# Event-Driven Dynamics Model of Operating State Evolution for Cantilever Roadheader
## 2 Dynamics Model of the State Evolution of Cantilever Roadheader
### Real-Time Data-Driven Dynamics Evolution of the Cutting State  
#### 2.3.1 Disturbance Recognition Algorithm  
The basis of the model operation lies in the ability to identify anomalous states. The method of identifying event state types is critical to the endogenous evolution of the model's dynamics. As shown in Figure 9, the disturbance recognition algorithm consists of the following three state identifiers: aimCode, currentCode, and checkCode, which are consistently judged through a different-or-other (XOR) relationship. The 0 or 1 in these identifiers represents a change in the acceleration of a parameter at the current timestamp, with a change being 1 and no change being 0. The aimCode represents a control command event at the current timestamp. For example, during the cutting process from state \(S_{A}\) to \(S_{B}\), the system needs to adjust the motion mode, stop rotating, and start lifting the cutting arm, and the overall fuselage position remains unchanged. Taking the case of not considering the cutting arm extension as an example, the system command event identifier at \(S_{B}\) should be T110000000, where T stands for the timestamp of the system command, and the numbers from the left to the right represent the platform rotating acceleration, the cutting arm lifting angle acceleration, the cutting arm extension, the spatial coordinates of X, Y, and Z, the fuselage yaw angle \(\alpha\) acceleration, the fuselage pitch angle \(\beta\) acceleration, and the fuselage roll angle \(\gamma\) accel  
Figure 8: Schematic diagram of the classification of event types. eration. The other parameters are 0 if they are unchanged, the rotating angle acceleration of rotation platform becomes negative when the rotating stops, and the cutter arm lifting angle acceleration increases suddenly when the lifting starts. As shown in Figure 8, abnormal perturbations usually occur in non-system command bits. Under these conditions, when branch state node \(S_{1}\) is generated, the cutting state should maintain the original operation state, i.e., the aimCode should be 000000000. If the current state is the lifting angle abnormality, the corresponding acceleration of the lifting angle will change, i.e., the current state identification code currentCode is 01000000. Comparing aimCode and currentCode, we can obtain the specific variable of the unplanned change, i.e., checkCode is 010000000. According to checkCode, we can determine the type of current event. Before constructing the event-triggering mechanism, it is crucial to clarify its role and the significance of its construction. The core objective of the mechanism is to ensure the synchronization of the virtual and physical in the intelligent cutting process. In the current synchronization scheme, the virtual control platform and the physical cutting process synchronize their operations according to the instructions of the planned operation. If the cutting process encounters disturbances that lead to unplanned changes in the operation, the virtual-real synchronization that was originally maintained by synchronizing the operation instructions will be destroyed. The virtual cutting scene needs to be adjusted according to the real data feedback from the physical cutting, but this process generates a time delay. If the virtual cutting state is adjusted in real time according to sensor data, the virtual cutting state will always lag behind the physical cutting state, which cannot accurately reflect the current cutting state, affecting the corrective decision making of the intelligent tunneling system on cutting anomalies. The event-triggering mechanism identifies the disturbance event when it occurs and adjusts the virtual synchronization strategy. When a change in the cutting state is detected by an acceleration comparison, the value of the specific parameter change is calculated and compared with the last two control instruction change nodes.