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Theoretical and experimental analysis on the interaction properties between tracks and sediments considering sand content for unmanned underwater tracked bulldozer

Yong Li Dingchang He Qiaorui Si
Bulletin of the Polish Academy of Sciences Technical Sciences | 2021 | 69 | No. 1 | e136036 | DOI: 10.24425/bpasts.2021.136036
Keywords unmanned underwater tracked bulldozer underwater robot river bed sediment shear stress pressure-sinkage
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Abstract

The unmanned underwater tracked bulldozer (UUTB) is an indispensable equipment for dredging and cleaning obstacles on the river bed in the flood season. The investigation on the interaction properties between the UUTB tracks and sediments provides foundation for the evaluation of operation performance when it works on the inland river bed. Based on the current worldwide research, the sediments mixed by sand, bentonite and water with sand content 0%, 10% and 20% were configured in this study to replace the real sediments on the inland river bed in China. The current pressure-sinkage model and shear stress-shear displacement model were discussed. Three different tracks were tested for the pressure-sinkage and the shear stress-shear displacement on the platform. The relationship between pressure and sinkage under sand content 0%, 10% and 20% are revealed based on the experimental results. The modulus of cohesive deformation and friction deformation of the sediments under said sand content are presented. The curves of shear stress and shear displacement are also obtained, which demonstrates the properties between the tracks and configured sediments under sand content 0%, 10% and 20%. The relationship between the tractive force and slip ratio with three different tracks under said sand content is also presented based on the quantitative analysis, which provides reference for the dynamics control and performance evaluation of UUTB on the inland river bed.

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Authors and Affiliations

Yong Li
1
Dingchang He
1
Qiaorui Si
2
  1. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, 212013, P. R. China
  2. Research Center of Fluid Machinery Engineering and Technology, Jiangsu University, Zhenjiang, 212013, P. R. China

Parameter identification approach using improved teaching and learning based optimization for hub motor considering temperature rise

Yong Li Juan Wang Taohua Zhang Han Hu Hao Wu
Metrology and Measurement Systems | 2023 | vol. 30 | No 1 | 99-115 | DOI: 10.24425/mms.2023.144396
Keywords parameters identification teaching–learning-based optimization hub motor temperature rise
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Abstract

Temperature rise of the hub motor in distributed drive electric vehicles (DDEVs) under long-time and overload operating conditions brings parameter drift and degrades the performance of the motor. A novel online parameter identification method based on improved teaching-learning-based optimization (ITLBO) is proposed to estimate the stator resistance, ��-axis inductance, ��-axis inductance, and flux linkage of the hub motor with respect to temperature rise. The effect of temperature rise on the stator resistance, ��-axis inductance, ��-axis inductance, and magnetic flux linkage is analysed. The hub motor parameters are identified offline. The proposed ITLBO algorithm is introduced to estimate the parameters online. The Gaussian perturbation function is employed to optimize the TLBO algorithm and improve the identification speed and accuracy. The mechanisms of group learning and low-ranking elimination are established. After that, the proposed ITLBO algorithm for parameter identification is employed to identify the hub motor parameters online on the test bench. Compared with other parameter identification algorithms, both simulation and experimental results show the proposed ITLBO algorithm has rapid convergence and a higher convergence precision, by which the robustness of the algorithm is effectively verified. Keywords: parameters identification, teaching–learning-based optimization, hub motor, temperature rise.
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Authors and Affiliations

Yong Li
1
Juan Wang
2
Taohua Zhang
2
Han Hu
1
Hao Wu
1
  1. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China
  2. Beijing Institute of Space Launch Technology, Beijing 100076, China

Natural Filling and Systematic Roof Control Technology for Gob-Side Entry Retaining in Steep Coal Seams

Hongyun Yang Shugang Cao Guisong Zhou Yuan Zhao Guodong Li Yong Li Yingchong Fan
Archives of Mining Sciences | 2018 | vol. 63 | No 3 | 599-616 | DOI: 10.24425/123686
Keywords gob-side entry retaining steep coal seams natural filling systematic project
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Abstract

The technology for gob-side entry retaining in steep coal seams is still in the development stage. The

analysis results of the caving structure of main roof, low influence of gateway’s stability because of long

filling distance and weak dynamic effect of the gateway, and the low stress redistribution environment

indicate that using this technology in steep coal seams has significant advantages. Moreover, to reinforce

the waste rock and the soft floor and to better guard against the impact of the waste rock during natural

filling, a rock blocking device and grouting reinforcement method were invented, and theoretical calculations

result show that the blocking device has high safety factor. In addition, we also developed a set of

hydraulic support devices for use in the strengthening support zone. Furthermore, because the retaining

gateway was a systematic project, the selection of the size and shape of the gateway cross section and its

support method during the initial driving stage is a key step. Thus, first, a section the size of bottom width

and roof height of a new gateway was determined to meet any related requirements. Then, according

to the cross sections of 75 statistical gateways and the support technique, it chosen a trapezoidal cross

section when the dip of the coal seam is 35° < α ≤ 45°, a special and an inclined arch cross section when

45° < α ≤ 55°. Eventually, a support system of bolts and cables combined with steel mesh and steel belts

was provided. The support system used optimized material and improved parameters, can enhanced the

self-bearing ability of the surrounding coal and rock masses.

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Authors and Affiliations

Hongyun Yang
Shugang Cao
Guisong Zhou
Yuan Zhao
Guodong Li
Yong Li
Yingchong Fan

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