全断面掘进机刀盘驱动系统滑模自适应鲁棒控制  

Silding mode adaptive robust control for cutterhead driving system of TBMs

作　　者：沈显庆 杨泽 张悦 刘若涵 Shen Xianqing;Yang Ze;Zhang Yue;Liu Ruohan(School of Electrical Engineering&Control Engineering,Heilongjiang University of Science&Technology,Harbin 150022,China)

机构地区：[1]黑龙江科技大学电气与控制工程学院,哈尔滨150022

出　　处：《黑龙江科技大学学报》2025年第2期307-313,共7页Journal of Heilongjiang University of Science And Technology

基　　金：黑龙江省省属高等学校基本科研业务费科研项目(2022-KYYWF-0549);国家自然科学基金项目(52104130)。

摘　　要：针对不同地质环境下,掘进载荷突变使全断面掘进机刀盘转速跟踪精度差、不稳定等问题,提出一种结合滑模控制的自适应鲁棒控制策略。基于拉格朗日动力学建立刀盘驱动系统动力学模型,设计滑模自适应鲁棒控制器,通过指数趋近律与映射自适应算法补偿参数的不确定性及外部扰动,采用Lyapunov理论证明系统稳定性。结果表明,SMARC稳态误差范围为±0.02 r/min,较ARC稳态误差降低73.96%,具有良好的抗干扰能力。This paper is directed at addressing the low and unstable tracking accuracy of cutterhead rotational speed of the full-section tunneling machine caused by sudden changes in excavation load under different geological environments,and proposes an adaptive robust control strategy combining sliding mode control.Based on Lagrangian dynamics,the study involves designing a sliding mode adaptive robust controller,compensating the parameter uncertainties and external disturbances by the exponential convergence law and mapping adaptive algorithm;and proving the stability of the system with Lyapunov theory.The simulation results show that the silding mode adaptive robust control has good anti-interference ability with the steady-state error range of SMARC by±0.02 r/min,which is 73.96%lower than that of ARC.

关 键 词：全断面掘进机 刀盘驱动系统 滑模控制 自适应鲁棒控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]