Nonlinear control of electro-hydraulic screw conveyor system for shield machine based on disturbance observer and back-stepping method

Liu Xuanyu, Cheng Xunlei
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引用次数: 0

Abstract

In order to improve the precision of earth pressure balance control and anti-interference ability of shield sealing chamber, this paper proposes a nonlinear control strategy for the screw conveyor based on disturbance observer and back-stepping method, so as to ensure the safe and efficient tunneling of the shield machine. According to the hydraulic flow dynamic balance principle of shield machine, the mechanism model of electro-hydraulic screw conveyor system is established, and the system state space model is derived. The nonlinear controller of the screw conveyor is designed by using the inverse step method and the disturbance observer compensation characteristic, so that the system responds quickly and compensates for the flow disturbance and external force disturbance in real time. At last, the system stability is proven by using the Lyapunov function. The experimental results show that the method has high control accuracy with fast response and strong anti-interference ability.

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基于扰动观测器和后步法的盾构机电动液压螺旋输送系统非线性控制
为提高土压平衡控制精度和盾构密封舱抗干扰能力,本文提出了基于扰动观测器和后步法的螺旋输送机非线性控制策略,以确保盾构机安全高效掘进。根据盾构机的液流动平衡原理,建立了电液螺旋输送机系统的机理模型,并导出了系统状态空间模型。利用逆步进法和扰动观测器补偿特性,设计了螺旋输送机非线性控制器,使系统对流量扰动和外力扰动做出快速响应和实时补偿。最后,利用 Lyapunov 函数证明了系统的稳定性。实验结果表明,该方法控制精度高、响应速度快、抗干扰能力强。
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