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坡道行驶工况下月球车运动控制策略仿真
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作者 黄卫东 鲍劲松 +1 位作者 徐有生 赵海亮 《中国机械工程》 EI CAS CSCD 北大核心 2012年第20期2481-2487,共7页
坡道是崎岖月面环境的典型路况,在分析月球车轮地相互作用模型并对其进行修正的基础上,建立月球车坡道行驶地面力学模型。同时考虑前面车轮对月壤扰动变形的影响,提出了月球车行驶过程中前后车轮沉陷量的计算方法。最后通过分析月球车... 坡道是崎岖月面环境的典型路况,在分析月球车轮地相互作用模型并对其进行修正的基础上,建立月球车坡道行驶地面力学模型。同时考虑前面车轮对月壤扰动变形的影响,提出了月球车行驶过程中前后车轮沉陷量的计算方法。最后通过分析月球车坡路行驶运动过程,得出如下结论:当坡度角大于21.8°时,应进行避障,而当月球车具有足够的车轮牵引力时,应控制车轮转速,使月球车在最佳滑转率下行驶。在月球车三维可视化仿真平台中进行了仿真验证和试验验证。 展开更多
关键词 月球车 坡道行驶 地面力学模型 运动控制策略
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Ground movement mechanism in tectonic stress metal mines with steep structure planes 被引量:4
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作者 夏开宗 陈从新 +2 位作者 刘秀敏 郑元 付华 《Journal of Central South University》 SCIE EI CAS CSCD 2017年第9期2092-2104,共13页
When mining metal mines with steep structure planes by the caving method,there is a mechanical model in which the horizontal stress on the rock mass is simplified as a column before surface subsidence.The model is use... When mining metal mines with steep structure planes by the caving method,there is a mechanical model in which the horizontal stress on the rock mass is simplified as a column before surface subsidence.The model is used to deduce critical support load and limiting column length for a given horizontal stress and support pressure.Considering the impact of the column effect,a method is proposed to determine the movement of the ground and caving area in a mine.After surface subsidence,the horizontal stress on a surrounding rock mass can be simplified to a cantilever beam mechanical model.Expressions for its bending fracture length are deduced,and a method is given to determine its stability.On this basis,an explanation for the large ground movement and subsidence scope was given.A case study shows that the damage effect of column and cantilever beam is significant for ground movement in metal-ore mine,and an appropriate correction value should be applied when designing for its angle of ground movements. 展开更多
关键词 mining engineering underground mining ground movement horizontal stress COLUMN cantilever pillar
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