Abstract: 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.

Key words: shield tunneling, load simulation, attitude control, experimental platform, model predictive control