The damage process of fractured rock mass showed that the fracture in rocks induced roof collapse in Yangchangwan Coal Mine,China.The rock mass was particularly weak and fractured.There occurred 6 large-scale dynamical roof falls in the excavation disturbed zone (EDZ) with the collapsing volume of 216 m3.First,the field detailed geological environment,regional seismic dy-namics,and dynamic instability of roadways were generally investigated.Second,the field multiple-index monitoring measurements for detecting the deep delamination of the roof,convergence deformation,bolt-cable load,acoustic emission (AE) characteristic pa-rameters,total AE events,AE energy-releasing rate,rock mass fracture,and damage were arranged.Finally,according to the time-space-strength relations,a quantitative assessment of the influence of rock-mass damage on the dynamic roof instability was accomplished. 相似文献
This paper presents a position control strategy for a planar active-passive-active (APA) underactuated manipulator with second-order nonholonomic characteristics. According to the structural characteristics of the planar APA system, we divide the system into two parts: a planar virtual Pendubot (PVP) and a planar virtual Acrobot (PVA). For the PVP, we mainly fulfill the target angle of the first link, which is calculated through the geometry method, and make the system stable. In this stage, via keeping the states of the third link being zero, the system is reduced to the PVP. Meanwhile, we design an open-loop control law based on the nilpotent approximation (NA) model of the PVP to make the second link stable and the first link stabilize at its target angle. Then, the planar APA system is reduced to a PVA with all links’ angular velocities being zero. For the PVA, we mainly realize the other two links’ target angles obtained via the particle swarm optimization (PSO) algorithm. Thus, the control objective of the planar APA system is achieved. Finally, above control strategy is verified by simulation results.