Deep excavation walls can be analyzed and calculated by using classical methods (currently rarely in use due to their many simplifications) or numerical methods. Among the numerical methods we can distinguish a simplified approach, in which the interaction between soil and a wall structure is modelled by a system of elasto-plastic supports, and the finite-element method (FEM) in which the soil is modelled with mesh of elements. It is a common view that if we want to analyze only wall constructions, the first, simplified method of calculation is sufficient. The second method, FEM, is required if we want to further analyze the stress and strain states in the soil and the influence of the excavation on the surrounding area. However, as it is demonstrated in the paper, important differences may appear in the calculation results of both methods. Thus, the safety design of a deep excavation structure depends very much on the choice of calculating method.
This paper presents an evaluation of the Hypoplastic Clay constitutive model for finite element analysis of deep excavations and displacements induced by excavations in the influence zone. A detailed description and formulation of the Hypoplastic Clay soil model is included. A parametric case study of a deep excavation executed in Pliocene clays is presented. FE analysis was performed using several soil models (Mohr-Coulomb, Modified Mohr-Coulomb, Drucker-Prager, Modified Cam-Clay, Hypoplastic Clay) and the results were compared to in-situ displacements measurements taken during construction. Final conclusions concerning the suitability of the Hypoplastic Clay model for deep excavation modelling in terms of accurate determination of horizontal displacements of the excavation wall, the uplift of the bottom of excavation, and, most importantly,vertical displacements of the terrain in the vicinity of the excavation are presented.
Automation of earth moving machineries is a widely studied problem. This paper focusses on one of the main challenges in automation of the earth moving industry, estimation of loading torque acting on the machinery. Loading torque acting on the excavation machinery is a very significant aspect in terms of both machine and operator safety. In this study, a disturbance observer-assisted control system for the estimation of loading torque acting on a robotic backhoe during excavation process is presented. The proposed observer does not use any acceleration measurements, rather, is proposed as a function of joint velocity. Numerical simulations are performed to demonstrate the effectiveness of the proposed control scheme in tracking the reaction torques for a given dig cycle. Co-simulation experiments demonstrate robust performance and accurate tracking of the proposed control in both disturbance torque and position tracking. Further, the performance and sensitivity of the proposed control are also analyzed through the help of performance error quantifiers, the root-mean-square (RMS) values of the position and disturbance tracking errors.
Rock excavation is a basic technological operation during tunnelling and drilling roadways in underground mines. Tunnels and roadways in underground mines are driven into a rock mass, which in the particular case of sedimentary rocks, often have a layered structure and complicated tectonics. For this reason, rock strata often have highly differentiated mechanical properties, diverse deposition patterns and varied thicknesses in the cross sections of such headings. In the field of roadheader technology applied to drilling headings, the structure of a rock mass is highly relevant when selecting the appropriate cutting method for the heading face. Decidedly differentiated values of the parameters which describe the mechanical properties of a particular rock layer deposited in the cross section of the drilled tunnel heading will influence the value and character of the load on the cutting system, generated by the cutting process, power demand, efficiency and energy consumption of the cutting process. The article presents a mathematical modelling process for cutting a layered structure rock mass with the transverse head of a boom-type roadheader. The assumption was made that the rock mass being cut consists of a certain number of rock layers with predefined mechanical properties, a specific thickness and deposition pattern. The mathematical model created was executed through a computer programme. It was used for analysing the impact deposition patterns of rock layers with varied mechanical properties, have on the amount of cutting power consumed and load placed on a roadheader cutting system. The article presents an example of the results attained from computer simulations. They indicate that variations in the properties of the rock cut – as cutting heads are moving along the surface of the heading face – may have, apart from multiple other factors, a significant impact on the value of the power consumed by the cutting process.
Caving in the excavation of mining galleries is a dangerous phenomenon, resulting in a threat to the health and life of humans, technological difficulties (transport, ventilation, etc.) and economic losses. Mining galleries list: design errors, runtime errors, errors and random causes among the causes of the caving occurring in recent periods in the excavation of underground coal mines. Examples in the recent period of caving in the excavation of mining galleries in coal mines indicated that one of the main causes of the situation was the loss of capacity and double timber technical wear caused by the corrosion of the profile. In practice, the caving that occur as a result of the technical wear can be divided into the breaking arc of a roof – bar, the loss of stability of one of the heading walls and a total heading collapse. On the basis of the carried out analysis of these cases, guidelines were proposed for improving the safe operation of the workings. The improvement of support stability may be achieved by applying additional supports, stabilizing the structure by bolting the support sets or by introducing a fiber-reinforced concrete coating with injection into the rock mass. Examples of caving occurring in the excavation, for which the preparatory selection of support does not match the geological-mining conditions, were also presented. The summary indicated the importance of diagnostics roadway in the safe and efficient conduct of mining that should be covered by the operational rules, and their scope and frequency should be adapted to the rank of the occurrence of hazard and support construction.
This article describes stability issues of main excavations in deep copper mines in Poland, from the perspective of mining work safety. To protect main transportation and ventilation routes, parts of rock are left untaken to form so-called protective pillars. The problem was to determine the size of main excavations protective pillars in deep underground copper mines in which provide stability of main excavations. The results of numerical simulations of the stability of protective pillars under specific geological and mining conditions are presented, covering: underground depth and width of protective pillar, number, size and layout geometry of protected excavations, as well as the impact of parameters of surrounding gob areas. Problem was solved applying numerical simulations based on the finite element method which were performed in a plane state of strain by means of Phase2 v. 8.0 software. The behavior of the rock mass under load was described by an elastic-plastic model. The Mohr-Coulomb criterion was used to assess the stability of the rock mass. The results of numerical modeling have practical applications in the designing of protective pillars primarily in determining their width. These results were used to prepare new guidelines for protective pillars in Polish copper mines in the Legnica-Glogow Copper District.
In the process of extraction and enrichment of coal waste, considerable quantities of waste material are produced, mainly the gangue and coal sludge, considered as waste or raw material. The main directions of the management development of the waste rock are the production of aggregates, the production of energy products and the liquidation works in hard coal mines and the filling of excavations. The paper proposes the extension of these activities to the use of waste material. The possibility of using aggregates or extractive waste to fill open-pit excavations has been proposed, also in areas within the reach of groundwater and the possibility of building insulation layers of waste material and the production of mixtures of hard coal sludge and sewage sludge to produce material with good energy properties. The analysis was based on the author’s own research and literature data related to selected parameters of waste material. This paper presents our own preliminary studies on the amount of combustion heat and the calorific value of coal sludge combined with other wastes such as sewage sludge. The proposed methods and actions are part of the current directions of development, but they allow the extension of the scope of use of both extractive waste and products produced on the basis of gangue or coal sludge. Due to the frequent lack of the stable composition of these materials, their current properties should be assessed each time before attempting to use them. The fact that it is important to continue research to promote existing economic use and to seek new activities or methods has been concluded.