Model of shaft-boring machine executive mechanisms digital control

The principle of mining machines digital control system simulation is considered. It is shown, that shaft-boring machine is the complex multi-contour object, which include actuators with significant nonlinearities in every control contour. When control the machines with Von Neumann type controllers it is necessary to take into account controller's real performance linked with step-by-step interpretation of a managing algorithm. The shaft-boring machine control system model proposed includes transfer functions matrix equations, describing object under control and semantics of data processing in controller, two delay matrices, describing Von Neumann type controller as a physical device, and description of actuator with nonlinearities by non-linear differential equation in Cauchy form. For estimation of delay matrices parameters semi-Markov process model of control algorithm is used. Initially semi-Markov matrix describes ergodic process, but after proposed transformation it permits to estimate time intervals when wandering between states.