Posture adjustment of open-type hard rock tunnel boring machine (TBM) can be achieved by properly adjusting the hydraulic pressure of gripper cylinder and torque cylinders. However, the time-varying inhomogeneous load acting on tunneling face of TBM and complex stratum working condition can cause the trajectory deviation. In this paper, the position and posture rectification kinematics and dynamics models of TBM have been established in order to track the trajectory. Moreover, there are uncertain parameters and uncertain loads from complex working conditions in the dynamic model. An indirect adaptive robust control strategy is applied to achieve precise position and posture trajectory tracking control. Simulation results show when the position deviation only occurs in Y-axis and the current orientation is parallel with the designed axis, the deviation can be corrected by controlling the pressure of gripper cylinder and the actual trajectory meets the designed axis when TBM is pushed forward 0.14 m in X-axis. If the deviation only occurs in Z-axis, then the deviation can be corrected by controlling torque cylinders. If the position deviation occurs both in Y-axis and Z-axis at the same time, the pressure of gripper cylinder and torque cylinders should be controlled at the same time to rectify the deviation. Simulation results are shown to illustrate the effectiveness and robustness of the proposed controller. This research proposes an indirect adaptive robust controller that can track the planned tracking trajectory smoothly and rapidly. which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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.

The cutterhead driving system of tunnel boring machine is one of the key components for rock cutting and excavation. In this paper, a generalized nonlinear time-varying dynamic model is established for the hard rock TBM cutterhead driving system. Parametric uncertainties and nonlinearities and unknown disturbances exist in the dynamic model. An adaptive robust control strategy is proposed to compensate the uncertainties and nonlinearities to achieve precise cutterhead rotation speed control. In order to simulate the comprehensive performances of adaptive robust control controller, three different kinds of external force disturbances are added in this model. Compared to the traditional PID, ARC can effectively handle the different kinds of external force disturbances with sufficient small tracking errors.

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The battery is the power source of electric vehicles and its performance has a direct influence on the power performance and the trip range. The state of charge (SOC) of the battery is one of the most important parameters in the use process of a battery. At the same time, the estimation accuracy of SOC can prevent battery over charging or over discharging, extending the service life of the battery effectively, and forecasting the remainder range accurately while traveling. The estimation of SOC is a very complicated work, due to the high nonlinear of the process of estimating. Moreover, SOC is affected by many factors, such as temperature, charge and discharge efficiency and aging factors and so on. In this paper, the parameters which affect the estimation accuracy of SOC are analyzed. To improve the estimation accuracy of SOC, an amended model is proposed, which combines Ah Metrology and open-circuit voltage with the correction on charge and discharge efficiency, aging factors, the initial SOC and capacity of battery. Simulation results show that an amended model of Ah Metrology can improve the estimation accuracy of SOC and reduce the error, which validates the feasibility and reliability of the proposed method.