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Development of an automated verticality alignment system for a vibro-lance

Shaban, E. M. and Ako, S. and Taylor, C. James and Seward, Derek W. (2008) Development of an automated verticality alignment system for a vibro-lance. Automation in Construction, 17 (5). pp. 645-655. ISSN 0926-5805

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Abstract

This paper describes the automation of a vibro-lance for ground improvement on a construction site. Here, a vibrating probe is lowered into the ground and penetrates downwards by means of a two arm excavator, compacting the surrounding soil. The control system is straightforward to install on a conventional, hydraulically controlled excavator, such as the one utilised for the field tests reported in the paper. The new system supports the operator by automatically maintaining the verticality of the probe, increasing the speed of operation by a factor of three, whilst also yielding improved accuracy and, therefore, a potential increase in tool life. In particular, the research demonstrates the successful design and implementation of Proportional-Integral-Plus (PIP) control systems for joint control on-site. To the authors knowledge, this represents the first operational use of automation for vibro-lance ground compaction.

Item Type: Article
Journal or Publication Title: Automation in Construction
Uncontrolled Keywords: control system design ; hydraulic actuators ; linear quadratic regulators ; proportional-plus-integral action ; PID controllers ; robot arms ; system identification
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Departments: Faculty of Science and Technology > Engineering
VC's Office
ID Code: 33435
Deposited By: Dr C. James Taylor (Engineering)
Deposited On: 18 May 2010 11:35
Refereed?: Yes
Published?: Published
Last Modified: 24 Jan 2014 05:18
Identification Number:
URI: http://eprints.lancs.ac.uk/id/eprint/33435

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