Authors: V.V. Aksenov, Yu.A. Romanov, I.D. Muagkih, A.S. Kramp

Title of the article: A comprehensive methodology for studying the interaction of geohod models with the geo-environment

Year: 2026, Issue: 3, Pages: 119-127

Branch of knowledge: 2.8.8. Geotechnology, Mining machines (engineering)

Index UDK: 622.23.05

DOI: 10.26730/1816-4528-2026-3-119-127

Abstract: The article presents an expanded comprehensive methodology for experimental studies of scale models of geohouses designed to move in heterogeneous and anisotropic geomedias of various genesis. The relevance of the work is due to the increasing requirements for reliability and energy efficiency of autonomous tunneling complexes, as well as the need for a detailed study of nonlinear, stochastic processes of interaction between the propulsor and the ground mass, which cannot be adequately described by traditional methods that record only integral averaged characteristics. The study proposes a hierarchical multilevel classification of the recorded parameters, including three functional groups: (1) drive power characteristics (torque, dynamic torque, axial tractive effort, reactive moments); (2) Kinematic motion parameters (linear and angular velocities, coefficient of slippage, acceleration, trajectory deviations); (3) parameters of the stress-strain state of the geomedium (contact pressure in the contour zone, pressure distribution in the array, deformation of structural elements, parameters of soil destruction). A modular architecture of an automated data recording system (ASRD) has been developed that provides synchronous recording of signals from strain gauges, optical, inertial and acoustic sensors with a time synchronization error of no more than 1 ms and a sampling rate of analog channels up to 500 Hz. The system is implemented on the basis of an industrial data acquisition board with a 16-bit ADC, galvanic isolation of inputs, shielding of cable paths and software filtering of electromagnetic interference. A multi-stage pipeline of multidimensional data processing is described, including signal preprocessing (Butterworth filtering, zero drift compensation, normalization), extraction of statistical and spectral descriptors, analysis of time series and frequency characteristics of dynamic processes. The principal component analysis (PCA) and Pearson correlation analysis were used to identify hidden nonlinear dependencies./Spearman and K-means clustering, which make it possible to visualize clusters of stable operating modes, evaluate the effect of rheological parameters of the soil on energy consumption, and classify the types of "propulsion–geomedia" interaction. Testing of the technique on a laboratory bench with modeling of various types of soils made it possible to record short-term peaks of torque when starting the geohod, exceeding the average values by 2.5 times.; to determine the zone of disturbance of the geo-environment (up to three body diameters); to identify optimal driving modes according to the criterion of minimum specific energy consumption; to establish quantitative relationships between humidity, soil density and traction and speed characteristics of a geohopper. The implementation of the developed methodology reduces the time for design refinement of geohouses by 30%, increases the reliability of predictive mathematical models and is recommended for use in creating new modifications of tunneling equipment, conducting certification tests and verifying numerical models of the interaction of working bodies with the ground.

Key words: Geohod experimental research parameter registration strain gauge data processing interaction with the geo-environment automated data collection system

Receiving date: 04.03.2025

Approval date: 15.05.2025

Publication date: 04.06.2026

CITE DOWNLOAD