Research On Adaptive Control Of Full-Face Hard Rook Tunnel Boring Machine In Coal Mine

In order to solve the technical problems of the cutterhead speed control,cutterhead thrust speed control,attitude adjustment and correction path planning of the hard rock full-face Tunnel Boring Machine(TBM)in the mine shaft,the dynamic characteristics,control method and attitude adjustment strategy of the hydraulic system of TBM were studied.Based on the analysis of the mechanical structure and processes of tunneling cycle of TBM,taking into account the difference in the power density between the cutterhead drive hydraulic system and the thrust hydraulic system,Closed hydraulic system controlled by an electro-hydraulic proportional pressure-reducing valve which consists of variable displacement pump and a fixed displacement motor and cutterhead thrust open circuit Hydraulic System controlled by electro-hydraulic proportional flowrate regulating valve while consists of variable displacement pump and load sensitive multi-pattern valve was designed.Design of the hydraulic system should not only be simple and efficient,and should meet the automatic control requirements of the TBM as well.The main components of the hydraulic system were selected and the results of the selection were preliminarily verified.The relationship between the pressure and the torque of the hydraulic system was analyzed by simulation software.It is verified that the flow of the relief valve still meets the design requirements when the relief torque of the hydraulic system is output.The linear dynamic model and two-dimensional vibration model of the cutterhead drive hydraulic system are established.Based on the linear dynamic equation of the cutterhead drive system,an adaptive PID cutter speed controller based on BP neural network is designed.Simulation and experiment results show that the controller has faster response speed and better adaptability than ordinary PID controller.The mathematical model of the thrust hydraulic system was established,and the adaptive PID cutterhead thrust speed controller based on RBF neural network was designed.The average value of thrust pressure was used as the input variable,and the compound control of cutterhead thrust speed was realized.Under the condition of ensuring the constant thrust speed,the excessive adjustment of the equipment is reduced.Simulation and experimental results demonstrate that the control method has a good performance on the control of the thrust speed.The attitude adjustment process of the full-face TBM was analyzed,and the mathematical model for solving the piston position of the hydraulic cylinder is established.The fourth-order integral chain differential was used to estimate the uncertainty,velocity,and acceleration of the electro-hydraulic proportional control system of TBM.An integral sliding mode controller was designed to achieve precise control of the piston position of the hydraulic cylinder.The characteristics of the correction path when the TBM deviates from the planning axis are analyzed,and two correction path design methods are given.It is proved that when the starting and ending points of the correction path are the same,the double-arc correction path with the minimum turning radius is the optimal correction path.The correction path inflection point calculation method is deduced.The changing rule of the deflection angle of the TBM during straight turning and curve turning is analyzed,and the mathematical relation between the minimum turning radius and the thrust distance of the thrust work cycle is deduced,which lays a theoretical foundation for the engineering construction.Realized the hardware and software design of the adaptive control system for the mine hard rock TBM.The structural characteristics and explosion-proof characteristics of the full-face TBM are analyzed.Through the tunneling experiments under different geological conditions in Beijing and Chongqing,the correctness of the hydraulic system design of the tunneling machine,adaptive control of the cutterhead speed,adaptive control of the cutterhead thrust speed,and adaptive control of the attitude adjustment are proved.The paper has 91 figures,4 tables and 132 references.