Indirect Adaptive Robust Trajectory Tracking Control of Hard Rock TBM with Load Variation of Tunneling Face

Abstract

Posture adjustment of open-type hard rock tunnel boring machine (TBM) can be achieved by properly adjusting the hydraulic pressure of gripper cylinder and torque cylinders. However, the time-varying inhomogeneous load acting on tunneling face of TBM and complex stratum working condition can cause the trajectory deviation. In this paper, the position and posture rectification kinematics and dynamics models of TBM have been established in order to track the trajectory. Moreover, there are uncertain parameters and uncertain loads from complex working conditions in the dynamic model. An indirect adaptive robust control strategy is applied to achieve precise position and posture trajectory tracking control. Simulation results show when the position deviation only occurs in Y-axis and the current orientation is parallel with the designed axis, the deviation can be corrected by controlling the pressure of gripper cylinder and the actual trajectory meets the designed axis when TBM is pushed forward 0.14 m in X-axis. If the deviation only occurs in Z-axis, then the deviation can be corrected by controlling torque cylinders. If the position deviation occurs both in Y-axis and Z-axis at the same time, the pressure of gripper cylinder and torque cylinders should be controlled at the same time to rectify the deviation. Simulation results are shown to illustrate the effectiveness and robustness of the proposed controller. This research proposes an indirect adaptive robust controller that can track the planned tracking trajectory smoothly and rapidly. which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

Nonlinear Static and Dynamic Stiffness Characteristics of Support Hydraulic System of TBM

“…During the excavation process, gripper shoes support the rock, relying on the output force of the gripper cylinder to provide the counter-force and counter-torque needed for excavating, and Figure 2 shows the working state of an gripper cylinder [25].…”

Failure mechanism investigation of tunnel face subjected to high hydraulic pressure

“…For theoretical methods, in consideration of the effective stress and the seepage force, the limit support pressure, which is calculated by the limit equilibrium method, is required to stabilize the stability of the tunnel face (Wang et al, 2019;Wu et al, 2021). Simultaneously, the limit equilibrium method was also used to analyze how both the hydraulic heterogeneity and the advance drainage influence the stability of tunnel face (Li et al, 2020;Su, 2019;Zingg and Anagnostou, 2018).…”

A Theoretical Method and Model for TBM Tunnelling Trajectory Adjustment

“…The first category focuses on controlling the tunnelling direction of the TBM by adjusting the tunnelling parameters, primarily the stroke of thrust and gripper cylinders. For example, Shao et al built a three-dimensional tunnelling directioncontrolling dynamic model which was used to adjust the tunnelling direction according to the need by controlling the thrust and gripper cylinders [5,6]. Zhou et al used a hybrid method including a convolutional neural network (CNN) and a long-term and shortterm memory network (LSTM) to establish a relationship model with multiple tunnelling parameters as the input and the horizontal and vertical tunnelling attitude as the output, and this model can be used to predict the TBM tunnelling direction [7].…”