基于自适应鲁棒控制算法的硬岩隧道掘进机水平方向轨迹纠偏控制
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摘要
硬岩隧道掘进机在施工过程中掘进轨迹与施工设定轴线无法时刻保持一致,需要轨迹纠偏控制来实现施工的顺利进行。敞开式硬岩隧道掘进机可通过调节左右推进油缸推力对装备的水平方向位姿进行调节。对掘进装备的主驱动-推进-撑靴多系统进行运动学分析和动力学建模,得到掘进机的水平方向纠偏调向模型。为解决模型中的参数不确定项和不确定非线性项,利用自适应鲁棒控制策略设计轨迹纠偏控制器,通过仿真结果可知,设计的控制器能快速、平滑且精确地进行纠偏调控。
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.
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.
引文
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[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.
[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.