Rotation Matrix Attitude Update Method For 3D Flight Control

Jang, Jong Tai; Gong, Hyeon Cheol; Lyou, Joon

doi:10.5302/j.icros.2018.18.0025

Cited by 2 publications

(2 citation statements)

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“…Finally, the problem of the forward solution of the shield pose can be considered as the problem of finding the roots of Equation (15). However, obtaining an analytical solution is challenging because Equation ( 15) is a multivariate nonlinear equation with multiple solutions.…”

Section: Forward Kinematic Modelmentioning

confidence: 99%

Forward solution of shield tunneling pose based on the Newton–Raphson method

Han,

Wang,

Nie

et al. 2024

IOP Conf. Ser.: Earth Environ. Sci.

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To achieve precise control of the shield tunneling pose, obtaining a real-time shield pose state during the excavation process is necessary to achieve closed-loop feedback control of the shield pose. This study proposes a forward solution method to address the high cost and low efficiency of direct measurement methods, such as using lasers and gyroscopes, for measuring shield pose. This method relies on the real-time measurement of the strokes of hydraulic thrust cylinders during shield tunneling. Based on the inverse kinematics of the shield machine, the Newton–Raphson method was used to calculate the shield tunneling pose. Accordingly, a forward solution algorithm for shield pose was developed using MATLAB, and the effectiveness of the proposed method was verified through an example analysis. The results demonstrated the high computational efficiency of the method, proving its potential application in real-time control systems for shield tunneling poses.

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Section: Forward Kinematic Modelmentioning

confidence: 99%

Forward solution of shield tunneling pose based on the Newton–Raphson method

Han,

Wang,

Nie

et al. 2024

IOP Conf. Ser.: Earth Environ. Sci.

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show abstract

“…The Euler angles (Z-Y-X) in robotics are adopted to describe the attitude of the shield machine relative to the coordinate frame {A}. Thus, the rotation matrix can be written as Equation (2) [25,26]:…”

Section: Rotation Matrix and Euler Anglesmentioning

confidence: 99%

Kinematic Analysis and Virtual Prototype Simulation of the Thrust Mechanism for Shield Machine

et al. 2022

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The hydraulic thrust system of the shield machine is used for driving forward and pose adjustment. It is of great significance to figure out the thrust mechanism and motion characteristics of the shield machine to ensure the safety of tunnel excavation. This study aims to develop a model to explore the influence of thrust cylinder advancement on the motions of the shield machine. Firstly, the study carried out mechanism analysis of the thrust mechanism for the shield machine and established a method to describe the position and attitude of the shield machine during the tunneling process by the homogeneous transformation matrix. Then, a new inverse kinematic model was proposed to quantify the relationship between the telescoping movements of cylinders and shield machine motions, and the Jacobian matrix was derived to solve the instantaneous kinematics analysis. Furthermore, a virtual prototype model was developed to simulate the kinematic behavior of the shield machine and validate the accuracy of the kinematic model. The model provides the basic constraint relations for the practical position control system and lays a strong foundation for the dynamic model and automatic trajectory tracking control of shield machines for future studies. Based on the proposed model, the displacement, velocity, and acceleration of cylinders that drive the shield machine to the target motions can be solved exactly. It can provide a reference for the pose control of the shield machine during the practical shield tunneling.

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Rotation Matrix Attitude Update Method For 3D Flight Control

Cited by 2 publications

References 0 publications

Forward solution of shield tunneling pose based on the Newton–Raphson method

Forward solution of shield tunneling pose based on the Newton–Raphson method

Kinematic Analysis and Virtual Prototype Simulation of the Thrust Mechanism for Shield Machine

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