《机电工程》杂志社科技期刊核心期刊论文投稿机电一体化机械、仪表电工自动化、计算机浙江大学主办

Introduction

International Standard Serial Number:

ISSN 1001-4551

Sponsor:

Zhejiang University;

Zhejiang Machinery and Electrical Group

Edited by:

Editorial of Journal of Mechanical & Electrical Engineering

Chief Editor:

ZHAO Qun

Vice Chief Editor:

TANG ren-zhong,

LUO Xiang-yang

Tel:

86-571-87041360,87239525

Fax:

86-571-87239571

Add:

No.9 Gaoguannong,Daxue Road,Hangzhou,China

P.C:

310009

E-mail:

meem_contribute@163.com

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: 454 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

Advanced Search

Online Office System

Chinese Core Periodicals
Chinese Sci-tech Core Periodicals
SA, INSPEC Indexed
CSA: T Indexed
UPD:Indexed