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Indexed by:期刊论文

Date of Publication:2012-07-01

Journal:ICIC Express Letters

Included Journals:EI、Scopus

Volume:6

Issue:7

Page Number:1703-1711

ISSN No.:1881803X

Abstract:The load forces acting on the shield tunneling machine are tremendous and unpredictable due to the sophisticated underground geological structure and the complex excavating circumstance. To realize the automatic excavation of shield machine, a dynamic model is derived according to a practical electrohydraulic thrusting system of shield machine. Meanwhile, to reduce the energy losses and enhance smooth tunneling performance, a Lyapunov-based adaptive control scheme is proposed based on backstep-ping technique, by which an estimation force can be adopted in the controller and it can adaptively compensate the changeable load forces acting on the hydraulic cylinders of the shield. Different from the traditional isolated position or force control strategy, this adaptive approach could not only guarantee the position tracking performance, but also adopt appropriate estimated load force to construct the system controller. Simulation results demonstrate that the proposed adaptive force compensation strategy is simple, practical, and efficient for shield excavating application. ? 2012 ICIC International.