基于干扰观测器的盾构推进系统非线性控制  

Nonlinear control of tunnel boring machine thrust system based on disturbance observer

作　　者：李明杰[1] 魏建华[1] 方锦辉[1] LI Mingjie;WEI Jianhua;FANG Jinhui(State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou 310027,China)

机构地区：[1]浙江大学流体动力与机电系统国家重点实验室,浙江杭州310027

出　　处：《中南大学学报（自然科学版）》2018年第8期1922-1928,共7页Journal of Central South University:Science and Technology

基　　金：国家高技术研究发展计划(863计划)项目(2012AA041804)~~

摘　　要：为了提高盾构推进系统在复杂地质中进行隧道掘进的精度和稳定性,提出1种基于干扰观测器、同时考虑推进液压系统中的模型不确定性和外部干扰非线性控制算法。建立推进系统的动力学模型,并通过反步设计法的李雅普若夫方程证明控制系统的稳定性。通过MATLAB和AMESim联合仿真以及MATLAB Simulink实时系统下的实验验证控制算法的有效性。研究结果表明:相比于传统PID控制算法,本文提出的控制算法的控制精度和抗干扰能力均有较大提高。To improve accuracy and stability of tunnel boring machine(TBM)thrust system that works under complicated geological conditions,nonlinear control strategy which takes both model uncertainties and external perturbations into consideration was proposed based on the disturbance observer.Dynamics model of the system was derived and stability of the overall closed-loop system was verified via backstepping based on Lyapunov theory.Validity of the proposed strategy was proved by MATLAB and AMESim co-simulation and by experiment conducted in MATLAB Simulink real-time system.The results show that compared with traditional PID strategy,the proposed strategy has better performance not only in control accuracy but also in perturbation attenuation.

关 键 词：盾构 干扰观测器 非线性控制 反步设计法 李雅普若夫方程 

分 类 号：TH137[机械工程—机械制造及自动化]