【摘要】 由于巷道掘进机回转液压系统具有非线性时变的特点，其控制精度低，在巷道掘进时易出现超欠挖等问题，基于此，设计一种基于线性时变模型预测控制的控制器用于控制掘进机回转系统，以实现巷道快速自动掘进。首先，建立巷道掘进机回转电液伺服系统数学模型，获得系统非线性状态空间方程；其次，为简化计算过程，提高实时控制性，采用状态轨迹法对非线性系统进行线性化处理，并设计模型预测控制器；最后，采用虚拟样机技术对巷道掘进机回转系统进行联合仿真。仿真结果表明：在所设计控制器作用下回转系统活塞杆的最大跟踪误差为0.5 mm,该误差在施工允许范围内，其跟踪精度和系统稳定优于自适应和PID控制器，可以实现对巷道掘进机回转系统的精确控制，避免巷道掘进施工时超欠挖，由此验证了所设计线性时变模型预测控制器的有效性。更多还原

【Abstract】 Due to the nonlinear time-varying characteristics of the rotary hydraulic system of tunnel boring machines, the control accuracy is low, and problems such as overcutting and undercutting occur during tunneling. A controller based on linear time-varying model predictive control is designed to control the rotary system of tunnel boring machines, so as to realize fast automatic tunneling.Firstly, the mathematical model of the rotary electro-hydraulic servo system of the tunnel boring machine is established, and the nonlinear state space equation of the system is obtained.Secondly, in order to simplify the calculation process and improve the real-time control, the state trajectory method is used to linearize the nonlinear system, and the model prediction controller is designed.Finally, virtual prototyping technology is used to simulate the rotary system of the tunnel boring machine. The simulation results show that under the action of the designed controller, the maximum tracking error of the piston rod of the rotating system is 0.5mm, which is within the allowable range of construction. The tracking accuracy and system stability are better than that of the adaptive and PID controllers, which can realize the accurate control of the rotating system of the tunnel boring machine and avoid overcutting during the construction of the tunnel. Thus, the validity of the linear time-varying model predictive controller is verified.更多还原