Dynamic modeling and trajectory tracking control of Tunnel Boring Machine

Author

Huajiang Liu ; Jingcheng Wang ; Langwen Zhang ; Ling Fei ; Guanglei Zhao

Author_Institution

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

fYear

2014

fDate

May 31 2014-June 2 2014

Firstpage

4560

Lastpage

4565

Abstract

In this paper, we investigate the dynamic modeling and trajectory tracking control of hard rock Tunnel Boring Machine (TBM). The acceleration equation, moment of momentum equation, kinematics equation and orientation equation of TBM are built up. The dynamic mathematical model of TBM attitude is presented by composing of these four equations. The model provides a foundation for the trajectory tracking control of TBM behavior. Fuzzy PID controller is used to design velocity controller, vertical controller and lateral controller. The effectiveness of the proposed methods is shown by illustrative example.

Keywords

angular velocity control; boring machines; control system synthesis; drilling (geotechnical); fuzzy control; rocks; three-term control; trajectory control; tunnels; TBM attitude; acceleration equation; dynamic mathematical model; dynamic modeling; fuzzy PID controller; hard-rock tunnel boring machine; kinematics equation; lateral controller design; moment-of-momentum equation; orientation equation; trajectory tracking control; velocity controller design; vertical controller design; Equations; Force; Hydraulic systems; Mathematical model; Niobium; Rocks; Trajectory; Dynamic modeling; Fuzzy PID; Hard Rock TBM; Trajectory tracking control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (2014 CCDC), The 26th Chinese

Conference_Location

Changsha

Print_ISBN

978-1-4799-3707-3

Type

conf

DOI

10.1109/CCDC.2014.6852986

Filename

6852986