Indirect Adaptive Robust Trajectory Tracking Control of Hard Rock TBM with Load Variation of Tunneling Face
Abstract 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...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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SpringerOpen
2019-04-01
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| Series: | Chinese Journal of Mechanical Engineering |
| Subjects: | |
| Online Access: | http://link.springer.com/article/10.1186/s10033-019-0347-5 |
| _version_ | 1819228130026455040 |
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| author | Chengjun Shao Jianfeng Liao Zhitao Liu Hongye Su |
| author_facet | Chengjun Shao Jianfeng Liao Zhitao Liu Hongye Su |
| author_sort | Chengjun Shao |
| collection | DOAJ |
| description | Abstract 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. |
| first_indexed | 2024-12-23T10:52:23Z |
| format | Article |
| id | doaj.art-8d94783cdc2948d7945a56ac5b69488e |
| institution | Directory Open Access Journal |
| issn | 1000-9345 2192-8258 |
| language | English |
| last_indexed | 2024-12-23T10:52:23Z |
| publishDate | 2019-04-01 |
| publisher | SpringerOpen |
| record_format | Article |
| series | Chinese Journal of Mechanical Engineering |
| spelling | doaj.art-8d94783cdc2948d7945a56ac5b69488e2022-12-21T17:49:51ZengSpringerOpenChinese Journal of Mechanical Engineering1000-93452192-82582019-04-0132111210.1186/s10033-019-0347-5Indirect Adaptive Robust Trajectory Tracking Control of Hard Rock TBM with Load Variation of Tunneling FaceChengjun Shao0Jianfeng Liao1Zhitao Liu2Hongye Su3State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang UniversityState Key Laboratory of Fluid Power Transmission and Control, Zhejiang UniversityState Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang UniversityState Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang UniversityAbstract 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.http://link.springer.com/article/10.1186/s10033-019-0347-5Open type hard rock TBMInhomogeneous loadPosition and posture rectificationIndirect adaptive robust control |
| spellingShingle | Chengjun Shao Jianfeng Liao Zhitao Liu Hongye Su Indirect Adaptive Robust Trajectory Tracking Control of Hard Rock TBM with Load Variation of Tunneling Face Chinese Journal of Mechanical Engineering Open type hard rock TBM Inhomogeneous load Position and posture rectification Indirect adaptive robust control |
| title | Indirect Adaptive Robust Trajectory Tracking Control of Hard Rock TBM with Load Variation of Tunneling Face |
| title_full | Indirect Adaptive Robust Trajectory Tracking Control of Hard Rock TBM with Load Variation of Tunneling Face |
| title_fullStr | Indirect Adaptive Robust Trajectory Tracking Control of Hard Rock TBM with Load Variation of Tunneling Face |
| title_full_unstemmed | Indirect Adaptive Robust Trajectory Tracking Control of Hard Rock TBM with Load Variation of Tunneling Face |
| title_short | Indirect Adaptive Robust Trajectory Tracking Control of Hard Rock TBM with Load Variation of Tunneling Face |
| title_sort | indirect adaptive robust trajectory tracking control of hard rock tbm with load variation of tunneling face |
| topic | Open type hard rock TBM Inhomogeneous load Position and posture rectification Indirect adaptive robust control |
| url | http://link.springer.com/article/10.1186/s10033-019-0347-5 |
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