论文部分内容阅读
According to the actual engineering problem that the precise load model of shield machine is difficult to achieve,a design method of sliding mode robust controller oriented to the automatic rectification of shield machine was proposed.Firstly,the nominal load model of shield machine and the ranges of model parameters were obtained by the soil mechanics parameters of certain geological conditions and the messages of the self-learning of shield machine by tunneling for previous segments.Based on this rectification mechanism model with known ranges of parameters,a sliding mode robust controller was proposed.Finally,the simulation analysis was developed to verify the effectiveness of the proposed controller.The simulation results show that the sliding mode robust controller can be implemented in the attitude rectification process of the shield machine and it has stronger robustness to overcome the soil disturbance.