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

摘要

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.