Double closed-loop adaptive rectification control of a shield tunneling machine with hydraulic actuator dynamics subject to saturation constraint

Abstract

This paper is concerned with the control problem for a shield tunneling machine under a rectification condition in order to attain the accuracy requirement. With the enormous size of the complicated construction environment, it is a challenging issue to regulate attitude with high precision for practical tunneling. The difficulty is attributed to two main factors: the uncertain load acting on the shield body which is unavailable in advance and nonlinear factors caused by the hydraulic actuators, such as saturation, hysteresis and time delay. To tackle these problems, we propose a double closed-loop control strategy. First, with the aid of the equivalent load, a dynamic model in the case of regulating attitude is established; second, an adaptive sliding mode controller is presented by means of a synthesizing gradient algorithm and variable structure technology, as well as the stabilities of overall system are performed in the sense of Lyapunov stability theory and LaSalle's invariant principle; lastly, a thrust controller is proposed to make the hydraulic cylinders track the desired thrust force trajectories where the saturation of the hydraulic actuators is considered. Numerical simulations verify that the proposed double closed-loop control structure is simple but effective, which yields a potential value for a practical shield tunneling machine subject to actuator saturation constraints.

Expected position and attitude adjustment control method of coal mine roadway support robot

“…Many researchers focused on deviation attitude adjustment of special robots for industrial and mining applications. An optimized planar linear correction curve model and a double closed‐loop attitude control strategy were proposed for the attitude adjustment of shield tunneling robots, which can adjust the attitude in real‐time and follow the predetermined path (Feng et al, 2017; C. Liu et al, 2019; Yue & Guo, 2014). The Dynamic Error Elimination Controller was designed to reduce the response time and overshoot of the control system, increase the robustness and improve the pitch angle control performance of the roadheader, and was used to control the pitch angle of crawler coal mining robots under complex working conditions (M. Zhang, Cai, et al, 2018).…”

Earth pressure balance control for shield tunneling machine based on adaptive dynamic programming

“…Xie et al (2014) proposed that the advancing speed is calculated by using the famous LuGre friction model in modeling the friction force. Yue and Guo (2016) put forward a double closed-loop control strategy, in which an adaptive sliding mode controller is presented by means of a synthesizing gradient algorithm. Liu and Zhang (2019) put forward an advanced control strategy, which was a LS-SVM model-based predictive control scheme for earth pressure balance, and the screw conveyor speed and advance speed were obtained by ant colony optimization algorithm.…”

Prediction of Axis Attitude Deviation and Deviation Correction Method Based on Data Driven During Shield Tunneling

“…The possible shield attitudes and driving forces during excavation are scattered as a state set and an action set, respectively, Hu et al [10] presented an approach that adopted Markov decision process (MDP) theory to plan the driving force with explicit representation of the uncertainty during excavation. In order to attain the shield tunneling accuracy requirement, Yue et al [11] proposed double closed-loop control strategy to solve the nonlinear term caused by the uncertain load on the shield body and the hydraulic cylinder when rectifying deviation. To analyze the trajectory tracking control of TBM behavior, Liu et al [12] built the acceleration equation, moment of momentum equation, kinematics equation and orientation equation of TBM to realize the pose adjustment, established the open TBM horizontal direction deviation correction and adjustment dynamic model.…”