Title :
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
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;
Conference_Titel :
Guidance, Navigation and Control Conference (CGNCC), 2014 IEEE Chinese
Conference_Location :
Yantai
Print_ISBN :
978-1-4799-4700-3
DOI :
10.1109/CGNCC.2014.7007531
