High-performance adaptive robust control with balanced torque allocation for the over-actuated cutter-head driving system in tunnel boring machine

Mechatronics ◽  
2017 ◽  
Vol 46 ◽  
pp. 168-176 ◽  
Author(s):  
Jianfeng Liao ◽  
Zheng Chen ◽  
Bin Yao
Keyword(s):  
Robust Control ◽  
High Performance ◽  
Tunnel Boring Machine ◽  
Adaptive Robust Control ◽  
Driving System ◽  
Tunnel Boring ◽  
Cutter Head

An Adaptive Robust Control for Hard Rock Tunnel Boring Machine Cutterhead Driving System

2015 ◽  
Author(s):  
Chengjun Shao ◽  
Jianfeng Liao ◽  
Xiuliang Li ◽  
Hongye Su
Keyword(s):  
Robust Control ◽  
Dynamic Model ◽  
External Force ◽  
Hard Rock ◽  
Tunnel Boring Machine ◽  
Adaptive Robust Control ◽  
Driving System ◽  
Tunnel Boring ◽  
Rock Tunnel ◽  
Hard Rock Tbm

The cutterhead driving system of tunnel boring machine is one of the key components for rock cutting and excavation. In this paper, a generalized nonlinear time-varying dynamic model is established for the hard rock TBM cutterhead driving system. Parametric uncertainties and nonlinearities and unknown disturbances exist in the dynamic model. An adaptive robust control strategy is proposed to compensate the uncertainties and nonlinearities to achieve precise cutterhead rotation speed control. In order to simulate the comprehensive performances of adaptive robust control controller, three different kinds of external force disturbances are added in this model. Compared to the traditional PID, ARC can effectively handle the different kinds of external force disturbances with sufficient small tracking errors.

scholarly journals Modeling and Dynamic Analysis of Cutterhead Driving System in Tunnel Boring Machine

2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
Wei Sun ◽  
Honghui Ma ◽  
Xueguan Song ◽  
Lintao Wang ◽  
Xin Ding
Keyword(s):  
Dynamic Model ◽  
Vibration Mode ◽  
Tunnel Boring Machine ◽  
Torque Ripple ◽  
Transmission System ◽  
Gear Transmission ◽  
Driving System ◽  
Tunnel Boring ◽  
Gear Transmission System ◽  
Driving Torque

Failure of cutterhead driving system (CDS) of tunnel boring machine (TBM) often occurs under shock and vibration conditions. To investigate the dynamic characteristics and reduce system vibration further, an electromechanical coupling model of CDS is established which includes the model of direct torque control (DTC) system for three-phase asynchronous motor and purely torsional dynamic model of multistage gear transmission system. The proposed DTC model can provide driving torque just as the practical inverter motor operates so that the influence of motor operating behavior will not be erroneously estimated. Moreover, nonlinear gear meshing factors, such as time-variant mesh stiffness and transmission error, are involved in the dynamic model. Based on the established nonlinear model of CDS, vibration modes can be classified into three types, that is, rigid motion mode, rotational vibration mode, and planet vibration mode. Moreover, dynamic responses under actual driving torque and idealized equivalent torque are compared, which reveals that the ripple of actual driving torque would aggravate vibration of gear transmission system. Influence index of torque ripple is proposed to show that vibration of system increases with torque ripple. This study provides useful guideline for antivibration design and motor control of CDS in TBM.

scholarly journals A novel cutterhead off-stuck strategy for tunnel boring machine based on electro-hydraulic hybrid driving

2019 ◽  
Vol 11 (1) ◽  
pp. 168781401882417 ◽  
Author(s):  
Tong Liu ◽  
Guofang Gong ◽  
Huayong Yang ◽  
Yongliang Cheng ◽  
Yuxi Chen ◽  
...  
Keyword(s):  
Normal Load ◽  
Tunnel Boring Machine ◽  
Driving System ◽  
Tunnel Boring ◽  
Hydraulic Hybrid ◽  
Closed Type ◽  
Displacement Pump ◽  
Torque Capacity ◽  
Variable Displacement ◽  
Low Torque

The cutterhead driving system of a tunnel boring machine may easily get jammed in fault zones driven by electro-motors of low torque capacity. To improve the geological adaptability, this work presents a novel electro-hydraulic hybrid cutterhead driving system to control high-torque hydro-motors as followers under the torque master–slave strategy together with electro-motors. Specific half closed-type pump–motor system is designed, the work pressure of the hydro-motor is regulated by proportional overflow valve to track the torque of the main electro-motor, and a variable displacement pump is controlled to track the expected speed of the main electro-motor with stable overflow via the proportional overflow valve. Feed-forward control principles are derived via the inner mechanism analyses of the proportional overflow valve and variable displacement pump, and proportional and integral separated feedbacks are also introduced to build compound controllers for the tracking of pressure and pump displacement, respectively. The hybrid driving experiments on a Φ2.5 m tunnel boring machine rig indicate that the hydro-motor could track 1.5 times the main electro-motor torque with error within ±15.2 N m against load change and system oscillation, and the error ratios of hydro-motor and slave electro-motor are similar at normal load and fixed speed. Furthermore, jammed cutterhead could be restarted with each hydro-motor supplying double torque of the main electro-motor, and the required assembly power is only 25% of alternative electro-motors.

scholarly journals Development of Auto-driving System of Tunnel Boring Machine

1995 ◽  
Vol 3 ◽  
pp. 121-128
Author(s):  
Shigeyuki KOHNO ◽  
Tutomu KIUCHI ◽  
Yasuo IWANE ◽  
Atsuyuki KIMURA ◽  
Hidekuni TAKASAKI
Keyword(s):  
Tunnel Boring Machine ◽  
Driving System ◽  
Tunnel Boring

Dynamic Modeling and Analysis of Shield TBM Cutterhead Driving System

2010 ◽  
Vol 132 (4) ◽  
Author(s):  
Xian Hong Li ◽  
Hai Bin Yu ◽  
Ming Zhe Yuan ◽  
Jin Wang ◽  
Yuan Yin
Keyword(s):  
Dynamic Model ◽  
Tunnel Boring Machine ◽  
Transmission Error ◽  
Shield Tunnel ◽  
Modeling And Analysis ◽  
Driving System ◽  
Output State ◽  
Tunnel Boring ◽  
Gear Backlash ◽  
Multiple Input

In this paper, a generalized nonlinear time-varying dynamic model is established for the cutterhead driving system of a shield tunnel boring machine. A nonlinear multiple input and multiple output state-space dynamic model is also proposed. The dynamic model is simulated to analyze the driving system and the effects of system parameters such as gear backlash and transmission error, larger gear inertia, and load torque on the dynamic response of driving system are investigated as well. A preliminary approach is proposed to restrain speed oscillation and reduce steady-state speed ripple. Through modeling and studying the dynamic model, we refine some important issues that should be given closer attention.

A Nonlinear Multi-Objective Optimal Design for Cutter Head of TBM

2011 ◽  
Vol 80-81 ◽  
pp. 1046-1050
Author(s):  
Jun Cheng ◽  
Ya Dong Gong ◽  
Hai Feng Zhao ◽  
Yue Ming Liu ◽  
Jian Yu Yang
Keyword(s):  
Tunnel Boring Machine ◽  
Optimized Design ◽  
Intelligent Algorithm ◽  
Multi Objective ◽  
Tunnel Boring ◽  
Cutter Wear ◽  
Complex Constraints ◽  
Set Up ◽  
Cutter Head ◽  
Novel Model

This paper presents a novel model of lay out of cutter head of TBM(tunnel boring machine). Rock-broken mechanism during the operation of the cutter head is analyzed to study the layout of cutters. A model of the cutters under the action of forces during TBM’s working has therefore been developed, thus proposing a scheme to improve the rock breakability of TBM’s cutter head on which the cutters are lay out. Then, a nonlinear multi-objective mathematical model with complex constraints is developed, with an optimization program provided via an intelligent algorithm for the layout design of cutters on the cutter head of a TBM. The cutter head of an EPB6.28 TBM, an optimized design is given to set up a prototype with digitized cutter head, to which a simulation is done for the verification of equilibrium of forces. Comparing analytically the cutter wear and equilibrium of forces between a previous and a newly designed cutter heads, the results shows digitally that the new one is more practicable than the previous one.

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