Trajectory Tracking Control in Horizontal Direction of Open-type Hard Rock Tunnel Boring Machine Based on Adaptive Robust Control Strategy

doi:10.3901/JME.2018.01.113

Journal of Mechanical Engineering ›› 2018, Vol. 54 ›› Issue (1): 113-119.doi: 10.3901/JME.2018.01.113

Previous Articles Next Articles

Trajectory Tracking Control in Horizontal Direction of Open-type Hard Rock Tunnel Boring Machine Based on Adaptive Robust Control Strategy

SHAO Chengjun¹, LIAO Jianfeng², LIU Zhitao¹, SU Hongye¹

1. State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou 310027;
2. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027

Received:2017-03-02 Revised:2017-07-19 Online:2018-01-05 Published:2018-01-05

Abstract

Abstract: Automatic trajectory tracking control is a significant task during tunnel excavation, while the tunnel boring machine is working. The actual excavation path is not always consistent with the design axis. Tasks of steering and posture adjustment of open-type hard rock tunnel boring machine can be achieved by properly adjusting the hydraulic pressure of thrust cylinders. The position and posture rectification kinematics and dynamics models of TBM have been established based on practical investigation. Rather severe parametric uncertainties and uncertain nonlinearities exist in the dynamic model. An adaptive robust control strategy is adopted to achieve precise position and posture trajectory tracking control. Simulation results are obtained to illustrate the effectiveness of the proposed adaptive robust controller.

Key words: adaptive robust control, kinematics and dynamics model, open-type hard rock tunnel boring machine, position and posture rectification

CLC Number:

TG156

SHAO Chengjun, LIAO Jianfeng, LIU Zhitao, SU Hongye. Trajectory Tracking Control in Horizontal Direction of Open-type Hard Rock Tunnel Boring Machine Based on Adaptive Robust Control Strategy[J]. Journal of Mechanical Engineering, 2018, 54(1): 113-119.

References

[1] MROUEH H,SHAHROUR I. A simplified 3D model for tunnel construction using tunnel boring machines[J]. Tunnelling & Underground Space Technology,2008,23(1):38-45.
[2] RAMONI M,ANAGNOSTOU G. Tunnel boring machines under squeezing conditions[J]. Tunnelling & Underground Space Technology,2010,25(2):139-157.
[3] HASSANPOUR J,ROSTAMI J,ZHAO J. New hard rock TBM performance prediction model for project planning[J]. Tunnelling and Underground Space Technology,2011,26:595-603.
[4] FARROKH E,ROSTAMI J,Effect of adverse geological condition on TBM operation in Ghomroud tunnel conveyance project[J]. Tunnelling and Underground Space Technology,2009,24:436-446.
[5] 周奇才,陈俊儒,何自强,等. 盾构掘进偏差模糊控制器的Matlab实现[J]. 中国工程机械学报,2007,5(4):414-419. ZHOU Qicai,CHEN Junru,HE Ziqiang,et al. Matlab-enabled fuzzy deviation controller implementation for shield excavators[J]. Chinese Journal of Construction Machinery,2007,5(4):414-419.
[6] 杨霞. 盾构机轨迹跟踪控制的研究[D]. 大连:大连理工大学,2009. YANG Xia. Research on trajectory tracking of shield machine[D]. Dalian:Dalian University of Technology,2009.
[7] DUAN X,XIE H,LIU Z,et al. Precise control of thrust force on the shield tunneling machine[J]. Applied Mechanics and Materials,2011,48-49:834-839.
[8] XIE H,DUAN X,YANG H,et al. Automatic trajectory tracking control of shield tunneling machine under complex stratum working condition[J]. Tunnelling & Underground Space Technology,2012,32(6):87-97.
[9] YUE M,GUO L. Double closed-loop adaptive rectification control of a shield tunneling machine with hydraulic actuator dynamics subject to saturation constraint[J]. Journal of Vibration & Control,2014,22(2):608-614.
[10] LIU H,WANG J,ZHANG L,et al. Dynamic modeling and trajectory tracking control of tunnel boring machine[C]//26th Chinese Control And Decision Conference,May 31-Jun 2,2014,Hunan,Changsha. IEEE,2014:4560-4565.
[11] XU L,YAO B. Adaptive robust precision motion control of linear motors with negligible electrical dynamics[J]. Theory and Experiments. IEEE/ASME Transactions on Mechatronics,2001,6:444-452.
[12] YAO B. Integrated direct/indirect adaptive robust control of SISO nonlinear systems in semi-strict feedback form[C]//American Control Conference,June 4-6,2003,Colorado. IEEE,2003:3020-3025.

Trajectory Tracking Control in Horizontal Direction of Open-type Hard Rock Tunnel Boring Machine Based on Adaptive Robust Control Strategy

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 3

Recommended Articles

Metrics

Comments

[1]	LI Guotao, LI Bing, GUO Hongwei, HUANG Hailin. Deployment Dynamic Modelling and Adaptive Robust Control of Truss-shaped Deployable Grasping Mechanism [J]. Journal of Mechanical Engineering, 2020, 56(5): 39-46.
[2]	MENG Deyuan, TAO Guoliang, , LI Aimin, LI Wei. Application of Thermodynamic Method in Pump Efficiency Measurement, and Comparison with Conventional Method [J]. Journal of Mechanical Engineering, 2015, 51(10): 180-188.
[3]	ZHU Xiaocong;TAO Guoliang;CAO Jian. Posture Trajectory Tracking Control of Parallel Manipulator Driven by Pneumatic Muscles [J]. , 2008, 44(7): 161-167.