Spacecraft require a large-angle manoeuvre when performing agile manoeuvring tasks, therefore a control moment gyroscope(CMG) is employed to provide a strong moment.However, the control of the CMG system easily falls ...Spacecraft require a large-angle manoeuvre when performing agile manoeuvring tasks, therefore a control moment gyroscope(CMG) is employed to provide a strong moment.However, the control of the CMG system easily falls into singularity, which renders the actuator unable to output the required moment. To solve the singularity problem of CMGs, the control law design of a CMG system based on a cooperative game is proposed. First, the cooperative game model is constructed according to the quadratic programming problem, and the cooperative strategy is constructed. When the strategy falls into singularity, the weighting coefficient is introduced to carry out the strategy game to achieve the optimal strategy. In theory, it is proven that the cooperative game manipulation law of the CMG system converges, the sum of the CMG frame angular velocities is minimized, the energy consumption is small, and there is no output torque error. Then, the CMG group system is simulated.When the CMG system is near the singular point, it can quickly escape the singularity. When the CMG system falls into the singularity, it can also escape the singularity. Considering the optimization of angular momentum and energy consumption, the feasibility of the CMG system steering law based on a cooperative game is proven.展开更多
Considering the serious coal and rock dynamic disasters around the main slip plane called F16 in the coal mining area) of Henan Yima(China) thrust nappe structure,the mechanical genesis of the Yima thrust nappe struct...Considering the serious coal and rock dynamic disasters around the main slip plane called F16 in the coal mining area) of Henan Yima(China) thrust nappe structure,the mechanical genesis of the Yima thrust nappe structure was studied comprehensively using geomechanics,fault mechanics,elastic mechanics,and Coulomb's law of friction.First,using the centrifugal inertia force of Earth's rotation as a source,a mechanical model of N-S compression superimposed with W-E reverse torsion was established to explain the formation of the early Yima coal basin and Jurassic Yima Group coal measures.Second,an equation for the ultimate stress in the forming stage of F16 was derived using the plastic slip-line field theory and the parabolic Mohr failure criterion.Moreover,the distribution of ultimate stress and the geometric characteristics of the fault profile were obtained using the field model parameters.Finally,the stress field of F16 and the mechanical genesis of the large-scale reverse thrust sheet were discussed based on elastic mechanics theory and Coulomb's law of friction.The results show that the tectonic framework of the early Yima coal basin and the formation pattern of Jurassic Yima Group coal measures given by the model are consistent with the in-situ explorations.The geometric characteristics of the fault profile obtained by numerical calculation can better reflect the shape of F16 in its forming stage,and the mechanical genesis of the large-scale reverse thrust sheet also concurred with the field situations.Thus,this work can provide a foundation for further studies on the genesis of the thrust nappe structure,the mechanism of rock bursts induced by F16,and the characteristics of the residual stress field in the Yima mining area.展开更多
基金supported by the National Natural Science Foundation of China (61973153)。
文摘Spacecraft require a large-angle manoeuvre when performing agile manoeuvring tasks, therefore a control moment gyroscope(CMG) is employed to provide a strong moment.However, the control of the CMG system easily falls into singularity, which renders the actuator unable to output the required moment. To solve the singularity problem of CMGs, the control law design of a CMG system based on a cooperative game is proposed. First, the cooperative game model is constructed according to the quadratic programming problem, and the cooperative strategy is constructed. When the strategy falls into singularity, the weighting coefficient is introduced to carry out the strategy game to achieve the optimal strategy. In theory, it is proven that the cooperative game manipulation law of the CMG system converges, the sum of the CMG frame angular velocities is minimized, the energy consumption is small, and there is no output torque error. Then, the CMG group system is simulated.When the CMG system is near the singular point, it can quickly escape the singularity. When the CMG system falls into the singularity, it can also escape the singularity. Considering the optimization of angular momentum and energy consumption, the feasibility of the CMG system steering law based on a cooperative game is proven.
基金Project(2010CB226805) supported by the National Basic Research Program of ChinaProject(CXLX13-949) supported by the Research and Innovation Project for College Graduates of Jiangsu Province,China+1 种基金Project(51174285) supported by the National Natural Science Foundation of ChinaProject(SZBF2011-6-B35) supported by the Priority Academic Program Development of Jiangsu Higher Education Institutions,China
文摘Considering the serious coal and rock dynamic disasters around the main slip plane called F16 in the coal mining area) of Henan Yima(China) thrust nappe structure,the mechanical genesis of the Yima thrust nappe structure was studied comprehensively using geomechanics,fault mechanics,elastic mechanics,and Coulomb's law of friction.First,using the centrifugal inertia force of Earth's rotation as a source,a mechanical model of N-S compression superimposed with W-E reverse torsion was established to explain the formation of the early Yima coal basin and Jurassic Yima Group coal measures.Second,an equation for the ultimate stress in the forming stage of F16 was derived using the plastic slip-line field theory and the parabolic Mohr failure criterion.Moreover,the distribution of ultimate stress and the geometric characteristics of the fault profile were obtained using the field model parameters.Finally,the stress field of F16 and the mechanical genesis of the large-scale reverse thrust sheet were discussed based on elastic mechanics theory and Coulomb's law of friction.The results show that the tectonic framework of the early Yima coal basin and the formation pattern of Jurassic Yima Group coal measures given by the model are consistent with the in-situ explorations.The geometric characteristics of the fault profile obtained by numerical calculation can better reflect the shape of F16 in its forming stage,and the mechanical genesis of the large-scale reverse thrust sheet also concurred with the field situations.Thus,this work can provide a foundation for further studies on the genesis of the thrust nappe structure,the mechanism of rock bursts induced by F16,and the characteristics of the residual stress field in the Yima mining area.
