Positioning Precision and Impact Force Control of Segment Erector for Shield Tunneling Machine

Abstract

This paper deals with the control system of the segment erector of a shield tunneling machine and reducing the steady-state error and impact force during the positioning process. A segment erector with six degrees of freedom driven by electro-hydraulic system is designed, and the segment erecting process is introduced. The kinematics and dynamics models, as well as the mathematical model of the electro-hydraulic system are proposed to facilitate the positioning process and joint force analysis. Three different segment positioning control strategies are employed separately, and comparisons are made in terms of precision and impact force. Special reference speed and displacement/angle run curves are selected to control the segment positioning process. Simulations are carried out to calculate the impact force and positioning error. The simulation results verify the validity of each proposed control system.