Research on Underground Track Tracking of a New Type Shaft Boring Machine
A trajectory tracking control scheme is proposed in this paper to achieve unmanned underground construction of a new type of shaft boring machine. The body motion model is constructed, and the control relationship between the driving system and the body motion is deduced. MATLAB and Simulink simulat...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-01-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/14/1/27 |
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| author | Jinyu Sun Xinming Chen Huazhe Jiao Qi Wang Diantao Zheng Yulong Han Ziyang Liu |
| author_facet | Jinyu Sun Xinming Chen Huazhe Jiao Qi Wang Diantao Zheng Yulong Han Ziyang Liu |
| author_sort | Jinyu Sun |
| collection | DOAJ |
| description | A trajectory tracking control scheme is proposed in this paper to achieve unmanned underground construction of a new type of shaft boring machine. The body motion model is constructed, and the control relationship between the driving system and the body motion is deduced. MATLAB and Simulink simulate the joint of the track tracking process in the new shaft boring machine. The actual effect of the track tracking control scheme is validated by the track tracking field test of the new shaft boring machine. The results show that the new shaft boring machine can complete various complex track tracking tasks, with the maximum position error being less than 0.005 m. The running track and excavation areas of the boring machine are observed along with the track tracking field test of the new shaft boring machine, demonstrating that the track tracking control scheme makes the new shaft boring machine realize unmanned construction and verifies the co-simulation accuracy. The PID (proportional–integral–derivative control) algorithm can complete complex trajectory tracking tasks and promote the development of unmanned construction technology. |
| format | Article |
| id | doaj-art-88785dd1c5294d5a9a3f86fc730fae58 |
| institution | Kabale University |
| issn | 2076-0825 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-88785dd1c5294d5a9a3f86fc730fae582025-01-24T13:15:13ZengMDPI AGActuators2076-08252025-01-011412710.3390/act14010027Research on Underground Track Tracking of a New Type Shaft Boring MachineJinyu Sun0Xinming Chen1Huazhe Jiao2Qi Wang3Diantao Zheng4Yulong Han5Ziyang Liu6College of Civil Engineering, Henan Polytechnic University, Jiaozuo 454150, ChinaCollege of Civil Engineering, Henan Polytechnic University, Jiaozuo 454150, ChinaCollege of Civil Engineering, Henan Polytechnic University, Jiaozuo 454150, ChinaCollege of Civil Engineering, Henan Polytechnic University, Jiaozuo 454150, ChinaCollege of Civil Engineering, Henan Polytechnic University, Jiaozuo 454150, ChinaCollege of Civil Engineering, Henan Polytechnic University, Jiaozuo 454150, ChinaCollege of Civil Engineering, Henan Polytechnic University, Jiaozuo 454150, ChinaA trajectory tracking control scheme is proposed in this paper to achieve unmanned underground construction of a new type of shaft boring machine. The body motion model is constructed, and the control relationship between the driving system and the body motion is deduced. MATLAB and Simulink simulate the joint of the track tracking process in the new shaft boring machine. The actual effect of the track tracking control scheme is validated by the track tracking field test of the new shaft boring machine. The results show that the new shaft boring machine can complete various complex track tracking tasks, with the maximum position error being less than 0.005 m. The running track and excavation areas of the boring machine are observed along with the track tracking field test of the new shaft boring machine, demonstrating that the track tracking control scheme makes the new shaft boring machine realize unmanned construction and verifies the co-simulation accuracy. The PID (proportional–integral–derivative control) algorithm can complete complex trajectory tracking tasks and promote the development of unmanned construction technology.https://www.mdpi.com/2076-0825/14/1/27new shaft boring machinetrajectory trackingPID algorithmco-simulation |
| spellingShingle | Jinyu Sun Xinming Chen Huazhe Jiao Qi Wang Diantao Zheng Yulong Han Ziyang Liu Research on Underground Track Tracking of a New Type Shaft Boring Machine Actuators new shaft boring machine trajectory tracking PID algorithm co-simulation |
| title | Research on Underground Track Tracking of a New Type Shaft Boring Machine |
| title_full | Research on Underground Track Tracking of a New Type Shaft Boring Machine |
| title_fullStr | Research on Underground Track Tracking of a New Type Shaft Boring Machine |
| title_full_unstemmed | Research on Underground Track Tracking of a New Type Shaft Boring Machine |
| title_short | Research on Underground Track Tracking of a New Type Shaft Boring Machine |
| title_sort | research on underground track tracking of a new type shaft boring machine |
| topic | new shaft boring machine trajectory tracking PID algorithm co-simulation |
| url | https://www.mdpi.com/2076-0825/14/1/27 |
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