针对盾构掘进位姿控制试验中负载模拟与控制算法验证需求，研制一套集成负载模拟、高精度测量与控制算法验证功能的盾构掘进位姿控制试验平台，并开展基于模型预测控制（MPC）算法的位姿控制试验。平台采用机械、液压、电控、软件一体化设计，构建由六油缸非均布推进系统、正面负载模拟系统、盾周负载模拟系统及综合测控系统组成的试验体系； 其中，采用“液压油缸+弹簧阻尼器”组合方案协同模拟正面负载与盾周约束，控制层通过LabVIEW与MATLAB混编实现MPC控制器在线求解。主要结论如下： 1）研发的试验平台可满足位姿控制试验需求； 2）MPC控制器可基于当前实测状态对未来位姿响应进行多步预测，并通过“反馈校正-滚动优化”的方式实现前瞻性纠偏调节； 3）均匀负载条件下，盾体推进速度总体平稳，俯仰角和偏航角均围绕0°附近小幅波动，而在非均匀负载工况下MPC控制器能够根据位姿偏差趋势及时调整分区油缸推力，有效抑制了俯仰角和偏航角偏差，为复杂负载工况下盾构掘进位姿控制提供了试验验证和方法参考。
Shield tunneling attitude-control tests require load simulation and control-algorithm validation. Accordingly, an experimental platform integrating load simulation, high-precision measurement, and control-algorithm verification is developed. Attitude-control experiments are conducted using a model predictive control (MPC) algorithm. The platform adopts a mechanical-hydraulic-electrical integrated design and consists of a nonuniform six-cylinder propulsion system, a frontal load simulation system, a shield-peripheral load simulation system, and a comprehensive measurement and control system. Frontal and peripheral loads are simulated collaboratively using a combination of hydraulic cylinders and spring-damper elements, while the control layer implements an online MPC solver through a LabVIEW-MATLAB co-simulation framework. The research results demonstrate the following: (1) The developed test platform meets the requirements for attitude-control experiments. (2) The MPC controller can perform multi-step prediction of future attitude responses based on the current measured state and achieve proactive correction via a feedback-based rolling optimization strategy. (3) Under uniform loading conditions, the shield propulsion speed remains generally stable, while the pitch and yaw angles fluctuate slightly around 0°. However, under nonuniform loading conditions, the MPC controller adjusts the thrust of individual cylinders according to attitude deviation trends, effectively suppressing pitch and yaw deviations. This work provides experimental validation and a methodological reference for attitude control in shield tunneling under complex loading conditions.
