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Deviation correction control strategy of full-face shaft roadheader based on dynamic model
Published:2023-06-25 author:XU Zeng-jian, LI Ge-qiang, DONG Zhen-le,et al. Browse: 1250 Check PDF documents
Deviation correction control strategy of full-face shaft roadheader 
based on dynamic model


XU Zeng-jian1, 3, LI Ge-qiang1, 3, DONG Zhen-le2, 3, WANG Shuai1, 3

(1.School of Mechanical and Electrical Engineering, Henan University of Science and Technology, Luoyang 

471003, China; 2.School of Vehicle and Traffic Engineering, Henan University of Science and Technology, 

Luoyang 471003, China; 3.Collaborative Innovation Center of Machinery Equipment Advanced 
Manufacturing of Henan Province, Luoyang 471003, China)


Abstract:  Aiming at the problem of deviations in the construction process of full-section vertical shaft boring machines, based on dynamic model,a control strategy(an error sign integral robust controller, RISE) was proposed. Firstly,according to the working principle of the tunneling machine,the three-dimensional deflection problem in tunneling space was decomposed into two-dimensional problems in the vertical plane. Then, the deviation correction scheme which involved alternating coordination of the propulsion and support systems under deflection states was planned. A dynamic model of shaft boring machine correction was established by using Lagrange energy and the unknown environmental disturbances were taken into account. An error sign integral robust controller was designed by using this model, and its stability was verified by the Lyapunov method. Finally, a section of the trajectory of the whole correction process was modeled and verified on MATLAB/Simulink. The control effect of the error sign integral robust controller was verified. The simulation results indicate that comparing with the proportional integral derivative(PID) controller and the feedback linearized controller(FLC), the error sign integral robust controller can reduce the tracking error of the maximum correction angle by 83.3% and 68.6%, and reduce the tracking error of the maximum correction displacement by 86.8% and 66.4%. The results indicate that the error sign integral robust controller has a higher level of control accuracy for the correction trajectory.

Key words:  shaft boring machine; Lagrange energy; maximum deviation correction angle; tracking error; robust integral control; control accuracy for correction trajectory

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