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.
SHAO Chengjun
,
LIAO Jianfeng
,
LIU Zhitao
,
SU Hongye
. Trajectory Tracking Control in Horizontal Direction of Open-type Hard Rock Tunnel Boring Machine Based on Adaptive Robust Control Strategy[J]. Journal of Mechanical Engineering, 2018
, 54(1)
: 113
-119
.
DOI: 10.3901/JME.2018.01.113
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