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

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.