Abstract: The cutterhead drive system is an important part of the hard rock tunneling equipment. The problem of coordinated control of redundant drive TBM cutter-head driving system is studied. Time-varying nonlinear dynamic model is proposed to describe the hard disk drive equipment cutter drive system. Based on the TBM cutter drive system, an integrated TBM controller is proposed to drive the cutter-head to track the desired speed and the drive torque of each motor is balanced, where the high level controller is used to handle the uncertainties of the variable load acting on the cutterhead and the total torque to drive the cutterhead is obtained. The low-level control allocation strategy is used to distribute the torque so that the motor drives the torque equalization distribution. The simulation analysis is used to verify the superior performance of the proposed controller. The simulation results show that the proposed controller can not only meet the speed control of the cutter head, but also realize the equilibrium distribution of the torque of each driving motor.

Key words: coordinateed control, TBM, torque balance