Research On Low Perturbation Position And Pressure Adaptive Nonlinear Control Technology Of TBM Main System In Mining Rock Roadway

Tunnel Boring Machine(TBM)can effectively improve the construction efficiency of coal mine roadway and ensure the normal mining and development replacement of coal mines,it is of great significance to realize the development of intelligent,less humanized,safe and efficient coal mine roadway excavation.According to the construction geological conditions and construction requirements of coal mine rock tunnels,this paper analyzes the load and driving force of the cutterhead under different rock formations,as well as the displacement and stress changes of the surrounding rock.on the basis of for the purpose of energy conservation and consumption reduction,to reduce the disturbance of surrounding rock,launches the TBM cutterhead speed,propulsion speed,position and pressure of support system of adaptive nonlinear control research.The interval number method is used to divide the TBM rock tunnel excavation stratum,and the load of the cutterhead system under the composite rock layer is analyzed.The simulation model of the TBM rock tunnel excavation is established through the EDEM 3D discrete element simulation software,and the tool setting is combined with the ANSYS finite element analysis software.The disk cuts different rock conditions for load and surrounding rock analysis,reveals the law of rock hardness,cutter head load and surrounding rock changes,and optimizes the structural parameters of the cutterhead stress concentration phenomenon during the tunneling process.The cutter head is in Under the same load,the optimized maximum equivalent stress value can be reduced by 77.3%,and the minimum life span can be increased by 85.6%.The nonlinear model and mechanical transmission model of the hydraulic drive system of the TBM cutterhead are established.According to the nonlinear adaptive robust control theory,an adaptive robust controller for the cutterhead speed considering the uncertainty of the hydraulic system is designed to ensure that the cutterhead On the basis of speed stability and rapidity,the tracking error of the controller is only ±0.035r/min,realizing precise speed control.Simulation and experiments show that,compared with the unimproved adaptive controller,the proposed controller has smaller steady-state error of speed tracking,better control effect,and can estimate unknown parameters of the cutterhead hydraulic drive system.The fault detection and diagnosis can provide auxiliary help.A nonlinear mechanical model of the propulsion hydraulic system is established,considering the influence of the propulsion pressure in the system on the speed,and the feedback linearization control method is adopted according to the mechanical model,and a TBM propulsion speed controller with integral feedback link is proposed to realize TBM hydraulic propulsion.The compensation of the speed nonlinearity in the system has been verified by simulation and experiment that the controller has better tracking effect than the PID controller commonly used in engineering,and the fast tracking ability under high frequency is better.The interaction between the surrounding rock and the support shoe during TBM tunneling is analyzed,and a composite control method for the position and pressure of the support shoe hydraulic system is proposed.The pressure and position nonlinear control models of the support system are established respectively,and the position of the hydraulic cylinder of the support system is designed.The output feedback controller,the introduction of the fuzzy switching controller realizes the flexible switching between the pressure fuzzy PID controller and the position controller.From the perspective of the parallel operation of the pressure and position control methods,the disturbance of the supporting shoes to the surrounding rock is reduced.Simulation and experiment verify that the proposed control method of the support shoe system is stable and effective.The design of the TBM electrical control system was completed,and the developed TBM realized the explosion-proof of the whole machine.Through the rock tunnel excavation experiments in Fangshan,Beijing and Qijiang,Chongqing,the effectiveness of the cutterhead speed control,thrust speed control and support system control in the TBM main system of this paper is verified.The paper has 74 figures,5 tables and 145 references.