Research on Linear Motion Control for End of Explosive Charging Vehicle Working Device

Explosive charging vehicles with functionality of vertical motion and horizontal motion are widely applied in the field of tunnel construction for its convenience and flexibility in limited space. Conventional PID control methodology explore every single joints separately in multi joints system and design a PID controller for every joint, which leads the control system complex and time-consuming. A novel dynamics based PID control methodology is proposed, which combines dynamics compensation and PID signal together in the controller to eliminate final position error. The described control method is operated on an explosive charging vehicle and indicates that the end-effector can be manipulated with precision.