deep surrounding rock during the excavation of new main shaft in Xincheng gold mine, a construction method suitable for large section ultradeep shaft is proposed. A series of analyses were carried out in this study, including the in situ stress test, stress response of surrounding rock disturbance, deformation and failure characteristics, and numerical simulation. Based on the above analysis, the stability control method of surrounding rock in the process of deep excavation of the new main shaft is proposed. The results show that (1) the maximum principal stress of deep surrounding rock of new main shaft is horizontal stress, and the surrounding rock of the shaft has strong rock burst tendency after excavation; (2) the influence range of the deep shaft excavation disturbance is 6.4 times the shaft radius, in which the temporary support should be strengthened to avoid the influence of excavation disturbance on the stability of shaft wall rock; (3) the failure shape of surrounding rock of the deep shaft excavation was “ear” failure, and the failure depth was not more than 2.5 m; (4) after replacing the original “one-excavation and one-masonry” construction with “three-excavation and one-masonry” construction, the temporary support span of the main shaft was adjusted to 12 m, which can make the subsequent concrete shaft wall in the state of “no pressure bearing or slow low pressure bearing,” and the lining compressive safety coefficient was increased to 1.98, which meets the safety requirements.

scholarly journals Mechanism and Procedure of Repeated Borehole Drilling Using Wall Protection and a Soft Structure to Prevent Rockburst: A Case Study

2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Yongliang He ◽  
Mingshi Gao ◽  
Xu Dong ◽  
Xin Yu
Keyword(s):  
Energy Absorption ◽  
Control Method ◽  
Stability Control ◽  
Surrounding Rock ◽  
Support Structure ◽  
Geological Conditions ◽  
Borehole Drilling ◽  
The Stability ◽  
Mine Roadways

With the increasing mining depth of coal mines, the occurrence of rockburst, especially in mine roadways, is becoming critical as a severe dynamic disaster. This paper explores the stability control of deep mine roadways and solves the contradiction between the support and pressure relief of roadways by studying the use of an internal steel pipe for wall protection and a soft structure for energy absorption during repeated borehole drilling. Numerical simulations are performed to examine the effects of active support technology on the support structure during repeated drilling. Internal steel pipes can effectively prevent the support structure from being damaged. When the soft structure cracks, the energy transmitted from the rockburst to the roadway is significantly reduced. According to the deformation and failure characteristics of the surrounding rock of the 21170 roadway, the combination of anchor active support, hydraulic lifting shed support, and soft structure energy absorption is proposed. An engineering case study shows that the support method can effectively maintain the stability of the surrounding rock and ensure the safe mining of the working face. The proposed control method can provide reference for the prevention and control of rockburst in mine roadways under similar geological conditions.

scholarly journals Stability Control for Electric Vehicles with Four In-Wheel-Motors Based on Sideslip Angle

2021 ◽  
Vol 12 (1) ◽  
pp. 42
Author(s):  
Kun Yang ◽  
Danxiu Dong ◽  
Chao Ma ◽  
Zhaoxian Tian ◽  
Yile Chang ◽  
...  
Keyword(s):  
Electric Vehicles ◽  
Control Method ◽  
Sliding Mode ◽  
Stability Control ◽  
Torque Control ◽  
Wheel Load ◽  
Sideslip Angle ◽  
Distribution Method ◽  
Load Rate ◽  
The Stability

Tire longitudinal forces of electrics vehicle with four in-wheel-motors can be adjusted independently. This provides advantages for its stability control. In this paper, an electric vehicle with four in-wheel-motors is taken as the research object. Considering key factors such as vehicle velocity and road adhesion coefficient, the criterion of vehicle stability is studied, based on phase plane of sideslip angle and sideslip-angle rate. To solve the problem that the sideslip angle of vehicles is difficult to measure, an algorithm for estimating the sideslip angle based on extended Kalman filter is designed. The control method for vehicle yaw moment based on sliding-mode control and the distribution method for wheel driving/braking torque are proposed. The distribution method takes the minimum sum of the square for wheel load rate as the optimization objective. Based on Matlab/Simulink and Carsim, a cosimulation model for the stability control of electric vehicles with four in-wheel-motors is built. The accuracy of the proposed stability criterion, the algorithm for estimating the sideslip angle and the wheel torque control method are verified. The relevant research can provide some reference for the development of the stability control for electric vehicles with four in-wheel-motors.

scholarly journals Study on instability failure mode and monitoring early warning standard of surrounding rock in fully weathered argillaceous sandstone section of large section tunnel

2019 ◽  
Vol 136 ◽  
pp. 04023
Author(s):  
Ming Zhao ◽  
Ke Li ◽  
Hong Yan Guo ◽  
KaiCheng Hua
Keyword(s):  
Limit State ◽  
Stable State ◽  
Simulation Software ◽  
Surrounding Rock ◽  
Large Section ◽  
Rock Stability ◽  
Geological Conditions ◽  
Construction Step ◽  
The Face ◽  
The Stability

Based on the special geological conditions of a tunnel in Qingyuan section of Huizhou-Zhanzhou Expressway, FLAC3d numerical simulation software is used to simulate the rheological properties and instability of surrounding rock in large-section fully weathered sandstone section, and the stability and loss of surrounding rock are analyzed. The deformation of the dome and the face at steady state is analyzed. It is found that: 1) when the surrounding rock is in a stable state, the deformation curve of the dome is smooth. When the surrounding rock of the face is unstable, the front of the face appears ahead. Deformation should be first strengthened on the surrounding rock in front of the face. 2) The arched foot is an important part of the instability of the surrounding rock. In order to prevent the expansion of the collapsed part, the arched part should be reinforced. 3) In order to obtain the limit state of surrounding rock stability, the strength of surrounding rock is reduced, and the strength reduction coefficient corresponding to the displacement sudden point is taken as the safety factor of rock stability around the hole, and the stability safety coefficients of surrounding rock of each construction step are greater than 1.2. 4) The dynamic standard values of deformation control in the whole construction stage are obtained by analyzing the deformation curves of each data monitoring point with time in the corresponding time period of each construction step.

scholarly journals Study of the Stability Control of the Rock Surrounding Double-Key Strata Recovery Roadways in Shallow Seams

2019 ◽  
Vol 2019 ◽  
pp. 1-21 ◽  
Author(s):  
Cheng Zhu ◽  
Yong Yuan ◽  
Zhongshun Chen ◽  
Zhiheng Liu ◽  
Chaofeng Yuan
Keyword(s):  
Engineering Application ◽  
Stability Control ◽  
Surrounding Rock ◽  
Control Effect ◽  
Pressure Relief ◽  
Support Design ◽  
Key Strata ◽  
Fracture Development ◽  
Surrounding Rock Control ◽  
The Stability

The stability control of the rock surrounding recovery roadways guarantees the safety of the extraction of equipment. Roof falling and support crushing are prone to occur in double-key strata (DKS) faces in shallow seams during the extraction of equipment. Therefore, this paper focuses on the stability control of the rock surrounding DKS recovery roadways by combining field observations, theoretical analysis, and numerical simulations. First, pressure relief technology, which can effectively release the accumulated rock pressure in the roof, is introduced according to the periodic weighting characteristics of DKS roofs. A reasonable application scope and the applicable conditions for pressure relief technology are given. Considering the influence of the eroded area on the roof structure, two roof mechanics models of DKS are established. The calculation results show that the yield load of the support in the eroded area is low. A scheme for strengthening the support with individual hydraulic props is proposed, and then, the support design of the recovery roadway is improved based on the time effects of fracture development. The width of the recovery roadway and supporting parameters is redesigned according to engineering experience. Finally, constitutive models of the support and compacted rock mass in the gob are developed with FLAC3D software to simulate the failure characteristics of the surrounding rock during pressure relief and equipment extraction. The surrounding rock control effects of two support designs and three extraction schemes are comprehensively evaluated. The results show that the surrounding rock control effect of Scheme 1, which combines improved support design and the bidirectional extraction of equipment, is the best. Engineering application results show that Scheme 1 realizes the safe extraction of equipment. The research results can provide a reference and experience for use in the stability control of rock surrounding recovery roadways in shallow seams.

Vehicle Lateral Motion Control Based on Estimated Stability Regions

2017 ◽  
Author(s):  
Yiwen Huang ◽  
Yan Chen
Keyword(s):  
Measurement Errors ◽  
Local Stability ◽  
Stability Region ◽  
Control Method ◽  
Linearization Method ◽  
Stability Control ◽  
Lateral Stability ◽  
Shortest Distance ◽  
The Stability ◽  
Yaw Moment

This paper presents a novel vehicle lateral stability control method based on an estimated lateral stability region on the phase plane of vehicle yaw rate and lateral speed, which is obtained through a local linearization method. Since the estimated stability region does not only describe vehicle local stability, but also define the oversteering and understeering characteristics, the proposed control method can achieve both local stability and vehicle handling stability. Considering the irregular geometric shape of the estimated stability region, a stability analysis algorithm is designed to determine the distance between vehicle states and stability region boundaries. State estimation or measurement errors are also incorporated in the distance calculation. Based on the calculated shortest distance between vehicle states and stability boundaries, a direct yaw moment controller is designed to maintain vehicle states stay within the stability region. CarSim® and Simulink® co-simulation is applied to verify the control design through a cornering maneuver. The simulation results show that the proposed control method can make the vehicle stay within the stability region successfully and thus always operate in a safe manner.

Design and Implementation of Large-Scale Temperature Stability Control System

2014 ◽  
Vol 644-650 ◽  
pp. 313-316
Author(s):  
Wen Lai Liu
Keyword(s):  
Control System ◽  
System Design ◽  
Large Scale ◽  
Control Method ◽  
Temperature Stability ◽  
Stability Control ◽  
Control System Design ◽  
Scale Temperature ◽  
Stability Control System ◽  
The Stability

large-scale temperature stability control method is studied in this paper. In the process of large-scale temperature control, the stability of control is a very important indicator. To this end, this paper proposes a large-scale temperature stability control algorithm based on hierarchical control method. Balance equation of large-scale temperature stability control is created for the effective transmission of control data. According to the constant control theory, large-scale temperature stability control system design is achieved. Experimental results show that the proposed algorithm for large-scale temperature stability control system design, can greatly improve the stability of control, and get the satisfactory results.

scholarly journals Flight Dynamics and Development of the Stability Control Method of the Aero-Train. 1st Report. Flight Test by Pushing.

2002 ◽  
Vol 68 (665) ◽  
pp. 102-107 ◽  
Author(s):  
Yasuaki KOHAMA ◽  
Hideo WATANABE ◽  
Satoshi KIKUCHI ◽  
Fukuo OHTA ◽  
Takayuki ITOH
Keyword(s):  
Control Method ◽  
Flight Dynamics ◽  
Flight Test ◽  
Stability Control ◽  
The Stability

Stability Control and Simulation of Wheel-Legged Mobile Robot in Mechanical Engineering

2013 ◽  
Vol 644 ◽  
pp. 123-128
Author(s):  
Ling Yu Sun ◽  
Jian Hua Zhang ◽  
Xiao Jun Zhang
Keyword(s):  
Mobile Robot ◽  
Pid Control ◽  
Control Method ◽  
Three Dimensional ◽  
Stability Domain ◽  
Stability Control ◽  
Terrestrial Environment ◽  
The Stability ◽  
Adaptive Pid Control ◽  
Fuzzy Adaptive

The wheel-legged mobile robot in a complex three-dimensional environment has strong through capacity .Study is very critical for the stability of the control of their body systems. In this paper , based on analysis of the structure of wheel-legged mobile robot designed, the stability is evaluated by the use of (Effective Mass Center) EMC , and the stability domain is established accordingly. A fuzzy adaptive PID control method is created , and verified by ADAMS and MATLAB co-simulation . Simulation results show that the robot in different terrestrial environment, can maintain good stability.

scholarly journals Stabilized controller of a two wheels robot

2020 ◽  
Vol 9 (4) ◽  
pp. 1357-1363
Author(s):  
Ahmad Fahmi ◽  
Marizan Sulaiman ◽  
Indrazno Siradjuddin ◽  
I Made Wirawan ◽  
Abdul Syukor Mohamad Jaya ◽  
...  
Keyword(s):  
Control Method ◽  
Control Function ◽  
Balance Control ◽  
Linear Quadratic Regulator ◽  
Zero Point ◽  
Stability Control ◽  
Pole Placement ◽  
Linear Quadratic ◽  
Balancing Robot ◽  
The Stability

The Segway Human Transport (HT) robot, it is dynamical self-balancing robot type. The stability control is an important thing for the Segway robot. It is an indisputable fact that Segway robot is a natural instability framework robot. The case study of the Segway robot focuses on running balance control systems. The roll, pitch, and yaw balance of this robot are obtained by estimating the Kalman Filter with a combination of the pole placement and the Linear Quadratic Regulator (LQR) control method. In our system configuration, the mathematical model of the robot will be proved by Matlab Simulink by modelling of the stabilizing control system of all state variable input. Furthermore, the implementation of this system modelled to the real-time test of the Segway robot. The expected result is by substitute the known parameters from Gyro, Accelero and both rotary encoder to initial stabilize control function, the system will respond to the zero input curve. The coordinate units of displacement response and inclination response pictures are the same. As our expected, the response of the system can reach the zero point position. 

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