基于自适应滑模控制的刀盘伸缩系统研究

Research on Cutterhead Telescopic System Based on Adaptive Sliding Mode Control

为方便更换磨损的刀具或者在复杂地层中有效地脱困,设计一种基于自适应滑模控制的泥水盾构刀盘伸缩系统。该系统有若干个相同的伸缩缸,建立伸缩缸系统的数学模型。结合滑模控制和自适应鲁棒控制,设计非线性控制器。通过李雅普诺夫理论验证伸缩缸系统的稳定性。利用AMESim和Simulink联合仿真验证所提控制策略的有效性。结果表明:所设计的刀盘伸缩系统位置跟随精度较高,自适应性较好。

To replace cutterhead worn tools conveniently or get rid of shield’s jamming effectively in complicated stratum,a slurry shield cutterhead telescopic system based on adaptive sliding mode control was designed.The cutterhead system included several same telescopic cylinders,and a mathematical model of telescopic cylinder system was developed.A nonlinear controller was designed combining sliding mode control and adaptive robust control.The stability of closed-loop system was verified via Lyapunov theory.Validity of the proposed strategy was proved by using AMESim and Simulink co-simulation.The results show that the designed cutterhead telescopic system not only has excellent position tracking accuracy,but also has great adaptability.