关键词: 盾构, 推进系统, 姿态控制, 自适应, 轨迹跟踪控制

Abstract:

In order to improve the control accuracy and control performance of attitude control system of shield during construction, a control strategy for shield boring attitude is proposed. In this strategy, the trajectory automatic tracking control method is combined with fuzzy adaptive PID closedloop control algorithm; and the speed control of each partition hydraulic cylinder is realized by multiple closedloop feedback of trajectory, displacement and pressure, so as to ensure the shield is boring along the design axis of tunnel. Meanwhile, the thrust system of electrohydraulic control experimental platform is used to verify the effectiveness of the abovementioned strategy. The results show that the proposed control strategy can guarantee the displacement deviation within 5 mm, which can meet the construction requirements.

Key words: shield, thrust system, attitude control, adaptation, trajectory tracking control