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.
- Dynamic Systems and Control Division
An Adaptive Robust Control for Hard Rock Tunnel Boring Machine Cutterhead Driving System
Shao, C, Liao, J, Li, X, & Su, H. "An Adaptive Robust Control for Hard Rock Tunnel Boring Machine Cutterhead Driving System." Proceedings of the ASME 2015 Dynamic Systems and Control Conference. Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. Columbus, Ohio, USA. October 28–30, 2015. V003T48A001. ASME. https://doi.org/10.1115/DSCC2015-9697
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