A similar simulation experiment system and method for temporary support walking under pressure

Abstract

The present application belongs to the technical field of mine simulation experiment production demonstration, and provides a temporary support pressure-walking similar simulation experiment system and method, including temporary support, a roof simulation device, a roof loading device and a platform frame, wherein the roof simulation device is arranged between the roof loading device and the platform frame, and is used to simulate roofs under different geological conditions; the roof loading device is arranged above the platform frame, and is used to load the roof simulation device; the temporary support is arranged inside the platform frame, and is used to support the roof simulation device; a first driving mechanism is provided on the platform frame, and the first driving mechanism is used to drive the temporary support to slide on the platform frame. The temporary support is driven to walk on the platform frame by the first driving mechanism, simulating the pressure-walking working condition of the temporary support during the actual tunnel excavation process, thereby providing theoretical and data support for on-site application; and it can also be used as an educational demonstration tool for on-site teaching demonstration.

Description

Technical Field

[0001] This application belongs to the field of mine simulation experimental production demonstration technology, and more specifically, it relates to a temporary support pressure walking similar simulation experimental system and method. Background Technology

[0002] The problem of mining imbalance restricts the efficient production of coal enterprises. Temporary support, as an intermediate process between cutting and permanent support, can provide a safe working space between these two processes, thus enabling parallel operations of cutting and permanent support. During the movement of temporary supports, a "lowering-traveling-raising" operation is commonly used. The stress in the surrounding rock frequently changes between two and three dimensions, making the surrounding rock highly susceptible to instability and fracture. Therefore, pressurized movement of temporary supports is a key technical means to ensure the stability of the surrounding rock. Currently, there is no experimental system capable of simulating pressurized movement of temporary supports under different surrounding rock parameters. Summary of the Invention

[0003] The purpose of this invention is to provide a test system that can simulate the pressure-driven movement of temporary supports under different surrounding rock parameters, aiming to solve the problem that the stress of the surrounding rock frequently changes between two and three dimensions during the movement of existing temporary supports, making the surrounding rock extremely prone to instability and fracture.

[0004] To achieve the above objectives, the technical solution adopted in this application is as follows: Firstly, a temporary support walking simulation experimental system is provided, comprising a temporary support, a roof simulation device, a roof loading device, and a platform frame. The roof simulation device is disposed between the roof loading device and the platform frame to simulate roofs under different geological conditions. The roof loading device is disposed above the platform frame to load the roof simulation device. The temporary support is disposed inside the platform frame to support the roof simulation device. A first driving mechanism is provided on the platform frame to drive the temporary support to slide on the platform frame.

[0005] Optionally, the top plate simulation device includes a top plate body and one or more stress sensors and strain sensors embedded inside the top plate body.

[0006] Optionally, the top plate body is made of a mixture of sand, cement, lime, and gypsum.

[0007] Optionally, the stress sensor and the strain sensor are evenly and spaced apart within the top plate body.

[0008] Optionally, the roof loading device includes a loading part and multiple connecting parts. The loading part is used to simulate the surrounding rock pressure to load the roof simulation device. The contact part is disposed on the side of the loading part near the roof simulation device and is used to contact the roof simulation device.

[0009] Optionally, the connector is an electric telescopic rod, with its two ends connected to the loading part and the platform frame, respectively.

[0010] Optionally, the temporary support includes a jacking mechanism, an inner shield, an outer shield, and a second drive mechanism. The jacking mechanism is located on top of the inner shield, the inner shield is slidably connected to the outer shield, and the second drive mechanism is fixedly connected to the inner shield and the outer shield respectively, for driving the inner shield to rise and fall.

[0011] Optionally, the second drive mechanism is a servo synchronous electric cylinder.

[0012] Optionally, the platform frame includes a frame body and a slide rail disposed at the bottom of the frame body, the outer shield body is slidably connected to the slide rail, and the first driving mechanism is disposed along the length direction of the slide rail, with one end connected to the frame body and the other end connected to the outer shield body.

[0013] Secondly, a method for simulating walking under pressure in temporary support is provided, using the experimental system provided in the first aspect, including the following steps:

[0014] S1. Based on the geological conditions of the actual roadway and the similar simulation scale, determine the weight of the roof loading device and the material ratio of the roof simulation device.

[0015] S2. Without support, observe the stress and strain of the roof simulation device under the action of the roof loading device, and obtain the range of the supporting force F when the roof simulation device remains stable based on the stress and strain.

[0016] ;

[0017] In the formula, The supporting force required to maintain the stability of the roof simulation device. The stress is the stress when the top plate simulation device breaks. The strain is the strain when the top plate simulation device breaks. The elastic modulus is the material used to simulate the top plate.

[0018] S3. Control the second drive mechanism to support the roof simulation device, keeping it stable; the second-order differential equations of the target impedance are as follows: (The original text appears to be incomplete and contains several errors. A more accurate translation would require the full context.)

[0019] ;

[0020] ;

[0021] In the formula, , , These are the expected location, expected velocity, and expected acceleration of the temporary support, respectively. , , These represent the actual location, actual velocity, and actual acceleration of the temporary support; F is the supporting force required for the roof simulation device to maintain stability; M d Let B be the target inertia matrix. d Let K be the target damping matrix. d The target stiffness matrix;

[0022] S4. Control the first drive mechanism to drive the temporary support forward. The pushing and pulling force of the first drive mechanism is adjusted in real time according to the stress and strain of the roof simulation device to ensure that the temporary support moves under pressure.

[0023] The beneficial effects of the temporary support pressure-walking similar simulation experimental system and method provided in this application are as follows: Compared with the prior art, this application uses a platform frame to simulate the overall structure of the roadway, a roof simulation device to simulate roofs under different geological conditions, a roof loading device to simulate the surrounding rock pressure on the roof simulation device, temporary support to provide support force to the roof simulation device, and a first driving mechanism to drive the temporary support to walk on the platform frame, simulating the pressure-walking condition of temporary support during actual roadway excavation, thereby providing theoretical and data support for field applications; at the same time, it can also be used as an educational demonstration tool for on-site teaching demonstrations. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of the temporary support walking simulation experiment system provided in the embodiments of this application;

[0026] Figure 2 A schematic diagram of the structure of the temporary support provided in the embodiments of this application;

[0027] Figure 3 This is a schematic diagram of the structure of the top plate simulation device provided in the embodiments of this application;

[0028] Figure 4 This is a schematic diagram of the top plate loading device provided in the embodiments of this application;

[0029] Figure 5 This is a schematic diagram of the platform framework provided in the embodiments of this application;

[0030] Figure 6 The graphs show the influence of stiffness parameters on the system response. (a) shows the displacement curve of the temporary support platform along the Z direction under different stiffness parameters, (b) shows the displacement curve of the temporary support platform along the X direction under different stiffness parameters, (c) shows the force curve of the temporary support platform along the Z direction under different stiffness parameters, and (d) shows the force curve of the temporary support platform along the Z direction under different stiffness parameters.

[0031] Figure 7 The graphs show the influence of inertial parameters on the system response. (a) shows the displacement curve of the temporary support platform along the Z direction under different inertial parameters, (b) shows the displacement curve of the temporary support platform along the Z direction under different inertial parameters, (c) shows the force curve of the temporary support platform along the Z direction under different inertial parameters, and (d) shows the force curve of the temporary support platform along the X direction under different inertial parameters.

[0032] Figure 8 The graphs show the influence of damping parameters on the system response. (a) shows the displacement curve of the temporary support platform along the Z direction under different damping parameters, (b) shows the displacement curve of the temporary support platform along the Z direction under different damping parameters, (c) shows the force curve of the temporary support platform along the Z direction under different damping parameters, and (d) shows the force curve of the temporary support platform along the X direction under different damping parameters.

[0033] Figure label:

[0034] 1. Temporary support; 101. Roofing mechanism; 102. Inner shield; 103. Outer shield; 104. Second drive mechanism; 2. Roof simulation device; 201. Roof body; 202. Stress sensor; 203. Strain sensor; 3. Roof loading device; 301. Connector; 302. Contact part; 303. Loading part; 4. Platform frame; 401. Frame body; 402. First drive mechanism; 403. Slide rail. Detailed Implementation

[0035] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0036] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0037] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0038] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0039] See also Figures 1-4 The temporary support pressure walking similar simulation experiment system and method provided in the embodiments of this application will now be described.

[0040] In a first aspect, this application provides a temporary support walking simulation experimental system, including a temporary support 1, a roof simulation device 2, a roof loading device 3, and a platform frame 4. The roof simulation device 2 is disposed between the roof loading device 3 and the platform frame 4 to simulate roofs under different geological conditions. The roof loading device 3 is disposed above the platform frame 4 to load the roof simulation device 2. The temporary support 1 is disposed inside the platform frame 4 to support the roof simulation device 2. A first driving mechanism 402 is disposed on the platform frame 4 to drive the temporary support 1 to slide on the platform frame 4.

[0041] This application uses a platform frame 4 to simulate the overall structure of the tunnel, a roof simulation device 2 to simulate roofs under different geological conditions, a roof loading device 3 to simulate the surrounding rock pressure and load the roof simulation device 2, a temporary support 1 to provide support for the roof simulation device 2, and a first drive mechanism 402 to drive the temporary support 1 to move on the platform frame 4, simulating the pressurized movement of the temporary support 1 during the actual tunnel excavation process, thereby providing theoretical and data support for field applications.

[0042] In some embodiments of this application, see Figure 3 The top plate simulation device 2 includes a top plate body 201 and one or more stress sensors 202 and strain sensors 203 embedded inside the top plate body 201.

[0043] The stress sensor 202 is used to monitor the stress of the roof body 201 of the roof simulation device 2 under the condition of the temporary support 1 walking under pressure, and the strain sensor 203 is used to monitor the strain of the roof body 201 of the roof simulation device 2 under the condition of the temporary support 1 walking under pressure.

[0044] In some embodiments of this application, the roof body 201 is composed of a mixture of sand, cement, lime, and gypsum. The roof simulation device 2 can adjust the proportions of sand, cement, lime, and gypsum according to the geological conditions of the tunnel and the similar simulation scale, thereby simulating the roof of the tunnel under different geological conditions.

[0045] In some other embodiments of this application, the roof body 201 may also be made of other materials depending on the geological conditions of the tunnel, and this application does not limit it.

[0046] In some embodiments of this application, see Figure 3 Stress sensors 202 and strain sensors 203 are evenly and spaced apart within the top plate body 201. Optionally, there are four stress sensors 202 and three strain sensors 203, arranged sequentially and evenly spaced within the top plate body 201. In other embodiments of this application, the number and monitoring positions of stress sensors 202 and strain sensors 203 can be adjusted according to actual monitoring needs, and this application does not impose any limitations.

[0047] This application does not limit the size of the roof simulation device 2. The size of the roof simulation device 2 can be adjusted according to the tunnel size and similar simulation scale.

[0048] In some embodiments of this application, see Figure 4 The roof loading device 3 includes a contact part 302, a loading part 303, and multiple connecting parts 301. The loading part 303 simulates the surrounding rock pressure by its own weight and loads the roof simulation device 2. The roof loading device 3 can adjust its pressure on the roof simulation device 2 by using loading parts 303 of different weights according to the geological conditions of the roadway and the similar simulation scale, thereby simulating different magnitudes of surrounding rock pressure. The contact part 302 is located on the side of the loading part 303 near the roof simulation device 2 and is used to contact the roof simulation device 2.

[0049] In some embodiments of this application, see Figure 4The loading part 303 has a rectangular structure, and there are four connectors 301, which are respectively arranged at the four corners of the loading part 303. In some other embodiments of this application, the loading part 303 may also adopt other shapes, and the number of connectors 301 may also be set according to actual needs. This application does not limit it.

[0050] In some embodiments of this application, the connecting member is an electric telescopic rod, and the two ends of the electric telescopic rod are respectively connected to the loading part 303 and the platform frame 4. The electric telescopic rod can adapt to the top plate simulation device 2 of different heights.

[0051] In some embodiments of this application, see Figure 2 The temporary support 1 includes a jacking mechanism 101, an inner shield 102, an outer shield 103, and a second drive mechanism 104. The jacking mechanism 101 is located on top of the inner shield 102. The inner shield 102 and the outer shield 103 are slidably connected. The second drive mechanism 104 is fixedly connected to the inner shield 102 and the outer shield 103 respectively, and is used to drive the inner shield 102 to rise and fall.

[0052] Specifically, the top-mounting mechanism 101 is installed at the top of the inner shield 102 to simulate the support of the temporary support 1 on the roof simulation device 2. The inner shield 102 is mainly composed of four rising columns, which are installed inside the outer shield 103 and connected to the outer shield 103 through a track. The outer shield 103 is slidably connected to the platform frame 4 to simulate the walking function of the temporary support 1. The second drive mechanism 104 can drive the inner shield 102 to rise and fall, providing upward support force to the inner shield 102 and supporting the roof simulation device 2.

[0053] In some embodiments of this application, the second drive mechanism 104 is a servo synchronous electric cylinder. In other embodiments of this application, the second drive mechanism 104 may also be a cylinder, a hydraulic cylinder, or other drive device, and this application does not impose any limitations.

[0054] In some embodiments of this application, see Figure 5 The platform frame 4 includes a frame body 401 and a slide rail 403 set at the bottom of the frame body 401. The outer shield 103 is slidably connected to the slide rail 403. The first drive mechanism 402 is set along the length of the slide rail 403, with one end connected to the frame body 401 and the other end connected to the outer shield 103.

[0055] The frame body 401 can simulate the overall structure of the tunnel. The first drive mechanism 402 is installed on one side of the frame body 401 and connected to the outer shield 103, providing driving force for the temporary support 1. The slide rail 403 is installed on both sides of the bottom of the frame body 401 for sliding connection with the outer shield 103, providing walking guidance for the temporary support 1. During the experiment, the roof loading device 3 loads the roof simulation device 2, and the temporary support 1 provides support force to the roof simulation device 2. The first drive mechanism 402 can drive the temporary support 1 to slide on the slide rail 403. At the same time, the stress and strain conditions of the roof body 201 are monitored by stress sensor 202 and strain sensor 203. The first drive mechanism 402 dynamically adjusts the pushing and pulling force according to the stress and strain of the roof simulation device 2 and the supporting force of the second drive mechanism 104. By dynamically adjusting the pushing and pulling force of the first drive mechanism 402, the temporary support 1 can be moved under pressure. The support effect of the temporary support 1 on the surrounding rock when moving under pressure is studied under different surrounding rock parameters.

[0056] In some embodiments of this application, the first support mechanism is a push-pull electric cylinder. In other embodiments of this application, the second drive mechanism 104 may also be a cylinder, a hydraulic cylinder or other drive device. This application does not limit the scope of the application.

[0057] Secondly, this application also provides a method for simulating walking under pressure in temporary support, using the experimental system provided in the first aspect, including the following steps:

[0058] S1. Based on the geological conditions and similar simulation ratio of the actual tunnel, determine the weight of the loading part 303 and the material ratio of the roof simulation device 2; the roof simulation device 2 has different mechanical properties depending on the ratio of sand, cement, lime and gypsum.

[0059] S2. Without support, observe the stress and strain of the roof simulation device 2 under the action of the roof loading device 3, and obtain the range of the supporting force F when the roof simulation device 2 remains stable based on the stress and strain.

[0060] Specifically, without applying any support force to the roof simulation device 2, the roof loading device 3 is used to load the roof simulation device 2. Multiple measurements allow the stress-strain relationship of the roof simulation device 2 to be fitted as q=KX. Here, q is the stress of the roof simulation device 2, x is the strain of the roof simulation device 2, and K is the elastic modulus of the roof simulation material. As the loading force increases, the stress at which the roof simulation device 2 breaks will be obtained. and strain :

[0061] ;

[0062] In the formula, The supporting force required to maintain the stability of the top plate simulation device 2 The stress at which the top plate simulation device 2 breaks. The strain is the strain when the top plate simulation device 2 breaks. The elastic modulus is the material used to simulate the top plate.

[0063] S3. Control the second drive mechanism 104 to drive the inner shield 102 to rise, support the top plate simulation device 2, thereby ensuring the stability of the top plate simulation device 2 under the action of temporary support 1.

[0064] Specifically, considering temporary support 1 and roof simulation device 2 as a "mass-damping-spring" system, the second-order differential equations of the target impedance are as follows: when temporary support 1 is not supporting roof simulation device 2 (free space) and when it is supporting roof simulation device 2 (constrained space):

[0065] ;

[0066] ;

[0067] In the formula, , , These are the expected location, expected velocity, and expected acceleration of the temporary support, respectively. , , These represent the actual location, actual velocity, and actual acceleration of the temporary support, respectively; F represents the supporting force provided by the temporary support; M d Let B be the target inertia matrix. d Let K be the target damping matrix. d The target stiffness matrix;

[0068] The effects of relevant parameters on control performance are as follows:

[0069] (1) Influence of stiffness parameters on control performance

[0070] Figure 6 It is in B d =100Kg, M d Given a constant voltage of 10 Ns / m and a flow rate of 100 N, only K is changed. d The value of K is used to obtain the displacement and force response curves of the end support platform. It can be seen that K... d The value of K primarily affects the actual position of the end platform, as K... d As K increases, the position of the end platform will gradually decrease and approach the desired value. Meanwhile, as K... d Increasing the value of K will reduce the oscillation of the end support force of the temporary support, because increasing K... dThe value increases the system's rigidity, allowing the actual value to converge to the expected value more quickly, thereby reducing oscillations and minimizing the impact on the top plate. The practical physical meaning can be seen from this: K... d A larger value indicates that the change between the temporary support and the environment is becoming "harder," and the smaller the position correction value required to achieve the desired force, showing a harder output characteristic.

[0071] (2) The influence of inertial parameters on control performance

[0072] Figure 7 It is in K d =1000 N / m, B d Given a constant voltage of 100 Ns / m and a flow rate of 100 N, only M is changed. d The value of M is used to obtain the displacement and force response curves of the end support platform. It can be seen that M... d The value of M has virtually no impact on the actual position and force of the end platform. d When the value is small, the system has low inertia, fast response, and may experience overshoot. As M... d As M increases, system inertia increases, response speed slows down, and overshoot gradually decreases. d Exceeding a certain critical value, the system's excessive dependence leads to a slow response speed, making it unable to promptly offset external disturbances or control errors, thus resulting in significant overshoot. At this point, when M... d If the value continues to increase, the system's poles will move closer to the imaginary axis or enter the unstable region, causing the system to oscillate and become difficult to converge.

[0073] (3) The influence of damping parameters on control performance

[0074] Figure 8 It is in K d =1000 N / m, M d Given a constant voltage of 10 Ns / m and a flow rate of 100 N, only change the value of B. d The value of B is used to obtain the displacement and force response curves of the end support platform. It can be seen that B... d The value of B primarily affects the oscillation characteristics of the system. As B... d As B increases, the system oscillations will gradually decrease until they disappear, changing from underdamped to overdamped or critically damped. The system's overshoot will also increase with B. d The value decreases as the value increases. However, the control of the temporary support robot during pressurized movement needs to minimize overshoot, as overshoot can lead to excessive support and subsequent roof crushing. Simultaneously, a larger B... d Values ​​can improve the system's robustness to model uncertainties.

[0075] S4. Control the first drive mechanism 402 to drive the temporary support 1 forward. The pushing and pulling force of the first drive mechanism 402 is adjusted in real time according to the stress and strain of the roof simulation device 2 to ensure that the temporary support moves under pressure.

[0076] Specifically, the formula for calculating the push-pull force F1 of the first drive mechanism 402 is as follows:

[0077] F1=(qF)*u;

[0078] Where q is the stress exerted on the roof simulation device 2 by the roof loading device 3, and F is the supporting force provided by the temporary support 1 to the roof simulation device 2. The supporting force F provided by the temporary support 1 should be less than [a certain value]. , The stress is the stress when the top plate simulation device breaks. The strain is the strain when the top plate simulation device breaks. denoted as the elastic coefficient of the roof simulation material, and u is the friction coefficient between the temporary support 1 and the roof simulation device 2.

[0079] This application uses a platform frame to simulate the overall structure of a roadway, a roof simulation device to simulate roofs under different geological conditions, a roof loading device to simulate the surrounding rock pressure on the roof simulation device, temporary supports to provide support for the roof simulation device, and a first drive mechanism to drive the temporary supports to move on the platform frame, simulating the pressurized movement of temporary supports during actual roadway excavation, thus providing theoretical and data support for field applications; it can also be used as an educational demonstration tool for on-site teaching demonstrations.

[0080] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A temporary support system for simulated walking under pressure, characterized in that: The system includes temporary support, a roof simulation device, a roof loading device, and a platform frame. The roof simulation device is located between the roof loading device and the platform frame to simulate roofs under different geological conditions. The roof loading device is located above the platform frame to load the roof simulation device. The temporary support is located inside the platform frame to support the roof simulation device. A first driving mechanism is provided on the platform frame to drive the temporary support to slide on the platform frame. The temporary support includes a jacking mechanism, an inner shield body, an outer shield body, and a second drive mechanism. The jacking mechanism is located on top of the inner shield body, and the inner shield body is slidably connected to the outer shield body. The second drive mechanism is fixedly connected to the inner shield body and the outer shield body respectively, and is used to drive the inner shield body to rise and fall. The platform frame includes a frame body and a slide rail disposed at the bottom of the frame body. The outer shield body is slidably connected to the slide rail. The first driving mechanism is disposed along the length direction of the slide rail, with one end connected to the frame body and the other end connected to the outer shield body.

2. The temporary support walking simulation experimental system according to claim 1, characterized in that, The roof simulation device includes a roof body and one or more stress sensors and strain sensors embedded inside the roof body.

3. The temporary support pressure-bearing walking similarity simulation experimental system according to claim 2, characterized in that, The roof slab is made of a mixture of sand, cement, lime, and gypsum.

4. The temporary support pressure-bearing walking similarity simulation experimental system according to claim 2, characterized in that, The stress sensor and the strain sensor are evenly and spaced apart within the top plate body.

5. The temporary support walking simulation experimental system according to claim 1, characterized in that, The roof loading device includes a contact part, a loading part, and multiple connecting parts. The loading part is used to simulate the surrounding rock pressure to load the roof simulation device. The contact part is located on the side of the loading part close to the roof simulation device and is used to contact the roof simulation device.

6. The temporary support walking simulation experimental system according to claim 5, characterized in that, The connector is an electric telescopic rod, with its two ends connected to the loading part and the platform frame, respectively.

7. The temporary support pressure-bearing walking similarity simulation experimental system according to claim 1, characterized in that, The second drive mechanism is a servo synchronous electric cylinder.

8. A method for simulating walking under pressure in temporary support, using the experimental system described in any one of claims 1-7, characterized in that, Includes the following steps: S1. Based on the geological conditions of the actual roadway and the similar simulation scale, determine the weight of the roof loading device and the material ratio of the roof simulation device. S2. Without support, observe the stress and strain of the roof simulation device under the action of the roof loading device, and obtain the range of the supporting force F when the roof simulation device remains stable based on the stress and strain. In the formula, The supporting force required to maintain the stability of the roof simulation device. The stress is the stress when the top plate simulation device breaks. The strain is the strain when the top plate simulation device breaks. The elastic modulus of the simulated material for the top plate; S3. Control the second drive mechanism to support the roof simulation device, keeping it stable; the second-order differential equations of the target impedance are as follows: (The original text appears to be incomplete and contains several errors. A more accurate translation would require the full context.) In the formula, , , These are the expected location, expected velocity, and expected acceleration of the temporary support, respectively. , , These are the actual location, actual velocity, and actual acceleration of the temporary support, respectively. The supporting force required to keep the top plate simulation device stable; Let the target inertia matrix be... Let be the target damping matrix. The target stiffness matrix; S4. Control the first drive mechanism to drive the temporary support forward. The pushing and pulling force of the first drive mechanism is adjusted in real time according to the stress and strain of the roof simulation device to ensure that the temporary support moves under pressure.

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