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To achieve automatic rolling of an unmanned vibratory roller, the path following control model of the vibratory roller was built and the influence of drum vibration is considered since the roller always works in the vibration condition. The vibration dynamic model was first established. The dynamic model of the vibratory roller under the influence...
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Citations
... As a typical form of pavement machinery, the roller is a very important piece of rolling equipment in roadworks [1,2]. However, there are many problems with manually operated rollers [2][3][4][5], such as the fact that the vibration of the roller can cause discomfort to the driver; the rolling speed cannot be constant; the overlapping width of compaction depends on the driver's proficiency, etc. Therefore, numerous construction machinery companies are committed to developing unmanned rollers. ...
Rollers, integral to road construction, are undergoing rapid advancements in unmanned functionality. To address the specific challenge of unmanned compaction within tunnels, we propose a vision-based odometry system for unmanned rollers. This system solves the problem of tunnel localization under conditions of low texture and high noise. We evaluate and compare the performance of various feature extraction and matching methods, followed by the application of random sample consensus (RANSAC) to eliminate false matches. Subsequently, Perspective-n-Points (PnP) was employed to establish a minimal-error analysis for pose estimation and trajectory analysis. The findings reveal that binary robust invariant scalable key points (BRISK) exhibits larger errors due to fewer correctly matched feature points, while scale invariant feature transform (SIFT) falls short of real-time requirements. Compared to Oriented FAST and Rotated BRIEF (ORB) and the direct method, the maximum relative error and the median error between the compaction trajectory estimated by speed-up robust features (SURF) and the actual trajectory were the smallest. Consequently, the unmanned rollers employing SURF + PnP improved the accuracy and robustness. This research contributes valuable insights to the development of autonomous road construction equipment, particularly in challenging tunnels.
... Song et al. [115] proposed a path-tracking control framework for unmanned rollers to suppress composite disturbances. Fang et al. [116] considered the impact of roller vibration and designed a path-tracking control model to achieve the automatic rolling of unmanned rollers. Song et al. [7,117] designed a path optimization method for headland turning to address the significant tracking errors that often experience at the turning point for unmanned impact rollers, effectively improving the turning tracking accuracy. ...
Ensuring high-quality fill compaction is crucial for the stability and longevity of infrastructures and affects the sustainability of urban infrastructure networks. The purpose of this paper is to provide a refined analysis and insight understanding of the current practice, limitations, challenges, and future development trends of compaction methods from the perspective of the development stage. This paper offers a comprehensive overview of the evolution of compaction methods and classifies compaction quality control methods into four groups through quantitative analysis of literature: traditional compaction methods, digital compaction methods, automated compaction methods, and intelligent compaction methods. Each method's properties and issues are succinctly stated. Then, the research on three key issues in intelligent compaction including compaction quality evaluation algorithms, dynamic optimal path planning, and implementation of unmanned technology is summarized. Currently, the field of intelligent compaction is far from mature, a few challenges and limitations need further investigation: coupling problems of multiple indicators in intelligent evaluation algorithms, unmanned roller groups collaborative control problems, and intelligent decision-making and optimization problems of multi-vehicle compaction paths. This review serves as a valuable reference for systematically understanding the development of compaction methods.
... The position of LMP model in physical model is worth noting. LMP models have a clear physical basis and have been widely used in vibratory compaction systems [33,34], compaction quality control [35,36], and path tracking control of driverless vibratory rollers [37]. The earliest LMP model is a classic 2 DOF (two degrees of freedom) dynamic model with a mass-spring-damping system. ...
... To solve the foregoing problems, as well as deficiencies in conventional compaction methods, some researchers proposed automatic rolling compaction methods based on automatic control theory and automatic navigation and driving technology [7,[38][39][40]. This method enables the roller to drive automatically, further eliminates the influence of human operation, and realizes the accuracy control of the compaction parameters. ...
... Zhang et al. [17,38,212] carried out systematic research on the accurate control of compaction parameters, and the developed unmanned rolling compaction (URC) system was successfully applied to the construction of earth-rock dams (see Figure 9). Other researchers focused on the path tracking control and automatic driving of the unmanned vibratory roller for earth-rock dam construction [39][40][41]211,214]. In the collaborative operation of multiple unmanned rollers, Shi et al. [42] conducted a preliminary exploration and application research. ...
... Therefore, scholars later established various vibration compaction models based on it to describe the vibratory roller-soil system more comprehensively and accurately. Based on several assumptions, Fang et al. [39] established a 2-DOF vibration dynamic model, and then developed a dynamic model of the vibratory roller under the influence of exciting force. Mooney and Rinehart [99] found a 2-DOF lumped parameter vibration theory with a viscoelastic soil model to be a good predictor of roller-soil response, apart from a slightly underpredicting phase lag. ...
Successful quality control and quality assurance (QC/QA) of earthwork compaction is critical to the long-term performance of roads, railways, airports, dams, and embankments. The purpose of this paper is to provide insights into the current practice, existing problems, challenges, and future development trends of QC/QA methods from the perspective of bibliometrics and the development stage. A bibliometric analysis is presented. Through quantitative analysis of literature and qualitative analysis of the development stage, insights into the current research practices and future directions of QC/QA methods have been derived from the perspectives of literature, cluster analysis, classification, different types of QC/QA methods, conclusions, and recommendations. It is found that the current QC/QA methods can be roughly divided into conventional compaction, digital rolling compaction, automatic rolling compaction, and intelligent control compaction. Currently, QC/QA methods are mainly confronted with the issues of accurate detection of compaction quality, autonomous optimization and intelligent decision-making of compaction process, multi-machine coordination, QC/QA-related specification formulation, and process standardization. To address these issues, several critical potential research directions are further identified: comprehensive CCI measurement system; simple and realistic mathematical representation of the complex compaction dynamics; parallel computing and distributed management of multi-source heterogeneous data; standardized application workflow and the cost–benefit assessment in the context of the full life cycle; intelligent control theories, methods, and technologies of earthwork compaction based on multidisciplinary integration. The paper enables researchers to obtain a comprehensive understanding of QC/QA methods for earthwork compaction as well as the suggested solutions for future work.
... Lumped-parameter dynamic models can provide results rapidly and have been used to analyze the roller-soil system since the 1970s. These models have a clear physical basis and have been widely used for compaction technology optimization [28,29], compaction quality control [30,31], and path-following control of unmanned vibratory rollers [32]. The earliest lumped-parameter dynamic model, namely the classical two-degree-of-freedom (2-DOF) dynamic model, was established by applying a mass-spring-damping system. ...
Compaction technology has been developed over the past three decades. However, the absence of an effective model that can rapidly and accurately simulate the compaction process limits the further development of compaction technology. In this paper, we propose a vibration compaction process model to simulate the compaction of rockfill materials. A viscoelastic-plastic dynamic compaction deformation formula for rockfill materials was proposed and, considering the horizontal movement of the roller, this formula was utilized for simulating pass-bypass compaction by dividing the rockfill materials into equal-width blocks. Furthermore, an inversion method based on neural networks was proposed to determine the model parameters of real-world rockfill materials through field test results. Then, the effects of number of roller passes and vibration frequency were analyzed. The experimental results verified that the proposed model could effectively simulate the roller-soil interaction and rockfill material deformation characteristics and could thus provide a theoretical basis for intelligent compaction.
... Leading manufacturers of road rollers, taking into account the development of construction cyber physics, are working on pilot projects for unmanned rollers [10,11]. Cybernetic physics studies physical systems using cybernetic methods [12]. ...
The results of research on solving the problem of creating a dynamic model of the process of vibration compaction of road bases are considered. The investigated dynamic process is realized by a single-drum vibration roller, which is a part of a cyber-physical road-building system. The main stages of building a mathematical model of the process of interaction of a roller with a road-building mixture during compaction by the method of variable states are presented. The use of a model-oriented approach is proposed for designing a system as an automation object. The output parameters of the dynamic model of the workflow are movement, speed, drum acceleration, contact force. A simulation model of the investigated process developed on the basis of a model-based approach and implemented in the MATLAB / Simulink software environment is presented. The initial data of the roller and the compacted material are specified in the m-file. The compacted material is described by a rheological model of an elastic-viscous body. The results of modeling a numerical example of a dynamic system are presented.
... For example, usually mathematical models of work processes of road-building machines as control objects are described by differential equations and transfer function (TF) of second or higher order [7][8][9]. Designing methods of PID controller's synthesis for higher order objects is the vital task. ...
The methodical of proportional-integral-derivative (PID) controllers designing for systems the sixth order are suggested. At the first stage of implementation of the method algorithm, the transfer function of the corrected closed control system is determined. Then you can specify the number and type of roots of this polynomial. The roots of the polynomial are set taking into account the root quality indicators. The next step of the algorithm determines the values of the parameters desired polynomial of the corrected closed system. These parameters will depend on the imaginary parts of complex-conjugate roots. Parameters of the polynomial must be positive It follows from the stability condition of the system. For a sixth-order model, the four higher-order parameters of this polynomial do not depend on the controller parameters and their values cannot be changed, since they are determined by calculations. Next, the coefficients of the PID controller model are calculated. You can set the condition for positive values of the regulator parameters. Checking the results of calculating the parameters of the controller is performed by the step response of the system. The efficiency of the proposed method of the designing PID controller is performed on the example of a system with a sixth order object.
... The autonomous construction includes the functions of operation mode setting, construction state control, and construction data recording. Notably, the autonomous construction means that the PLC performs closed-loop control based on the locating information and the steering angle of the feedback, and autonomously follows the planned construction path, and adopts the vibration and watering operation to complete the road construction according to the corresponding construction technology [Fang, Bian, Yang et al. (2018); Yoshimoto, Kaida, Fukao et al. (2013); Yin and Wei (2018)]. As the remote control command is transmitted from top to bottom, the control part controls the execution part using a specific strategy. ...
The quality of subgrade compaction affects the health and service life of the road. Establishing a mathematical and theoretical vibration model is beneficial to analyze the compaction process at the principle aspect to seek approaches to enhance compaction quality. In this research, a contact model of the roller-subgrade material system is constructed to simulate the compaction process. A novel numerical model of resilient modulus is presented, taking into account both the effects of matrix suction and porosity. In addition, the concept of effective contact area is proposed, and its influence on the compaction response, together with other material parameters, is analyzed. The comparison with the experimental results indicates that the presented model can effectively simulate the contact compaction response in the practical process. The findings provide theoretical support for improving compaction performance and compaction efficiency.
The use of unmanned rollers for the compaction of the earth-rockfill dams is of great significance. However, collaborative control of multiple unmanned rollers at the construction site, enabling each unmanned roller to operate on the optimal rolling path with optimal rolling parameters to improve compaction efficiency, is an unaddressed challenge. There are three technical barriers, i.e., how to plan the optimal rolling path, how to determine the optimal rolling parameters, and how to control the unmanned roller fleet (URF) based on the optimal rolling plan. This study aims to solve these technical barriers. First, a Stripe-genetic algorithm (GA) path planning method that can balance the task load of multiple unmanned rollers is proposed. Second, a spatial global rolling parameter decision (SGRPD) method is proposed to maximize the stripe compaction efficiency. Finally, a URF-based intelligent compaction system composed of the control module, communication module, remote server, and cloud platform integrated with Stripe-GA and SGRPD is proposed. Field experiments conducted on the construction site of a 295-m high earth-rockfill dam have verified the effectiveness and advantages of the proposed system. The results demonstrated that the proposed system could operate multiple unmanned rollers to achieve higher compaction quality and efficiency by compaction with optimal rolling path and parameters. Compared with the monitoring-based manual compaction method, its compaction quality and efficiency are improved by 2.57% and 24.18%, respectively. The proposed system has the potential to be applied to earthwork constructions, such as roads and airports.
