The migration,accumulation,and high yield of hydrocarbons in tight sandstone reservoirs are closely tied to the natural fracture systems within the reservoirs.Large-scale fracture networks not only enhance reservoir s...The migration,accumulation,and high yield of hydrocarbons in tight sandstone reservoirs are closely tied to the natural fracture systems within the reservoirs.Large-scale fracture networks not only enhance reservoir seepage capacity but also influence effective productivity and subsequent fracturing reconstruction.Given the diverse mechanical behaviors,such as migration,penetration,or fracture arrest,traditional assumptions about fracture interaction criteria fail to address this complexity.To resolve these issues,a global cohesive element method is proposed to model random natural fractures.This approach verifies intersection models based on real-time stress conditions rather than pre-set criteria,enabling better characterization of interactions between hydraulic and natural fractures.Research has shown that the elastic modulus,horizontal stress difference,and fracturing fluid pumping rate significantly promote the expansion of hydraulic fractures.The use of low viscosity fracturing fluid can observe a decrease in the width of fractures near the wellbore,which may cause fractures to deflect when interacting with natural fractures.However,simulations under these conditions did not form a“complex network of fractures”.It is worth noting that when the local stress difference is zero,the result is close to the formation of this network.Excessive spacing will reduce the interaction between fractures,resulting in a decrease in the total length of fractures.By comprehensively analyzing these factors,an optimal combination can be identified,increasing the likelihood of achieving a“complex fracture network”.This paper thoroughly investigates hydraulic fracture propagation in naturally fractured reservoirs under various conditions,offering insights for developing efficient fracturing methods.展开更多
Suffusion refers to the loss of fineparticles within the soil matrix without any associated volume change,induced by hydrodynamic forces.This study investigated the suffusion of sand-clay mixtures through one-dimensio...Suffusion refers to the loss of fineparticles within the soil matrix without any associated volume change,induced by hydrodynamic forces.This study investigated the suffusion of sand-clay mixtures through one-dimensional soil column experiments under a stepwise increase in hydraulic gradient(i),aiming to evaluate the critical hydraulic gradient(icrit)as a function of the size ratio between sand and clay,clay type,and ionic concentration.It was found that icrit was less than 0.1 for all sand-clay mixtures examined in this study.In addition,the lower peak concentrations of filtrated clay observed in sand-illite mixtures,compared to those of sand-kaolinite mixtures at the same level of i,suggest that illite particles are more susceptible to suffusion.Overall,the observed breakthrough curves,mass fraction of filtrated clay,volume of outflow,and total injection time presented in this study highlight the importance of considering clay type,sand-to-clay size ratio,and ionic concentration when assessing the suffusion behavior of clay-containing soils under a stepwise increase in hydraulic gradient.展开更多
Fractures are typically characterized by roughness that significantlyaffects the mechanical and hydraulic characteristics of reservoirs.However,hydraulic fracturing mechanisms under the influenceof fracture morphology...Fractures are typically characterized by roughness that significantlyaffects the mechanical and hydraulic characteristics of reservoirs.However,hydraulic fracturing mechanisms under the influenceof fracture morphology remain largely unexplored.Leveraging the advantages of the finite-discrete element method(FDEM)for explicitly simulating fracture propagation and the strengths of the unifiedpipe model(UPM)for efficientlymodeling dual-permeability seepage,we propose a new hydromechanical(HM)coupling approach for modeling hydraulic fracturing.Validated against benchmark examples,the proposed FDEM-UPM model is further augmented by incorporating a Fourier-based methodology for reconstructing non-planar fractures,enabling quantitative analysis of hydraulic fracturing behavior within rough discrete fracture networks(DFNs).The FDEM-UPM model demonstrates computational advantages in accurately capturing transient hydraulic seepage phenomena,while the asynchronous time-stepping schemes between hydraulic and mechanical analyses substantially enhanced computational efficiencywithout compromising computational accuracy.Our results show that fracture morphology can affect both macroscopic fracture networks and microscopic interaction types between hydraulic fractures(HFs)and natural fractures(NFs).In an isotropic stress field,the initiation azimuth,propagation direction and microcracking mechanism are significantly influencedby fracture roughness.In an anisotropic stress field,HFs invariably propagate parallel to the direction of the maximum principal stress,reducing the overall complexity of the stimulated fracture networks.Additionally,stress concentration and perturbation attributed to fracture morphology tend to be compromised as the leak-off increases,while the breakdown and propagation pressures remain insensitive to fracture morphology.These findingsprovide new insights into the hydraulic fracturing mechanisms of fractured reservoirs containing complex rough DFNs.展开更多
Deep shale gas reservoirs in the southern Sichuan Basin are typically characterized by significant horizontal stress anisotropy(expressed as stress difference),variable brittleness-ductility in rock mechanics,and stro...Deep shale gas reservoirs in the southern Sichuan Basin are typically characterized by significant horizontal stress anisotropy(expressed as stress difference),variable brittleness-ductility in rock mechanics,and strong heterogeneity.These complex geomechanical conditions lead to pronounced differences in hydraulic fracturing outcomes among wells and sections.To investigate hydraulic fracture propagation and fracturing fluid injection behavior under varying geomechanical settings,true triaxial physical simulation tests were performed on 400×400×400 mm artificial rock samples.The samples were designed with different media properties based on similarity criteria.A sensitivity analysis was conducted to assess the effects of brittleness-ductility characteristics,natural fractures,and in-situ stress conditions.The results reveal that:(i)brittle samples with lower stress difference are favorable for forming complex,perforable fracture networks;(ii)brittle samples with higher stress difference tend to develop simple,planar hydraulic fractures,with natural fractures only slightly activated during very short injection periods;(iii)ductile behavior enhances the activation of natural fractures but reduces fracture complexity compared with brittle samples,even under lower stress difference;and(iv)for typical deep shale formations,larger fluid injection volumes combined with high-density,multi-cluster fracturing techniques are recommended.展开更多
A statistic linearization analysis method of bad nolinear hydraulic active damping suspension is provided.Also the optimum control strategy of semi active suspension and graded control strategy based on it are puted ...A statistic linearization analysis method of bad nolinear hydraulic active damping suspension is provided.Also the optimum control strategy of semi active suspension and graded control strategy based on it are puted forward.Experimental researches are carried out on a 2 DOF(degree of freedom) hydraulic active damping suspension test system.The results showed that an excellent control effectiveness could be obtained by using statistic linearization optimum control which unfortunely requests continuously regulationg the damp in an accurate way and costs much in engeering application.On the contrary,the results also showed that graded control is more practicable which has a control effectiveness close to the optimum control and costs less.展开更多
The viscous damping coefficient （VDC） of hydraulic actuators is crucial for system modeling, control and dynamic characteristic analysis. Currently, the resear- ches on hydraulic actuators focus on behavior assessme...The viscous damping coefficient （VDC） of hydraulic actuators is crucial for system modeling, control and dynamic characteristic analysis. Currently, the resear- ches on hydraulic actuators focus on behavior assessment, promotion of control performance and efficiency. However, the estimation of the VDC is difficult due to a lack of study. Firstly, using two types of hydraulic cylinders, behaviors of the VDC are experimentally examined with velocities and pressure variations. For the tested plunger type hydraulic cylinder, the exponential model B = αν-β （α 〉 0, β 〉 0） or B = α1e-β1ν＋α2e-β2ν（α1, α2 〉 0, β1,β2 〉 0）, fits the relation between the VDC and velocities for a given pressure of chamber with high precision. The magnitude of the VDC decreases almost linearly under certain velocities when increasing the chamber pressure from 0.6 MPa to 6.0 MPa. Furthermore, the effects of the chamber pressures on the VDC of piston and plunge type hydraulic cylinders are different due to different sealing types. In order to investi- gate the VDC of a plunger type hydraulic actuator drasti- cally, a steady-state numerical model has been developed to describe the mechanism incorporating tandem seal lubrica- tion, back-up ring related friction behaviors and shear stress of fluid. It is shown that the simulated results of VDC agreewith the measured results with a good accuracy. The pro- posed method provides an instruction to predict the VDC in system modeling and analysis.展开更多
To enhance the operational capacity and space utilization of baffle-drop shafts,this study improved the traditional baffle-drop shaft by expanding the wet-side space,incorporating large rotation-angle baffles,and inst...To enhance the operational capacity and space utilization of baffle-drop shafts,this study improved the traditional baffle-drop shaft by expanding the wet-side space,incorporating large rotation-angle baffles,and installing overflow holes in the dividing wall.A three-dimensional turbulent model was developed using ANSYS Fluent to simulate the hydraulic characteristics of both traditional and new baffle-drop shafts across various flow rates.The simulation results demonstrated that the new shaft design allowed for discharge from both the wet and dry sides,significantly improving operational capacity,with the dry side capable of handling 40%of the inlet flow.Compared to the traditional shaft,the new design reduced shaft wall pressures and decreased the mean and standard deviation of pressure on typical baffles by 21%and 63%,respectively,therefore enhancing structural safety.Additionally,the new shaft achieved a 2%-12%higher energy dissipation rate than the traditional shaft across different flow rates.This study offers valuable insights for the design and optimization of drop shafts in deep tunnel drainage systems.展开更多
The high accurate classification ability of an intelligent diagnosis method often needs a large amount of training samples with high-dimensional eigenvectors,however the characteristics of the signal need to be extrac...The high accurate classification ability of an intelligent diagnosis method often needs a large amount of training samples with high-dimensional eigenvectors,however the characteristics of the signal need to be extracted accurately.Although the existing EMD(empirical mode decomposition)and EEMD(ensemble empirical mode decomposition)are suitable for processing non-stationary and non-linear signals,but when a short signal,such as a hydraulic impact signal,is concerned,their decomposition accuracy become very poor.An improve EEMD is proposed specifically for short hydraulic impact signals.The improvements of this new EEMD are mainly reflected in four aspects,including self-adaptive de-noising based on EEMD,signal extension based on SVM(support vector machine),extreme center fitting based on cubic spline interpolation,and pseudo component exclusion based on cross-correlation analysis.After the energy eigenvector is extracted from the result of the improved EEMD,the fault pattern recognition based on SVM with small amount of low-dimensional training samples is studied.At last,the diagnosis ability of improved EEMD+SVM method is compared with the EEMD+SVM and EMD+SVM methods,and its diagnosis accuracy is distinctly higher than the other two methods no matter the dimension of the eigenvectors are low or high.The improved EEMD is very propitious for the decomposition of short signal,such as hydraulic impact signal,and its combination with SVM has high ability for the diagnosis of hydraulic impact faults.展开更多
Through a case analysis,this study examines the spatiotemporal evolution of microseismic(MS)events,energy characteristics,volumetric features,and fracture network development in surface well hydraulic fracturing.A tot...Through a case analysis,this study examines the spatiotemporal evolution of microseismic(MS)events,energy characteristics,volumetric features,and fracture network development in surface well hydraulic fracturing.A total of 349 MS events were analyzed across different fracturing sections,revealing significant heterogeneity in fracture propagation.Energy scanning results showed that cumulative energy values ranged from 240 to 1060 J across the sections,indicating notable differences.Stimulated reservoir volume(SRV)analysis demonstrated well-developed fracture networks in certain sections,with a total SRV exceeding 1540000 m^(3).The hydraulic fracture network analysis revealed that during the midfracturing stage,the density and spatial extent of MS events significantly increased,indicating rapid fracture propagation and the formation of complex networks.In the later stage,the number of secondary fractures near fracture edges decreased,and the fracture network stabilized.By comparing the branching index,fracture length,width,height,and SRV values across different fracturing sections,Sections No.1 and No.8 showed the best performance,with high MS event densities,extensive fracture networks,and significant energy release.However,Sections No.4 and No.5 exhibited sparse MS activity and poor fracture connectivity,indicating suboptimal stimulation effectiveness.展开更多
Waterproof performance of gaskets between segments is the focus of shield tunnels.This paper proposed an analytical method for determining seepage characteristics at tunnel-gasketed joints based on the hydraulic fract...Waterproof performance of gaskets between segments is the focus of shield tunnels.This paper proposed an analytical method for determining seepage characteristics at tunnel-gasketed joints based on the hydraulic fracturing theories.First,the mathematical model was established,and the seepage governing equation and boundary conditions were obtained.Second,three dimensionless parameters were introduced for simplifying the expressions,and the seepage governing equations were normalized.Third,analytical expressions were derived for the interface opening and liquid pressure.Moreover,the influencing factors of seepage process at the gasketed interface were analyzed.Parametric analyses revealed that,in the normalized criterion of liquid viscosity,the liquid tip coordinate was influenced by the degree of negative pressure in the liquid lag region,which was related to the initial contact stress.The coordinate of the liquid tip affected the liquid pressure distribution and the interface opening,which were analyzed under different liquid tip coordinate conditions.Finally,under two limit states,comparative analysis showed that the results of the variation trend of the proposed method agree well with those of previous research.Overall,the proposed analytical method provides a novel solution for the design of the waterproof in shield tunnels.展开更多
Natural gas hydrates(hereinafter referred to as hydrates)are a promising clean energy source.However,their current development is far from reaching commercial exploitation.Reservoir stimulation tech-nology provides ne...Natural gas hydrates(hereinafter referred to as hydrates)are a promising clean energy source.However,their current development is far from reaching commercial exploitation.Reservoir stimulation tech-nology provides new approaches to enhance hydrate development effectiveness.Addressing the current lack of quantitative and objective methods for evaluating the fracability of hydrate reservoirs,this study clarifies the relationship between geological and engineering fracability and proposes a comprehensive evaluation model for hydrate reservoir fracability based on grey relational analysis and the criteria importance through intercriteria correlation method.By integrating results from hydraulic fracturing experiments on hydrate sediments,the fracability of hydrate reservoirs is assessed.The concept of critical construction parameter curves for hydrate reservoirs is introduced for the first time.Additionally,two-dimensional fracability index evaluation charts and three-dimensional fracability construction condition discrimination charts are established.The results indicate that as the comprehensive fracability index increases,the feasibility of forming fractures in hydrate reservoirs improves,and the required normalized fracturing construction parameters gradually decrease.The accuracy rate of the charts in judging experimental results reached 89.74%,enabling quick evaluations of whether hydrate reservoirs are worth fracturing,easy to fracture,and capable of being fractured.This has significant engineering implications forthehydraulicfracturingof hydratereservoirs.展开更多
The electro-hydraulic servo system was studied to cancel the amplitude attenuation and phase delay of its sinusoidal response,by developing a network using normalized least-mean-square (LMS) adaptive filtering algorit...The electro-hydraulic servo system was studied to cancel the amplitude attenuation and phase delay of its sinusoidal response,by developing a network using normalized least-mean-square (LMS) adaptive filtering algorithm.The command input was corrected by weights to generate the desired input for the algorithm,and the feedback was brought into the feedback correction,whose output was the weighted feedback.The weights of the normalized LMS adaptive filtering algorithm were updated on-line according to the estimation error between the desired input and the weighted feedback.Thus,the updated weights were copied to the input correction.The estimation error was forced to zero by the normalized LMS adaptive filtering algorithm such that the weighted feedback was equal to the desired input,making the feedback track the command.The above concept was used as a basis for the development of amplitude phase control.The method has good real-time performance without estimating the system model.The simulation and experiment results show that the proposed amplitude phase control can efficiently cancel the amplitude attenuation and phase delay with high precision.展开更多
The hydraulic fractures induced in soft coal composite reservoirs have complex extension and energy evolution characteristics.In this study,the mechanism whereby gas outbursts can be eliminated by hydraulic fracturing...The hydraulic fractures induced in soft coal composite reservoirs have complex extension and energy evolution characteristics.In this study,the mechanism whereby gas outbursts can be eliminated by hydraulic fracturing was revealed.The combined fracturing process of a coal seam and its roof under different in situ stress and fracture spacing conditions was analysed through true triaxial physical tests and numerical simulations.The results showed that the pre-fracturing of the roof had a pressure relief effect on the coal seam,and the secondary pressure relief of the coal seam could be completed at a lower fracture initiation pressure.To ensure the continued presence of the stress shadow effect in actual projects,the fracture spacing should be maintained within the critical range influencing the fracture extension.If the vertical stress is high,a call on increasing the fracture spacing can be taken;otherwise,it must be reduced.In the early phase of fracturing,energy is mostly concentrated at the tip and surface of the fracture;however,the proportion of surface energy for subsequent fracturing is gradually reduced,and the energy is mostly used to open the formation and work on the surrounding matrix.Hydraulic fracturing creates new fractures to interconnect originally heterogeneously distributed gas zones,enabling the entire coal seam to first establish interconnected pressure equilibration,then undergo gradientcontrolled depressurization.Hydraulic fracturing can homogenize the stress field and gas pressure field in the original coal seam via communication pressure equalization and reduction decompression,reduce the elastic and extension energies,increase the minimum failure energy required for instability;and realize the elimination of gas outbursts.Our findings provide some theoretical support for the efficient development of coalbed methane and the prevention and control of dynamic gas disasters in coal mines.展开更多
Discrete fracture network(DFN)commonly existing in natural rock masses plays an important role in geological complexity which can influence rock fracturing behaviour during fluid injection.This paper simulated the hyd...Discrete fracture network(DFN)commonly existing in natural rock masses plays an important role in geological complexity which can influence rock fracturing behaviour during fluid injection.This paper simulated the hydraulic fracturing process in lab-scale coal samples with DFNs and the induced seismic activities by the discrete element method(DEM).The effects of DFNs on hydraulic fracturing,induced seismicity and elastic property changes have been concluded.Denser DFNs can comprehensively decrease the peak injection pressure and injection duration.The proportion of strong seismic events increases first and then decreases with increasing DFN density.In addition,the relative modulus of the rock mass is derived innovatively from breakdown pressure,breakdown fracture length and the related initiation time.Increasing DFN densities among large(35–60 degrees)and small(0–30 degrees)fracture dip angles show opposite evolution trends in relative modulus.The transitional point(dip angle)for the opposite trends is also proportionally affected by the friction angle of the rock mass.The modelling results have much practical meaning to infer the density and geometry of pre-existing fractures and the elastic property of rock mass in the field,simply based on the hydraulic fracturing and induced seismicity monitoring data.展开更多
In order to improve the force tracking performance of hydraulic quadruped robots in uncertain and unstructured environments,an impedance-based adaptive reference trajectory generation scheme is used.Secondly,in order ...In order to improve the force tracking performance of hydraulic quadruped robots in uncertain and unstructured environments,an impedance-based adaptive reference trajectory generation scheme is used.Secondly,in order to improve the robustness to environmental changes and reduce the contact force errors caused by trajectory tracking errors,the backstepping sliding mode controller is combined with the adaptive reference trajectory generator.Finally,a virtual damping control based on velocity and pressure feedback is proposed to solve the problem of contact force disappearance and stall caused by sudden environmental change.The simulation results show that the proposed scheme has higher contact force tracking accuracy when the environment is unchanged;the contact force error can always be guaranteed within an acceptable range when the environment is reasonably changed;when the environment suddenly changes,the drive unit can move slowly until the robot re-contacts the environment.展开更多
Source properties and stress fields are critical to understand fundamental mechanisms for fluid-induced earthquakes.In this study,we identify the focal mechanism solutions(FMSs)of 360 earthquakes with local magnitude ...Source properties and stress fields are critical to understand fundamental mechanisms for fluid-induced earthquakes.In this study,we identify the focal mechanism solutions(FMSs)of 360 earthquakes with local magnitude M_(L)≥1.5 in the Changning shale gas field from January 2016 to May 2017 by fitting three-component waveforms.We then constrain the directions of the maximum horizontal stress(σ_(H_(max)))for four dense earthquake clusters using the stress tensor inversion method.The stress drops of 121 earthquakes with M_(L)≥1.5 are calculated using the spectral ratio method.We examine the spatiotemporal heterogeneity of stress field,and discuss the cause of non-double-couple(non-DC)components in seismicity clusters.Following the Mohr-Coulomb criterion,we estimate the fluid overpressure thresholds from FMS for different seismic clusters,providing insights into potential physical mechanisms for induced seismicity.The FMS results indicate that shallow reverse earthquakes,with steep dip angles,characterize most events.The source mechanisms of earthquakes with M_(L)≥1.5 are dominated by DC components(>70%),but several earthquakes with M_(L)>3.0 and the microseismic events nearby during injection period display significant non-DC components(>30%).Stress inversion results reveal that the σ_(H_(max)) direction ranges from 120°to 128°.Stress drops of earthquakes range between 0.10 and 64.49 MPa,with high values occurring on reverse faults situated at a greater distance from the shale layer,accompanied by a moderate rotation(≤25°)in the trend of σ_(H_(max)).The seismic clusters close to the shale layer exhibit low fluid overpressure thresholds,prone to being triggered by high pore-pressure fluid.The integrated results suggest that the diffusion of high pore pressures is likely to be the primary factor for observed earthquakes.The present results are expected to offer valuable insights into the origin of anomalous seismicity near the shale gas sites.展开更多
Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit(HDU),and the contacting between the robot foot end and the ground is complex and variable,which increases the difficulty of force con...Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit(HDU),and the contacting between the robot foot end and the ground is complex and variable,which increases the difficulty of force control inevitably.In the recent years,although many scholars researched some control methods such as disturbance rejection control,parameter self-adaptive control,impedance control and so on,to improve the force control performance of HDU,the robustness of the force control still needs improving.Therefore,how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper.The force control system mathematic model of HDU is established by the mechanism modeling method,and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived,considering the dynamic characteristics of the load stiffness and the load damping under different environment structures.Then,simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform,which provides the foundation for the force control compensation experiment research.In addition,the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping,under which the force control compensation method is introduced,and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment.The research results indicate that if the load characteristics are known,the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation,i.e.,this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters,thereby,the online PID parameters tuning control method which is complex needs not be adopted.All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.展开更多
Prepulse combined hydraulic fracturing facilitates the development of fracture networks by integrating prepulse hydraulic loading with conventional hydraulic fracturing.The formation mechanisms of fracture networks be...Prepulse combined hydraulic fracturing facilitates the development of fracture networks by integrating prepulse hydraulic loading with conventional hydraulic fracturing.The formation mechanisms of fracture networks between hydraulic and pre-existing fractures under different prepulse loading parameters remain unclear.This research investigates the impact of prepulse loading parameters,including the prepulse loading number ratio(C),prepulse loading stress ratio(S),and prepulse loading frequency(f),on the formation of fracture networks between hydraulic and pre-existing fractures,using both experimental and numerical methods.The results suggest that low prepulse loading stress ratios and high prepulse loading number ratios are advantageous loading modes.Multiple hydraulic fractures are generated in the specimen under the advantageous loading modes,facilitating the development of a complex fracture network.Fatigue damage occurs in the specimen at the prepulse loading stage.The high water pressure at the secondary conventional hydraulic fracturing promotes the growth of hydraulic fractures along the damage zones.This allows the hydraulic fractures to propagate deeply and interact with pre-existing fractures.Under advantageous loading conditions,multiple hydraulic fractures can extend to pre-existing fractures,and these hydraulic fractures penetrate or propagate along pre-existing fractures.Especially when the approach angle is large,the damage range in the specimen during the prepulse loading stage increases,resulting in the formation of more hydraulic fractures.展开更多
基金supported by the National Natural Science Foundation of China(52074313).
文摘The migration,accumulation,and high yield of hydrocarbons in tight sandstone reservoirs are closely tied to the natural fracture systems within the reservoirs.Large-scale fracture networks not only enhance reservoir seepage capacity but also influence effective productivity and subsequent fracturing reconstruction.Given the diverse mechanical behaviors,such as migration,penetration,or fracture arrest,traditional assumptions about fracture interaction criteria fail to address this complexity.To resolve these issues,a global cohesive element method is proposed to model random natural fractures.This approach verifies intersection models based on real-time stress conditions rather than pre-set criteria,enabling better characterization of interactions between hydraulic and natural fractures.Research has shown that the elastic modulus,horizontal stress difference,and fracturing fluid pumping rate significantly promote the expansion of hydraulic fractures.The use of low viscosity fracturing fluid can observe a decrease in the width of fractures near the wellbore,which may cause fractures to deflect when interacting with natural fractures.However,simulations under these conditions did not form a“complex network of fractures”.It is worth noting that when the local stress difference is zero,the result is close to the formation of this network.Excessive spacing will reduce the interaction between fractures,resulting in a decrease in the total length of fractures.By comprehensively analyzing these factors,an optimal combination can be identified,increasing the likelihood of achieving a“complex fracture network”.This paper thoroughly investigates hydraulic fracture propagation in naturally fractured reservoirs under various conditions,offering insights for developing efficient fracturing methods.
基金supported by the National Research Foundation of Korea(NRF)grants(Grant Nos.RS-2020-NR049594 and RS-2022-NR071877)the Korea Agency for Infrastructure Technology Advancement under the Ministry of Land,Infrastructure and Transport(Grant No.RS-2024-00410248).
文摘Suffusion refers to the loss of fineparticles within the soil matrix without any associated volume change,induced by hydrodynamic forces.This study investigated the suffusion of sand-clay mixtures through one-dimensional soil column experiments under a stepwise increase in hydraulic gradient(i),aiming to evaluate the critical hydraulic gradient(icrit)as a function of the size ratio between sand and clay,clay type,and ionic concentration.It was found that icrit was less than 0.1 for all sand-clay mixtures examined in this study.In addition,the lower peak concentrations of filtrated clay observed in sand-illite mixtures,compared to those of sand-kaolinite mixtures at the same level of i,suggest that illite particles are more susceptible to suffusion.Overall,the observed breakthrough curves,mass fraction of filtrated clay,volume of outflow,and total injection time presented in this study highlight the importance of considering clay type,sand-to-clay size ratio,and ionic concentration when assessing the suffusion behavior of clay-containing soils under a stepwise increase in hydraulic gradient.
基金supported by the National Natural Science Foundation of China(Grant Nos.52574103 and 42277150).
文摘Fractures are typically characterized by roughness that significantlyaffects the mechanical and hydraulic characteristics of reservoirs.However,hydraulic fracturing mechanisms under the influenceof fracture morphology remain largely unexplored.Leveraging the advantages of the finite-discrete element method(FDEM)for explicitly simulating fracture propagation and the strengths of the unifiedpipe model(UPM)for efficientlymodeling dual-permeability seepage,we propose a new hydromechanical(HM)coupling approach for modeling hydraulic fracturing.Validated against benchmark examples,the proposed FDEM-UPM model is further augmented by incorporating a Fourier-based methodology for reconstructing non-planar fractures,enabling quantitative analysis of hydraulic fracturing behavior within rough discrete fracture networks(DFNs).The FDEM-UPM model demonstrates computational advantages in accurately capturing transient hydraulic seepage phenomena,while the asynchronous time-stepping schemes between hydraulic and mechanical analyses substantially enhanced computational efficiencywithout compromising computational accuracy.Our results show that fracture morphology can affect both macroscopic fracture networks and microscopic interaction types between hydraulic fractures(HFs)and natural fractures(NFs).In an isotropic stress field,the initiation azimuth,propagation direction and microcracking mechanism are significantly influencedby fracture roughness.In an anisotropic stress field,HFs invariably propagate parallel to the direction of the maximum principal stress,reducing the overall complexity of the stimulated fracture networks.Additionally,stress concentration and perturbation attributed to fracture morphology tend to be compromised as the leak-off increases,while the breakdown and propagation pressures remain insensitive to fracture morphology.These findingsprovide new insights into the hydraulic fracturing mechanisms of fractured reservoirs containing complex rough DFNs.
基金the National Natural Science Foundation of China(Nos.52204005,52192622,U20A20265)the Sichuan Science Fund for Young Scholars(23NSFSC4652).
文摘Deep shale gas reservoirs in the southern Sichuan Basin are typically characterized by significant horizontal stress anisotropy(expressed as stress difference),variable brittleness-ductility in rock mechanics,and strong heterogeneity.These complex geomechanical conditions lead to pronounced differences in hydraulic fracturing outcomes among wells and sections.To investigate hydraulic fracture propagation and fracturing fluid injection behavior under varying geomechanical settings,true triaxial physical simulation tests were performed on 400×400×400 mm artificial rock samples.The samples were designed with different media properties based on similarity criteria.A sensitivity analysis was conducted to assess the effects of brittleness-ductility characteristics,natural fractures,and in-situ stress conditions.The results reveal that:(i)brittle samples with lower stress difference are favorable for forming complex,perforable fracture networks;(ii)brittle samples with higher stress difference tend to develop simple,planar hydraulic fractures,with natural fractures only slightly activated during very short injection periods;(iii)ductile behavior enhances the activation of natural fractures but reduces fracture complexity compared with brittle samples,even under lower stress difference;and(iv)for typical deep shale formations,larger fluid injection volumes combined with high-density,multi-cluster fracturing techniques are recommended.
基金This project is supported by Cao Guangbiao High Technology Foundation of Zhejiang University
文摘A statistic linearization analysis method of bad nolinear hydraulic active damping suspension is provided.Also the optimum control strategy of semi active suspension and graded control strategy based on it are puted forward.Experimental researches are carried out on a 2 DOF(degree of freedom) hydraulic active damping suspension test system.The results showed that an excellent control effectiveness could be obtained by using statistic linearization optimum control which unfortunely requests continuously regulationg the damp in an accurate way and costs much in engeering application.On the contrary,the results also showed that graded control is more practicable which has a control effectiveness close to the optimum control and costs less.
基金Supported by National Basic Research Development Program of China(Grant No.2011CB706802)Hunan Provincial Foundation for Postgraduate of China(Grant No.CX2013B062)Innovation Driven Program of Central South University of China(Grant No.2015CX002)
文摘The viscous damping coefficient （VDC） of hydraulic actuators is crucial for system modeling, control and dynamic characteristic analysis. Currently, the resear- ches on hydraulic actuators focus on behavior assessment, promotion of control performance and efficiency. However, the estimation of the VDC is difficult due to a lack of study. Firstly, using two types of hydraulic cylinders, behaviors of the VDC are experimentally examined with velocities and pressure variations. For the tested plunger type hydraulic cylinder, the exponential model B = αν-β （α 〉 0, β 〉 0） or B = α1e-β1ν＋α2e-β2ν（α1, α2 〉 0, β1,β2 〉 0）, fits the relation between the VDC and velocities for a given pressure of chamber with high precision. The magnitude of the VDC decreases almost linearly under certain velocities when increasing the chamber pressure from 0.6 MPa to 6.0 MPa. Furthermore, the effects of the chamber pressures on the VDC of piston and plunge type hydraulic cylinders are different due to different sealing types. In order to investi- gate the VDC of a plunger type hydraulic actuator drasti- cally, a steady-state numerical model has been developed to describe the mechanism incorporating tandem seal lubrica- tion, back-up ring related friction behaviors and shear stress of fluid. It is shown that the simulated results of VDC agreewith the measured results with a good accuracy. The pro- posed method provides an instruction to predict the VDC in system modeling and analysis.
基金supported by the National Key Research and Development Program of China(Grant No.2021YFD1700802).
文摘To enhance the operational capacity and space utilization of baffle-drop shafts,this study improved the traditional baffle-drop shaft by expanding the wet-side space,incorporating large rotation-angle baffles,and installing overflow holes in the dividing wall.A three-dimensional turbulent model was developed using ANSYS Fluent to simulate the hydraulic characteristics of both traditional and new baffle-drop shafts across various flow rates.The simulation results demonstrated that the new shaft design allowed for discharge from both the wet and dry sides,significantly improving operational capacity,with the dry side capable of handling 40%of the inlet flow.Compared to the traditional shaft,the new design reduced shaft wall pressures and decreased the mean and standard deviation of pressure on typical baffles by 21%and 63%,respectively,therefore enhancing structural safety.Additionally,the new shaft achieved a 2%-12%higher energy dissipation rate than the traditional shaft across different flow rates.This study offers valuable insights for the design and optimization of drop shafts in deep tunnel drainage systems.
基金Supported by National Natural Science Foundation of China(Grant Nos.51175511,61472444)Jiangsu Provincial Natural Science Foundation of China(Grant No.BK20150724)Pre-study Foundation of PLA University of Science and Technology,China(Grant No.KYGYZL139)
文摘The high accurate classification ability of an intelligent diagnosis method often needs a large amount of training samples with high-dimensional eigenvectors,however the characteristics of the signal need to be extracted accurately.Although the existing EMD(empirical mode decomposition)and EEMD(ensemble empirical mode decomposition)are suitable for processing non-stationary and non-linear signals,but when a short signal,such as a hydraulic impact signal,is concerned,their decomposition accuracy become very poor.An improve EEMD is proposed specifically for short hydraulic impact signals.The improvements of this new EEMD are mainly reflected in four aspects,including self-adaptive de-noising based on EEMD,signal extension based on SVM(support vector machine),extreme center fitting based on cubic spline interpolation,and pseudo component exclusion based on cross-correlation analysis.After the energy eigenvector is extracted from the result of the improved EEMD,the fault pattern recognition based on SVM with small amount of low-dimensional training samples is studied.At last,the diagnosis ability of improved EEMD+SVM method is compared with the EEMD+SVM and EMD+SVM methods,and its diagnosis accuracy is distinctly higher than the other two methods no matter the dimension of the eigenvectors are low or high.The improved EEMD is very propitious for the decomposition of short signal,such as hydraulic impact signal,and its combination with SVM has high ability for the diagnosis of hydraulic impact faults.
基金supported by Yunlong Lake Laboratory of Deep Underground Science and Engineering Project(No.104024008)the National Natural Science Foundation of China(Nos.52274241 and 52474261)the Natural Science Foundation of Jiangsu Province(No.BK20240207).
文摘Through a case analysis,this study examines the spatiotemporal evolution of microseismic(MS)events,energy characteristics,volumetric features,and fracture network development in surface well hydraulic fracturing.A total of 349 MS events were analyzed across different fracturing sections,revealing significant heterogeneity in fracture propagation.Energy scanning results showed that cumulative energy values ranged from 240 to 1060 J across the sections,indicating notable differences.Stimulated reservoir volume(SRV)analysis demonstrated well-developed fracture networks in certain sections,with a total SRV exceeding 1540000 m^(3).The hydraulic fracture network analysis revealed that during the midfracturing stage,the density and spatial extent of MS events significantly increased,indicating rapid fracture propagation and the formation of complex networks.In the later stage,the number of secondary fractures near fracture edges decreased,and the fracture network stabilized.By comparing the branching index,fracture length,width,height,and SRV values across different fracturing sections,Sections No.1 and No.8 showed the best performance,with high MS event densities,extensive fracture networks,and significant energy release.However,Sections No.4 and No.5 exhibited sparse MS activity and poor fracture connectivity,indicating suboptimal stimulation effectiveness.
基金Project(52278421)supported by the National Natural Science Foundation of ChinaProject(2024ZZTS0754)supported by the Fundamental Research Funds for the Central Universities of Central South University,China+2 种基金Project(2023CXQD067)supported by the Central South University Innovation-Driven Research Programme,ChinaProject(2022QNRC001)supported by Young Elite Scientists Sponsorship Program by CASTProject(2023TJ-N24)supported by the Youth Talent Program by China Railway Society and the Hunan Provincial Science and Technology Promotion Talent Project。
文摘Waterproof performance of gaskets between segments is the focus of shield tunnels.This paper proposed an analytical method for determining seepage characteristics at tunnel-gasketed joints based on the hydraulic fracturing theories.First,the mathematical model was established,and the seepage governing equation and boundary conditions were obtained.Second,three dimensionless parameters were introduced for simplifying the expressions,and the seepage governing equations were normalized.Third,analytical expressions were derived for the interface opening and liquid pressure.Moreover,the influencing factors of seepage process at the gasketed interface were analyzed.Parametric analyses revealed that,in the normalized criterion of liquid viscosity,the liquid tip coordinate was influenced by the degree of negative pressure in the liquid lag region,which was related to the initial contact stress.The coordinate of the liquid tip affected the liquid pressure distribution and the interface opening,which were analyzed under different liquid tip coordinate conditions.Finally,under two limit states,comparative analysis showed that the results of the variation trend of the proposed method agree well with those of previous research.Overall,the proposed analytical method provides a novel solution for the design of the waterproof in shield tunnels.
基金support of the National Natural Science Foundation of China(Grant No.52074332).
文摘Natural gas hydrates(hereinafter referred to as hydrates)are a promising clean energy source.However,their current development is far from reaching commercial exploitation.Reservoir stimulation tech-nology provides new approaches to enhance hydrate development effectiveness.Addressing the current lack of quantitative and objective methods for evaluating the fracability of hydrate reservoirs,this study clarifies the relationship between geological and engineering fracability and proposes a comprehensive evaluation model for hydrate reservoir fracability based on grey relational analysis and the criteria importance through intercriteria correlation method.By integrating results from hydraulic fracturing experiments on hydrate sediments,the fracability of hydrate reservoirs is assessed.The concept of critical construction parameter curves for hydrate reservoirs is introduced for the first time.Additionally,two-dimensional fracability index evaluation charts and three-dimensional fracability construction condition discrimination charts are established.The results indicate that as the comprehensive fracability index increases,the feasibility of forming fractures in hydrate reservoirs improves,and the required normalized fracturing construction parameters gradually decrease.The accuracy rate of the charts in judging experimental results reached 89.74%,enabling quick evaluations of whether hydrate reservoirs are worth fracturing,easy to fracture,and capable of being fractured.This has significant engineering implications forthehydraulicfracturingof hydratereservoirs.
基金Project(50905037) supported by the National Natural Science Foundation of ChinaProject(20092304120014) supported by Specialized Research Fund for the Doctoral Program of Higher Education of China+2 种基金 Project(20100471021) supported by the China Postdoctoral Science Foundation Project(LBH-Q09134) supported by Heilongjiang Postdoctoral Science-Research Foundation,China Project (HEUFT09013) supported by the Foundation of Harbin Engineering University,China
文摘The electro-hydraulic servo system was studied to cancel the amplitude attenuation and phase delay of its sinusoidal response,by developing a network using normalized least-mean-square (LMS) adaptive filtering algorithm.The command input was corrected by weights to generate the desired input for the algorithm,and the feedback was brought into the feedback correction,whose output was the weighted feedback.The weights of the normalized LMS adaptive filtering algorithm were updated on-line according to the estimation error between the desired input and the weighted feedback.Thus,the updated weights were copied to the input correction.The estimation error was forced to zero by the normalized LMS adaptive filtering algorithm such that the weighted feedback was equal to the desired input,making the feedback track the command.The above concept was used as a basis for the development of amplitude phase control.The method has good real-time performance without estimating the system model.The simulation and experiment results show that the proposed amplitude phase control can efficiently cancel the amplitude attenuation and phase delay with high precision.
基金financially supported by the National Key R&D Program(Nos.2023YFC3009000 and 2023YFC3006804)the National Natural Science Foundation of China(Nos.52130409,52121003,51874314,and 52274190).
文摘The hydraulic fractures induced in soft coal composite reservoirs have complex extension and energy evolution characteristics.In this study,the mechanism whereby gas outbursts can be eliminated by hydraulic fracturing was revealed.The combined fracturing process of a coal seam and its roof under different in situ stress and fracture spacing conditions was analysed through true triaxial physical tests and numerical simulations.The results showed that the pre-fracturing of the roof had a pressure relief effect on the coal seam,and the secondary pressure relief of the coal seam could be completed at a lower fracture initiation pressure.To ensure the continued presence of the stress shadow effect in actual projects,the fracture spacing should be maintained within the critical range influencing the fracture extension.If the vertical stress is high,a call on increasing the fracture spacing can be taken;otherwise,it must be reduced.In the early phase of fracturing,energy is mostly concentrated at the tip and surface of the fracture;however,the proportion of surface energy for subsequent fracturing is gradually reduced,and the energy is mostly used to open the formation and work on the surrounding matrix.Hydraulic fracturing creates new fractures to interconnect originally heterogeneously distributed gas zones,enabling the entire coal seam to first establish interconnected pressure equilibration,then undergo gradientcontrolled depressurization.Hydraulic fracturing can homogenize the stress field and gas pressure field in the original coal seam via communication pressure equalization and reduction decompression,reduce the elastic and extension energies,increase the minimum failure energy required for instability;and realize the elimination of gas outbursts.Our findings provide some theoretical support for the efficient development of coalbed methane and the prevention and control of dynamic gas disasters in coal mines.
基金Australian Research Council Linkage Program(LP200301404)for sponsoring this researchthe financial support provided by the State Key Laboratory of Geohazard Prevention and Geoenvironment Protection(Chengdu University of Technology,SKLGP2021K002)National Natural Science Foundation of China(52374101,32111530138).
文摘Discrete fracture network(DFN)commonly existing in natural rock masses plays an important role in geological complexity which can influence rock fracturing behaviour during fluid injection.This paper simulated the hydraulic fracturing process in lab-scale coal samples with DFNs and the induced seismic activities by the discrete element method(DEM).The effects of DFNs on hydraulic fracturing,induced seismicity and elastic property changes have been concluded.Denser DFNs can comprehensively decrease the peak injection pressure and injection duration.The proportion of strong seismic events increases first and then decreases with increasing DFN density.In addition,the relative modulus of the rock mass is derived innovatively from breakdown pressure,breakdown fracture length and the related initiation time.Increasing DFN densities among large(35–60 degrees)and small(0–30 degrees)fracture dip angles show opposite evolution trends in relative modulus.The transitional point(dip angle)for the opposite trends is also proportionally affected by the friction angle of the rock mass.The modelling results have much practical meaning to infer the density and geometry of pre-existing fractures and the elastic property of rock mass in the field,simply based on the hydraulic fracturing and induced seismicity monitoring data.
基金Projects(51975376,51505289)supported by the National Natural Science Foundation of ChinaProject(19ZR1435400)supported by the Natural Science Foundation of Shanghai,China。
文摘In order to improve the force tracking performance of hydraulic quadruped robots in uncertain and unstructured environments,an impedance-based adaptive reference trajectory generation scheme is used.Secondly,in order to improve the robustness to environmental changes and reduce the contact force errors caused by trajectory tracking errors,the backstepping sliding mode controller is combined with the adaptive reference trajectory generator.Finally,a virtual damping control based on velocity and pressure feedback is proposed to solve the problem of contact force disappearance and stall caused by sudden environmental change.The simulation results show that the proposed scheme has higher contact force tracking accuracy when the environment is unchanged;the contact force error can always be guaranteed within an acceptable range when the environment is reasonably changed;when the environment suddenly changes,the drive unit can move slowly until the robot re-contacts the environment.
基金financially supported by the National Natural Science Foundation of China(Grant Nos.U20A20266 and 12302503)Scientific and technological research projects in Sichuan province(Grant No.2024NSFSC0973).
文摘Source properties and stress fields are critical to understand fundamental mechanisms for fluid-induced earthquakes.In this study,we identify the focal mechanism solutions(FMSs)of 360 earthquakes with local magnitude M_(L)≥1.5 in the Changning shale gas field from January 2016 to May 2017 by fitting three-component waveforms.We then constrain the directions of the maximum horizontal stress(σ_(H_(max)))for four dense earthquake clusters using the stress tensor inversion method.The stress drops of 121 earthquakes with M_(L)≥1.5 are calculated using the spectral ratio method.We examine the spatiotemporal heterogeneity of stress field,and discuss the cause of non-double-couple(non-DC)components in seismicity clusters.Following the Mohr-Coulomb criterion,we estimate the fluid overpressure thresholds from FMS for different seismic clusters,providing insights into potential physical mechanisms for induced seismicity.The FMS results indicate that shallow reverse earthquakes,with steep dip angles,characterize most events.The source mechanisms of earthquakes with M_(L)≥1.5 are dominated by DC components(>70%),but several earthquakes with M_(L)>3.0 and the microseismic events nearby during injection period display significant non-DC components(>30%).Stress inversion results reveal that the σ_(H_(max)) direction ranges from 120°to 128°.Stress drops of earthquakes range between 0.10 and 64.49 MPa,with high values occurring on reverse faults situated at a greater distance from the shale layer,accompanied by a moderate rotation(≤25°)in the trend of σ_(H_(max)).The seismic clusters close to the shale layer exhibit low fluid overpressure thresholds,prone to being triggered by high pore-pressure fluid.The integrated results suggest that the diffusion of high pore pressures is likely to be the primary factor for observed earthquakes.The present results are expected to offer valuable insights into the origin of anomalous seismicity near the shale gas sites.
基金Supported by National Key Basic Research Program of China(973 Program,Grant No.2014CB046405)State Key Laboratory of Fluid Power and Mechatronic Systems(Zhejiang University)Open Fund Project(Grant No.GZKF-201502)Hebei Military and Civilian Industry Development Funds Projects of China(Grant No.2015B060)
文摘Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit(HDU),and the contacting between the robot foot end and the ground is complex and variable,which increases the difficulty of force control inevitably.In the recent years,although many scholars researched some control methods such as disturbance rejection control,parameter self-adaptive control,impedance control and so on,to improve the force control performance of HDU,the robustness of the force control still needs improving.Therefore,how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper.The force control system mathematic model of HDU is established by the mechanism modeling method,and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived,considering the dynamic characteristics of the load stiffness and the load damping under different environment structures.Then,simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform,which provides the foundation for the force control compensation experiment research.In addition,the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping,under which the force control compensation method is introduced,and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment.The research results indicate that if the load characteristics are known,the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation,i.e.,this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters,thereby,the online PID parameters tuning control method which is complex needs not be adopted.All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.
基金financially supported by,the Fundamental Research Funds for the Central Universities(Grant No.2023QN1064)the China Postdoctoral Science Foundation(Grant No.2023M733772)Jiangsu Funding Program for Excellent Postdoctoral Talent(Grant No.2023ZB847)。
文摘Prepulse combined hydraulic fracturing facilitates the development of fracture networks by integrating prepulse hydraulic loading with conventional hydraulic fracturing.The formation mechanisms of fracture networks between hydraulic and pre-existing fractures under different prepulse loading parameters remain unclear.This research investigates the impact of prepulse loading parameters,including the prepulse loading number ratio(C),prepulse loading stress ratio(S),and prepulse loading frequency(f),on the formation of fracture networks between hydraulic and pre-existing fractures,using both experimental and numerical methods.The results suggest that low prepulse loading stress ratios and high prepulse loading number ratios are advantageous loading modes.Multiple hydraulic fractures are generated in the specimen under the advantageous loading modes,facilitating the development of a complex fracture network.Fatigue damage occurs in the specimen at the prepulse loading stage.The high water pressure at the secondary conventional hydraulic fracturing promotes the growth of hydraulic fractures along the damage zones.This allows the hydraulic fractures to propagate deeply and interact with pre-existing fractures.Under advantageous loading conditions,multiple hydraulic fractures can extend to pre-existing fractures,and these hydraulic fractures penetrate or propagate along pre-existing fractures.Especially when the approach angle is large,the damage range in the specimen during the prepulse loading stage increases,resulting in the formation of more hydraulic fractures.
