Nonlinear Disturbance Observer based Integral Sliding Mode Control for Tunnel Boring Machine

摘要

The cutterhead driving system (CDS) is the key subsystem in hard rock tunnel boring machine (TBM). The cutterhead rotational speed and the distribution of load have a vital influence on the efficiency of excavation and TBM availability. In this paper, the unbalanced-load problem is investigated for the over-actuated cutterhead driving system. The dynamic model of the Pinions-Ring-Gear transmission system (PTS) is established and analyzed. A nonlinear disturbance observer based integral sliding mode control (ISMC) is proposed to deal with the coordinate control problem in TBM, which controls the cutterhead rotational speed while achieving reasonable load distribution. Comparative simulations are carried out to verify the validation of the simulation model and the performance of the proposed control scheme. The results suggest that the motion performance is guaranteed and the load distribution is realized, with the proposed coordinated controller. And the effectiveness and the performance improvement of the proposed control strategy is validated.