基于动力学模型的全断面竖井掘进机纠偏控制策略

Deviation correction control strategy of full-face shaft roadheader based on dynamic model

针对全断面竖井掘进机施工过程中易出现钻进偏斜的问题,提出了一种基于动力学模型的纠偏控制策略(误差符号积分鲁棒控制器,RISE)。首先,根据掘进机的组成和工作原理,将三维掘进空间内的偏斜问题分解为两个垂直平面内的二维偏斜问题,并规划了偏斜状态下的纠偏方案;其次,采用拉格朗日能量法建立了考虑未知环境干扰的掘进机纠偏动力学模型,并基于该模型,设计了误差符号积分鲁棒控制器,运用李雅普诺夫方法对控制器的稳定性进行了验证;最后,选取了整个纠偏过程的一段轨迹,在MATLAB/Simulink平台上进行了建模仿真,对误差符号积分鲁棒控制器的控制效果进行了验证。仿真结果表明:相较比例-积分-微分(PID)控制器和反馈线性化控制器(FLC),误差符号积分鲁棒控制器最大纠偏角度跟踪误差分别降低了83.3%和68.6%,最大纠偏位移跟踪误差分别降低了86.8%和66.4%。研究结果表明,该纠偏控制策略具有较高的纠偏轨迹控制精度。

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.