Skip to main content
SpringerLink
Log in

Pressure regulation for earth pressure balance control on shield tunneling machine by using adaptive robust control

  • Crossing and Frontier
  • Published:
Chinese Journal of Mechanical Engineering Submit manuscript

Abstract

Most current studies about shield tunneling machine focus on the construction safety and tunnel structure stability during the excavation. Behaviors of the machine itself are also studied, like some tracking control of the machine. Yet, few works concern about the hydraulic components, especially the pressure and flow rate regulation components. This research focuses on pressure control strategies by using proportional pressure relief valve, which is widely applied on typical shield tunneling machines. Modeling of a commercial pressure relief valve is done. The modeling centers on the main valve, because the dynamic performance is determined by the main valve. To validate such modeling, a frequency-experiment result of the pressure relief valve, whose bandwidth is about 3 Hz, is presented as comparison. The modeling and the frequency experimental result show that it is reasonable to regard the pressure relief valve as a second-order system with two low corner frequencies. PID control, dead band compensation control and adaptive robust control (ARC) are proposed and simulation results are presented. For the ARC, implements by using first order approximation and second order approximation are presented. The simulation results show that the second order approximation implement with ARC can track 4 Hz sine signal very well, and the two ARC simulation errors are within 0.2 MPa. Finally, experiment results of dead band compensation control and adaptive robust control are given. The results show that dead band compensation had about 30° phase lag and about 20% off of the amplitude attenuation. ARC is tracking with little phase lag and almost no amplitude attenuation. In this research, ARC has been tested on a pressure relief valve. It is able to improve the valve’s dynamic performances greatly, and it is capable of the pressure control of shield machine excavation.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. ANAGNOSTOU G, KOVARI K. Face stability conditions with earth-pressure-balanced shields[J]. Tunnelling and Underground Space Technology, 1996, 11(2): 165–173.

    Article  Google Scholar 

  2. BABENDERERDE S, HOEK E, MARINOS P G, et al. EPB-TBM face support control in the Metro do Porto project, Portugal[C]//Proceedings 2005 Rapid Excavation & Tunneling Conference, Seattle, USA, 2005: 1–12.

    Google Scholar 

  3. MAIDL U. Geotechnical and mechanical interactions using the earth-pressure balanced shield technology in difficult mixed face and hard rock conditions[C]//Proceedings of the 31st ITA-AITES World Tunnel Congress, Istanbul, Turkey, 7–12 May, 2005: 723–728.

    Google Scholar 

  4. LIU Xuanyu, SHAO Cheng, MA Haifeng, et al. Optimal earth pressure balance control for shield tunneling based on LS-SVM and PSO[J]. Automation in Construction, 2011, 20(4): 321–327.

    Article  Google Scholar 

  5. PEILA D, OGGERI C, VINAI R. Screw conveyor device for laboratory tests on conditioned soil for EPB tunneling operations[J]. Journal of Geotechnical and Geoenvironmental Engineering, 2007, 133(12): 1622–1625.

    Article  Google Scholar 

  6. MAYNAR M J M, RODRIGUEZ L E M. Discrete numerical model for analysis of earth pressure balance tunnel excavation[J]. Journal of Geotechnical and Geoenvironmental Engineering, 2005, 131(10): 1234–1242.

    Article  Google Scholar 

  7. SUGIMOTO M, SRAMOON A. Theoretical model of shield behavior during excavation. I: Theory[J]. Journal of Geotechnical and Geoenvironmental Engineering, 2002, 128(2): 138–155.

    Article  Google Scholar 

  8. SRAMOON A, SUGIMOTO M, KAYUKAWA K.Theoretical model of shield behavior during excavation. II: Application[J]. Journal of Geotechnical and Geoenvironmental Engineering, 2002, 128(2): 156–165.

    Article  Google Scholar 

  9. MANABE T, TANNO M, MATSUMOTO M, et al. Automatic direction control technique for microtunneling machine[C]//Industrial Electronics Society, 1999. IECON ’99 Proceedings, San Jose, CA, USA, 29 Nov–3 Dec, 1999: 1295–1300.

    Google Scholar 

  10. ZHU Hehua, XU Qianwei, ZHENG Qizhen, LIAO Shaoming. Experimental study on the working parameters of EPB shield Tunneling in soft ground[J]. China Civil Engineering Journal, 2007, 29(12): 1849–1857. (in Chinese)

    Google Scholar 

  11. SACZYNSKI T M, PEARCE M, ELIOFF A. Monitoring Earth Pressure Balance Tunnels in Los Angeles[C]//Seventh International Symposium on Field Measurements in Geomechanics, Boston, MA, USA, Sept. 24–27, 2007: 1–12.

    Google Scholar 

  12. TRUONG D Q, AHN K K. Force control for hydraulic load simulator using self-tuning grey predictor-fuzzy PID[J]. Mechatronics, 2009, 19(2): 233–246.

    Article  Google Scholar 

  13. KILIC E, DOLEN M, KOKU A B, et al. Accurate pressure prediction of a servo-valve controlled hydraulic system[J]. Mechatronics, 2012, 22(7): 997–1014.

    Article  Google Scholar 

  14. OPDENBOSCH P, SADEGH N, BOOK W. Intelligent controls for electro-hydraulic poppet valves[J]. Control Engineering Practice, 2013, 21(6): 789–796.

    Article  Google Scholar 

  15. YANG Huayong, SHI Hu, GONG Guofang, et al. Electro-hydraulic proportional control of thrust system for shield tunneling machine[J]. Automation in Construction, 2009, 18(7): 950–956.

    Article  Google Scholar 

  16. XIE Haibo, DUAN Xiaoming, YANG Huayong, et al. Automatic trajectory tracking control of shield tunneling machine under complex stratum working condition[J]. Tunnelling and Underground Space Technology, 2012, 32: 87–97.

    Article  Google Scholar 

  17. CHEN Kui, WANG Haixia. The electro-hydraulic control system design of shield test platform[C]//2012 International Conference on Measurement, Information and Control (MIC), Harbin, China, 18–20 May, 2012: 900–906.

    Chapter  Google Scholar 

  18. KRSTIC M, KANELLAKOPOULOS I, KOKOTOVIC P V. Nonlinear and adaptive control design[M]. New York: John Wiley & Sons, Inc., 1995.

    MATH  Google Scholar 

  19. YAO Bin. High performance adaptive robust control of nonlinear systems: A general framework and new schemes[C]//Proc. of the 36th IEEE Decision and Control, San Diego, CA, USA, 10–12 Dec, 1997: 2489–2494.

    Google Scholar 

  20. YAO Bin, TOMIZUKA M. Adaptive robust control of SISO nonlinear systems in a semi-strict feedback form[J]. Automatica, 1997, 33(5): 893–903.

    Article  MathSciNet  MATH  Google Scholar 

  21. YAO Bin, MAJED M A, TOMIZUKA M. High-performance robust motion control of machine tools: An adaptive robust control approach and comparative experiments[J]. IEEE/ASME Transaction on Mechatronics, 1997, 2(2): 63–76.

    Article  Google Scholar 

  22. YAO Bin, BU Fangping, REEDY J T, et al. Adaptive robust control of single-rod hydraulic actuators: Theory and Experiments[J]. IEEE/ASME Transactions on Mechatronics, 2000, 5(1): 79–91.

    Article  Google Scholar 

  23. YAO Bin, BU Fangping, CHIU G C T. Nonlinear adaptive robust control of electro-hydraulic systems driven by double-rod actuators[J]. International Journal of Control, 2001, 74(8): 761–775.

    Article  MATH  Google Scholar 

  24. MOHANTY A, YAO Bin. Integrated direct/indirect adaptive robust control of hydraulic manipulators with valve deadband[J]. IEEE/ASME Transactions on Mechatronics, 2011, 16(4): 707–715.

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China

    Haibo Xie, Zhibin Liu & Huayong Yang

Authors
  1. Haibo Xie
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Zhibin Liu
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Huayong Yang
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Zhibin Liu.

Additional information

Supported by National Natural Science Funds of China (Grant No. 51275451), National Basic Research Program of China (973 Program, Grant No. 2013CB035404), Science Fund for Creative Research Groups of National Natural Science Foundation of China (Grant No. 51221004), and National Hi-tech Research and Development Program of China (863 Program, Grant No. 2013AA040203)

XIE Haibo, born in 1975, received his PhD degree from Zhejiang University, China, in 2004, and now works as an associate professor at State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, China. His current research interests include mobile hydraulic control systems and components, tunneling boring machine driving technique.

LIU Zhibin, born in 1985, is currently a PhD candidate at State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, China. His current research interests include electro-hydraulic system on shield tunneling machine.

YANG Huayong received his PhD degree from Bath University, UK, in 1988, and now works as a professor at State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, China. His current research interests include motion control, energy saving of mechatronic systems, fluid power component and system development.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Xie, H., Liu, Z. & Yang, H. Pressure regulation for earth pressure balance control on shield tunneling machine by using adaptive robust control. Chin. J. Mech. Eng. 29, 598–606 (2016). https://doi.org/10.3901/CJME.2016.0330.042

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.3901/CJME.2016.0330.042

Keywords

Search

Navigation