文章摘要
张杭军,方锦辉,杨宇柱,胡惠兵.基于自适应滑模控制的刀盘伸缩系统研究[J].机床与液压,2022,50(12):1-5.
ZHANG Hangjun,FANG Jinhui,YANG Yuzhu,HU Huibing.Research on Cutterhead Telescopic System Based on Adaptive Sliding Mode Control[J].Machine Tool & Hydraulics,2022,50(12):1-5
基于自适应滑模控制的刀盘伸缩系统研究
Research on Cutterhead Telescopic System Based on Adaptive Sliding Mode Control
  
DOI:10.3969/j.issn.1001-3881.2022.12.001
中文关键词: 伸缩刀盘  非线性控制  位置跟随  自适应性
英文关键词: Cutterhead telescopic  Nonlinear control  Position tracking  Adaptability
基金项目:
作者单位E-mail
张杭军 浙江大学流体动力与机电系统国家重点实验室 zjuzhj@qq.com 
方锦辉   
杨宇柱   
胡惠兵   
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中文摘要:
      为方便更换磨损的刀具或者在复杂地层中有效地脱困,设计一种基于自适应滑模控制的泥水盾构刀盘伸缩系统。该系统有若干个相同的伸缩缸,建立伸缩缸系统的数学模型。结合滑模控制和自适应鲁棒控制,设计非线性控制器。通过李雅普诺夫理论验证伸缩缸系统的稳定性。利用AMESim和Simulink联合仿真验证所提控制策略的有效性。结果表明:所设计的刀盘伸缩系统位置跟随精度较高,自适应性较好。
英文摘要:
      To replace cutterhead worn tools conveniently or get rid of shield’〖KG-*3〗s jamming effectively in complicated stratum, a slurry shield cutterhead telescopic system based on adaptive sliding mode control was designed. The cutterhead system included several same telescopic cylinders, and a mathematical model of telescopic cylinder system was developed. A nonlinear controller was designed combining sliding mode control and adaptive robust control. The stability of closed-loop system was verified via Lyapunov theory. Validity of the proposed strategy was proved by using AMESim and Simulink co-simulation. The results show that the designed cutterhead telescopic system not only has excellent position tracking accuracy, but also has great adaptability.
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