Trajectory tracking of hard rock tunnel boring machine with cascade control structure

Author

Huajiang Liu ; Jingcheng Wang ; Langwen Zhang ; Guanglei Zhao

Author_Institution

Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai, China

fYear

2014

fDate

8-10 Aug. 2014

Firstpage

2326

Lastpage

2331

Abstract

In this paper, trajectory tracking control of hard rock Tunnel Boring Machine (TBM) is studied with a cascade control structure. The TBM thrust hydraulic system can adjust position and orientation during tunnel excavation. The model of thrust hydraulic system and the compound control technique of thrust hydraulic system are studied. In order to realize trajectory tracking control, the dynamic model of TBM has been researched. The model provides a foundation for the trajectory tracking control of TBM behavior. Position and orientation controller of TBM have been designed and the controller calculates the force of thrust hydraulic system. The compound controller of thrust hydraulic system produces the designed force. The effectiveness of the proposed methods is shown by illustrative example.

Keywords

boring machines; cascade control; construction equipment; control system synthesis; force control; trajectory control; TBM orientation; TBM position; TBM thrust hydraulic system; cascade control structure; compound control technique; controller design; force control; hard rock tunnel boring machine; trajectory tracking; Equations; Force; Mathematical model; Rocks; Trajectory; Valves;

fLanguage

English

Publisher

ieee

Conference_Titel

Guidance, Navigation and Control Conference (CGNCC), 2014 IEEE Chinese

Conference_Location

Yantai

Print_ISBN

978-1-4799-4700-3

Type

conf

DOI

10.1109/CGNCC.2014.7007531

Filename

7007531