Huabei Wang

To address the challenges in controlling a Tunnel Boring Machine (TBM) equipped with a V-type propulsion system during excavation, a digging attitude control strategy based on a nonlinear controller is introduced. First, the mathematical models of the V-type propulsion hydraulic system and the propulsion system’s attitude are developed, followed by an analysis of the system’s nonlinearities and susceptibility to strong disturbances. Second, a nonlinear control strategy tailored to the propulsion system’s characteristics is devised to regulate the digging attitude of the V-TBM. Finally, the proposed nonlinear control strategy is validated through comprehensive simulations and experimental evaluations. Simulation results demonstrate that the proposed nonlinear control strategy outperforms traditional PID control in attitude regulation performance. Field experiments reveal that the TBM achieves an average horizontal error of less than 20 mm and a vertical error of less than 22 mm in circular curve boring. This validates the strategy’s effectiveness in enabling rapid tracking and adjustment of the tunnel boring axis, meeting the stringent demands of small-radius curved boring.