| The full-section hard rock digger(TBM)is a large-scale excavation equipment developed for hard rock geology.Its working environment is complex and its load is random.The control performance of electro-hydraulic servo system is restricted by a series of nonlinear and uncertain factors.In addition,the hydraulic system has nonlinear characteristics such as variable gain,friction,and time-varying parameters,and is vulnerable to strong interference such as load and motion.The above problems have greatly limited the development of the performance of the tunneling machine.The traditional controller is used to linearize the system and the design for stability is too conservative.The trajectory tracking control of full-section hard rock digger mainly involves attitude adjustment and propulsion.Propulsion and attitude adjustment are carried out by hydraulic system.In view of the mismatch between propulsion speed and load change,an adaptive robust controller for electro-hydraulic servo system facing model uncertainty is proposed,which can realize the steady control of propulsion speed.In addition,the structure of the tunneling machine is different from the traditional design in this paper.Therefore,the mathematical model of the position system is established,and the specific calculation formula of the relationship between the deflection angle of the tunneling machine and the range of the boot action is derived.Based on this,a low speed servo controller based on LuGrel friction model is proposed to realize the precise control of the tunneling attitude.For the above design,AMESim is used to establish a hydraulic system model and MATLAB design controller is used for joint simulation.Simulation results show that the above controller can accurately control the propulsion speed and deflection angle.Experimental results show that the controller can effectively improve the stability of the propulsion system and the accuracy of position control,and improve the overall tunneling efficiency. |
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