黑龙江科技大学学报2025，Vol.35Issue(2)：307-313,7.DOI:10.3969/j.issn.2095-7262.2025.02.021
全断面掘进机刀盘驱动系统滑模自适应鲁棒控制
Silding mode adaptive robust control for cutterhead driving system of TBMs
摘要
Abstract
This paper is directed at addressing the low and unstable tracking accuracy of cutterhead rotational speed of the full-section tunneling machine caused by sudden changes in excavation load under different geological environments,and proposes an adaptive robust control strategy combining sliding mode control.Based on Lagrangian dynamics,the study involves designing a sliding mode adaptive ro-bust controller,compensating the parameter uncertainties and external disturbances by the exponential convergence law and mapping adaptive algorithm;and proving the stability of the system with Lyapunov theory.The simulation results show that the silding mode adaptive robust control has good anti-interference ability with the steady-state error range of SMARC by±0.02 r/min,which is73.96%lower than that of ARC.关键词
全断面掘进机/刀盘驱动系统/滑模控制/自适应鲁棒控制Key words
TBM/cutterhead driving system/silding mode control/adaptive robust control分类
信息技术与安全科学引用本文复制引用
沈显庆,杨泽,张悦,刘若涵..全断面掘进机刀盘驱动系统滑模自适应鲁棒控制[J].黑龙江科技大学学报,2025,35(2):307-313,7.基金项目
黑龙江省省属高等学校基本科研业务费科研项目(2022-KYYWF-0549) （2022-KYYWF-0549）
国家自然科学基金项目(52104130) （52104130）
