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 Multidisciplinary design optimization of hard rock tunnel boring machine using collaborative optimization

2018 ◽  
Vol 10 (1) ◽  
pp. 168781401875472 ◽  
Author(s):  
Wei Sun ◽  
Xiaobang Wang ◽  
Maolin Shi ◽  
Zhuqing Wang ◽  
Xueguan Song
Keyword(s):  
Design Optimization ◽  
Multidisciplinary Design Optimization ◽  
Hard Rock ◽  
Tunnel Boring Machine ◽  
Collaborative Optimization ◽  
Optimization Process ◽  
Multidisciplinary Design ◽  
Tunnel Boring ◽  
Geological Conditions ◽  
Rock Tunnel

A multidisciplinary design optimization model is developed in this article to optimize the performance of the hard rock tunnel boring machine using the collaborative optimization architecture. Tunnel boring machine is a complex engineering equipment with many subsystems coupled. In the established multidisciplinary design optimization process of this article, four subsystems are taken into account, which belong to different sub-disciplines/subsytems: the cutterhead system, the thrust system, the cutterhead driving system, and the economic model. The technology models of tunnel boring machine’s subsystems are build and the optimization objective of the multidisciplinary design optimization is to minimize the construction period from the system level of the hard rock tunnel boring machine. To further analyze the established multidisciplinary design optimization, the correlation between the design variables and the tunnel boring machine’s performance is also explored. Results indicate that the multidisciplinary design optimization process has significantly improved the performance of the tunnel boring machine. Based on the optimization results, another two excavating processes under different geological conditions are also optimized complementally using the collaborative optimization architecture, and the corresponding optimum performance of the hard rock tunnel boring machine, such as the cost and energy consumption, is compared and analysed. Results demonstrate that the proposed multidisciplinary design optimization method for tunnel boring machine is reliable and flexible while dealing with different geological conditions in practical engineering.

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.

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.

Multi-Objective Inversion Design of Cutting Head by Hard Rock Boring Machine Based on Fuzzy Theory and Genetic Algorithms

2011 ◽  
Vol 199-200 ◽  
pp. 1331-1334 ◽  
Author(s):  
Qiang Zhang ◽  
Qiu Shuang Song ◽  
Shou Ju Li ◽  
Ying Tian
Keyword(s):  
Tool Wear ◽  
Hard Rock ◽  
Design Method ◽  
Fuzzy Theory ◽  
Tunnel Boring Machine ◽  
Multi Objective ◽  
Tunnel Boring ◽  
Cutting Head ◽  
Lower Tool ◽  
Rock Tunnel

Along with the shearer's developed in the mining process, especially the rock tunnel boring roadway driving has become a major factor restricting the efficiency of coal, development of a suitable rock tunnel boring machine is very important, this paper use of rock excavation and after the release of stress concentration broken rock rolling theory, inverse problem approach using indirect parameters of the cutting head of, on the cutting head of the energy efficiency and the lowest maximum, minimum tool wear characteristics of multi-objective, were normalized, transformed into single objective problem, a genetic algorithm. The results showed that: the inversion of multi-objective design method is feasible to design a new type of driving hard rock cutting efficiency of institutions to provide 9%, compared with 20% reduction in energy consumption, lower tool wear 55.2% for the rock tunnel excavation needs.

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