Geological Adaptability Control And Rectification Control Of Large-Scale Tunneling Equipment

The Full face tunneling equipment is the major engineering tool used for underground constructions,such as subway tunnels,national infrastructures and defense constructions,which has a broad market prospects.The automatic control and geological adaptive optimizing operation of tunneling equipment are the keys to achieve the safe,stable and efficient excavation.The thesis firstly aims at analyzing the coupling rules between the electromechanical liquid multi-systems,and constructing a multi-system coupled model with structure constraints.The working principle of cutterhead driving system is analyzed to achieve the precise control of the rotation speed of cutterhead.Then,considering all kinds of constraints in deviation rectification,researches on the position and posture rectification tracking trajectory planning and trajectory tracking control has been made.Moreover,in order to deal with the strong pressure fluctuation in the cabin caused by geologic changes,a multi-system cooperative control method has been proposed.The main highlights and contributions are listed as follows:1.The connection between gripper,torque and propel assembly and the main beam can be regarded as several closed kinematic chain structures.Based on the closed chain structures,the kinematics of hinge rods and cylinders of gripper carrier assembly,thrust system and main beam are analyzed.Nonholonomic constraint equation is built to indicate that the instantaneous transverse velocity of TBM is zero.The force between disc cutters and surrounding rock is affected by penetration,properties of surrounding rock and parameters of disc cutters.The coupling principle of griper carrier assembly-thrust system-main driving system-surrounding rock is obtained.The dynamic model coupled with multiple systems is built based on Lagrange modeling method.2.The constitution and working mechanism of open type TBM thrust system and gripper carrier assembly are considered.The position and posture rectification kinematics and dynamics models by thrust system and gripper carrier assembly system are built based on the proposed model coupled with multiple system.The scientific and complete position and posture rectification strategies are needed to achieve the optimal rectification control of TBM,and the TBM trajectory planning under different working conditions are demonstrated.Two different ARC controllers are designed for the position and posture rectification models by thrust system and gripper carrier assembly system,respectively.According to the simulation results,the designed ARC controllers in both modes can achieve the precise tracking control of the planned tracking trajectory smoothly and rapidly.3.The working mechanism of TBM cutterhead driving system is analyzed and a dead zone fitting function is proposed due to the existence of dead zone in gear meshing process.The dynamical model of the cutterhead driving system is built to describe the process of cutting.In order to estimate the value of gear meshing backlash,an adaptive observer with forgetting fector for the dynamic model of TBM cutterhead driving system is designed.According to the simulation results,the estimated gear backlash is quite close to the true value,and it has a strong tracking ability for the changing of true value.Moreover,a cutterhead driving system controller is designed based on adaptive robust control(ARC)strategy to achieve the precise rotation speed control of cutterhead system.The results show the effectiveness of ARC controller.4.The principle between the chamber pressure of earth pressure balance shield machine and advance speed,rotation speed of screw conveyor,the volume of additive and condition of surrounding soils is also considered.A dynamic chamber pressure model is established at first,then predictive functional control algorithm is applied to the proposed model to make the chamber pressure track a desired trajectory.By comparing to the PID control,the proposed method for chamber pressure control of the earth pressure balance shield has better performance.Simulation results and application results from Shanghai Metro Line 17 construction project are given to illustrate the effectiveness and robustness of the proposed method.