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Considering the influence of environmental noise and modeling error during the process of the robotic automatic grinding aero-engine blade, this study aims to propose a method based on the extended state observer (ESO) to reduce the fluctuation of normal grinding force.

First, the measurement range of the six-dimensional force sensor is calibrated according to the maximum acceleration of end-effector and grinding force. Second, the gravity and zero drift compensation model is built to compensate for measurement error. Finally, the switching function is designed based on the difference between the expected grinding force and the actual feedback value. When the value of function stays within the switching band, a nonlinear active disturbance rejection control (ADRC) loop is applied. When the function value reaches outside the switching band, an ESO-based sliding mode control (SMC) loop is applied.

The simulated and experimental results show that the proposed control method has higher robustness compared with proportion-integral-derivative (PID), Fuzzy PID and ADRC.

The processing parameters of this paper are obtained based on the single-factor experiment without considering the correlation between these variables. A new control strategy is proposed, which is not only used to control the grinding force of blades but also promotes the development of industrial control.

ESO is used to observe environmental interference and modeling errors of the system for real-time compensation. The segment control method consisting of ESO-based SMC and ESO-based ADRC is designed to improve the robustness. The common application of the two parts realizes suppression of fluctuation of grinding force.

The purpose of this study is to present a simplified analytical method to estimate ground lateral displacement due to excavation. Excavations of foundation pit will inevitably lead to soil movements that may adversely impact surrounding facilities or structures. Thus, estimation of the ground displacement induced by excavation is essential in engineering practice.

Based on a theory of elastic mechanics, a simplified analytical method for predicting the ground lateral displacement resulting from foundation pit excavation is proposed.

As the distance from the soil to the supporting structure increases, the maximum ground lateral displacement decreases nonlinearly but at a reduced rate. Poisson’s ratio of soil has a mild influence on the ground lateral displacement, whereas the influence of the supporting structure’s deflection modes is significant.

The advantage of the proposed simplified analytical method lies in that it considers the supporting structure’s arbitrary deflections, giving it wider practical applicability than previous methods.