Вход на сайт
Просмотр новости

Найдите то, что Вас интересует

Adaptive Robust Control of Shield Machine Thrust Speed
Дата публикации: 01-01-2027 00:00:00

Shield tunneling machine is a large-scale and complex core engineering equipment widely used in national tunnel infrastructure construction and national defense engineering construction, integrating disciplines such as optical engineering, mechanical engineering, electrical engineering, hydraulic transmission and systems, information science, and artificial intelligence. A high-precision control method for shield machine thrust speed is proposed in this paper. A specific adaptive robust control method for the speed of a three-position four-way servo valve controlled thrust hydraulic cylinder is proposed. A dynamic state-space model for thrust speed is established, and adaptive model identification experiments are conducted based on the shield tunneling comprehensive experimental platform. Then, an adaptive robust controller for thrust speed is designed based on the back-stepping method, and its Lyapunov stability is proved. Finally, the control performance of the thrust speed adaptive robust control system designed in this paper is verified through simulation and experiments. Compared with the open-loop control method for thrust speed currently used in practical engineering, the thrust speed adaptive robust control system proposed in this paper achieves excellent transient performance and steady-state accuracy, and has better adaptability and robustness to the uncertainty of the thrust speed control process model, which is superior to traditional PID control methods. The adaptive robust control system for shield machine thrust speed developed in this paper is the key foundation for autonomous control of shield tunneling and the prerequisite for the effective execution of multi-objective optimization decision for shield tunneling parameters. The research content of the paper has important academic research value and broad engineering application prospects in technology.

Основное содержимое страницы с новостью.

Abstract

Shield tunneling machine is a large-scale and complex core engineering equipment widely used in national tunnel infrastructure construction and national defense engineering construction, integrating disciplines such as optical engineering, mechanical engineering, electrical engineering, hydraulic transmission and systems, information science, and artificial intelligence. A high-precision control method for shield machine thrust speed is proposed in this paper. A specific adaptive robust control method for the speed of a three-position four-way servo valve controlled thrust hydraulic cylinder is proposed. A dynamic state-space model for thrust speed is established, and adaptive model identification experiments are conducted based on the shield tunneling comprehensive experimental platform. Then, an adaptive robust controller for thrust speed is designed based on the back-stepping method, and its Lyapunov stability is proved. Finally, the control performance of the thrust speed adaptive robust control system designed in this paper is verified through simulation and experiments. Compared with the open-loop control method for thrust speed currently used in practical engineering, the thrust speed adaptive robust control system proposed in this paper achieves excellent transient performance and steady-state accuracy, and has better adaptability and robustness to the uncertainty of the thrust speed control process model, which is superior to traditional PID control methods. The adaptive robust control system for shield machine thrust speed developed in this paper is the key foundation for autonomous control of shield tunneling and the prerequisite for the effective execution of multi-objective optimization decision for shield tunneling parameters. The research content of the paper has important academic research value and broad engineering application prospects in technology.

Similar content being viewed by others
References

  1. Yang, H., Zhou, X., Gong, G.: Perspectives in intelligentization of tunnel boring machine. Tunn. Constr. 38(2), 1919–1926 (2018)

    Google Scholar 

  2. Yang, H.: Progress and trend of construction machinery intelligence. Constr. Mach. Technol. Manage. 30(12), 19–21 (2017)

    Google Scholar 

  3. Zhang, Y., Gong, G., Yang, H.: From tunnel boring machine to tunnel boring robot: Perspectives on intelligent shield machine and its smart operation. J. Zhejiang Univ.-Sci. A. 25(5), 357–381 (2024)

    Article  Google Scholar 

  4. Tong, X.: Research on Hydraulic Drive and Control System of the Cutter Head in Shield Tunneling Machine. Zhejiang University, Hangzhou (2008)

    Google Scholar 

  5. Gong, G., Hu, G., Yang, H.: Control analysis of thrust hydraulic system for shield tunnelling machine. China Mech. Eng. 18(12), 1391–1395 (2007)

    Google Scholar 

  6. Shi, H., Gong, G., Yang, H.: Pressure and speed control of electro-hydraulic drive for shield tunneling machine. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 314–317. IEEE, Xi'an, China (2008)

    Google Scholar 

  7. Zhou, R., Gong, G., Shi, H., Zhu, B.D., Liu, F.: Synchronization coordinated control of the hydraulic cylinder of the thrust system on shield machines. J. Eng. Des. 16(6), 457–461 (2009)

    Google Scholar 

  8. Gong, G.: Research on shield boring attitude control based on fuzzy PID algorithm. Tunn. Constr. 34, 608–613 (2014)

    Google Scholar 

  9. Liu, H., Gong, G., Shi, H.: Fuzzy-PID controller of shield thrust system based on LabVIEW. Mach. Tool Hydraul. 39(9), 1–4 (2011)

    Google Scholar 

  10. Zhu, B., Gong, G., Shi, H.: Electrohydraulic control of thrust hydraulic system for shield tunneling machine. In: 2nd International Conference Intelligent Robotics and Applications, pp. 482–492. Singapore, Singapore (2009)

    Google Scholar 

  11. Yang, H., Shi, H., Gong, G.: Electro-hydraulic proportional control of thrust system for shield tunneling machine. Autom. Constr. 18(7), 950–956 (2009)

    Article  Google Scholar 

  12. Liu, G., Gong, G.F., Zhu, B.D., Shi, H.: Adaptive PID control for thrust speed of the shield based on BP neural networks. Gongcheng Sheji Xuebao. 17(6), 454–458 (2010)

    Google Scholar 

  13. Shi, H., Gong, G., Yang, H., Xing, T.: Adaptive PID control for thrust speed of shield based on single neuron. China Mech. Eng. 20(02), 138–141 (2009)

    Google Scholar 

  14. Li, M., Wei, J., Fang, J.: Nonlinear control of tunnel boring machine thrust system based on disturbance observer. J. Cent. South Univ. Sci. Technol. 49(8), 1922–1928 (2018)

    Google Scholar 

  15. Yuan, H.: Recursive least squares algorithm for nonlinear systems with piece-wise linearities. In: 2nd International Conference on Sensors, Measurement and Intelligent Materials (ICSMIM 2013), pp. 960–963. Guangzhou, China (2013)

    Google Scholar 

  16. Juang, J., Lin, B.: Nonlinear system identification by evolutionary computation and recursive estimation method. In: American Control Conference 2005 (ACC), pp. 5073–5078. IEEE, Portland, OR, USA (2005)

    Google Scholar 

  17. Reed, J., Ioannou, P.: Instability analysis and robust adaptive-control of robotic manipulators. IEEE Trans. Robot. Autom. 5(3), 381–386 (1989)

    Article  ADS  Google Scholar 

  18. Qu, Z.: Robust-control of nonlinear uncertain systems under generalized matching conditions. Automatica. 29(4), 985–998 (1993)

    Article  MathSciNet  Google Scholar 

  19. Yao, B., Tomizuka, M.: Adaptive robust control of SISO nonlinear systems in a semi-strict feedback form. Automatica. 33(5), 893–900 (1997)

    Article  ADS  MathSciNet  Google Scholar 

  20. Xu, L., Yao, B.: Adaptive robust precision motion control of linear motors with negligible electrical dynamics: Theory and experiments. In: 2000 American Control Conference (ACC 2000), pp. 2583–2587. ACC, Chicago (2000)

    Google Scholar 

  21. Narendra, K., Annaswamy, A.: A new adaptive law for robust adaptation without persistent excitation. IEEE Trans. Autom. Control. 32(2), 134–145 (1987)

    Article  ADS  MathSciNet  Google Scholar 

Download references

Funding

*Project supported by the National Natural Science Foundation of China (Grant No.52505056), the National Key Research and Development Program of China (Grant No.2022YFC3802305).

Author information
Authors and Affiliations

  1. China Railway Engineering Equipment Group Co., Ltd., Zhengzhou, Henan, China

    Shuai Wang, Lianhui Jia, Fulong Lin & Liujie Jing

  2. The State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou, 310058, China

    Yakun Zhang

  3. School of Future Technology, Shandong University, Jinan, Shandong, China

    Shuai Wang & Bin Liu

Authors

  1. Shuai Wang
  2. Lianhui Jia
  3. Fulong Lin
  4. Liujie Jing
  5. Yakun Zhang
  6. Bin Liu
Corresponding author

Correspondence to Yakun Zhang.

Editor information
Editors and Affiliations

  1. School of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China

    Jianrong Tan

  2. School of Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China

    Zhenyu Liu

  3. Mechanical Engineering, Zhejiang University, Hangzhou, Zhejiang, China

    Weifei Hu

Rights and permissions
Copyright information

© 2027 The Chinese Mechanical Engineering Society

About this paper

Cite this paper

Wang, S., Jia, L., Lin, F., Jing, L., Zhang, Y., Liu, B. (2027). Adaptive Robust Control of Shield Machine Thrust Speed. In: Tan, J., Liu, Z., Hu, W. (eds) Advances in Mechanical Design. ICMD 2025. Mechanisms and Machine Science, vol 206. Springer, Singapore. https://doi.org/10.1007/978-981-95-7904-4_38

Download citationKeywords
Publish with us

Схожие новости

#Наименование новостиТональностьИнформативностьДата публикации
1Design and Workspace Analysis of a Mobile Cable-Driven Parallel Robot07.3401-01-2027
2Joint Design and Analysis of Heavy-Duty Manipulator for Tokamak Device Maintenance010.7601-01-2027
3Optimisation Design of Large-Scale Shipborne Radar Structure Under Complicated Load Conditions05.6801-01-2027
4Structural Design and Flipping Simulation of a Cat-Inspired Falling Robot Driven by Pneumatic Muscles08.2101-01-2027
5Design Software of Gait Rehabilitation Mechanism for Users with Various Body Parameters08.2101-01-2027
6Design and Dynamic Simulation of Deployable Space Telescopic Mast Unit06.501-01-2027
7Precision Processing of High Volume Fraction SiCp/Al Composites Products with Thin-walled Shell013.5301-01-2027
8Research on Fault Feature Extraction Method for Rolling Bearing Based on SVD-DBO-VMD05.1601-01-2027
9Optimization Design of the Moving Platform of Six-Dofs Reconfigurable Redundant Cable-Driven Parallel Robot for Spraying Operations Based on NSGA-II012.101-01-2027
10Design and Analysis of a Metamorphic Mechanism Derived from Planar Four-Six-Bar Linkages08.7901-01-2027

Классификация: Наука. Схожих патентов: 0. Схожих новостей: 10. Тональность: 0. Информативность: 6.6. Источник: link.springer.com.