Advancing Control for Shield Tunneling Machine by Backstepping Design with LuGre Friction Model | Zendy

Haibo Xie | Zendy; Zhibin Liu | Zendy; Huayong Yang | Zendy

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Advancing Control for Shield Tunneling Machine by Backstepping Design with LuGre Friction Model

Author(s) -

Haibo Xie,

Zhibin Liu,

Huayong Yang

Publication year - 2014

Publication title -

mathematical problems in engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.262

H-Index - 62

eISSN - 1026-7077

pISSN - 1024-123X

DOI - 10.1155/2014/475191

Subject(s) - backstepping , controller (irrigation) , control theory (sociology) , momentum (technical analysis) , engineering , tracking (education) , transient (computer programming) , shield , front (military) , control engineering , computer science , control (management) , mechanical engineering , adaptive control , geology , artificial intelligence , petrology , psychology , pedagogy , finance , agronomy , economics , biology , operating system

Shield tunneling machine is widely applied for underground tunnel construction. The shield machine is a complex machine with large momentum and ultralow advancing speed. The working condition underground is rather complicated and unpredictable, and brings big trouble in controlling the advancing speed. This paper focused on the advancing motion control on desired tunnel axis. A three-state dynamic model was established with considering unknown front face earth pressure force and unknown friction force. LuGre friction model was introduced to describe the friction force. Backstepping design was then proposed to make tracking error converge to zero. To have a comparison study, controller without LuGre model was designed. Tracking simulations of speed regulations and simulations when front face earth pressure changed were carried out to show the transient performances of the proposed controller. The results indicated that the controller had good tracking performance even under changing geological conditions. Experiments of speed regulations were carried out to have validations of the controllers

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