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. 2022 May 24;17(5):e0268897.
doi: 10.1371/journal.pone.0268897. eCollection 2022.

Disturbance observer-based adaptive position control for a cutterhead anti-torque system

Hangjun Zhang  1 , Jinhui Fang  1 , Huan Yu  2 , Huibin Hu  1 , Yuzhu Yang  1
Affiliations

Disturbance observer-based adaptive position control for a cutterhead anti-torque system

Hangjun Zhang et al. PLoS One. .

Abstract

To conveniently replace worn cutterhead tools in complicated strata, a novel cutterhead attitude control mechanism was recently designed. Meanwhile, the mechanism also causes an engineering problem of how to control a matching cutterhead anti-torque system (CATS) effectively, which is used to prevent a drive box of the cutterhead from rotation during a complex excavation process. In this paper, a disturbance observer-based adaptive position controller is proposed for the CATS. The proposed method presents a nonlinear adaptive controller with adaptation laws to compensate for the unknown time-varying load torque and damping uncertainty in the system. Based on the disturbance observer method and sliding mode control, an asymptotically stable controller proven by Lyapunov theory is constructed using the back-stepping technique. In addition, a virtual test rig based on MATLAB and AMESim co-simulation is built to verify the validity of the proposed controller. The simulation results show that the proposed method has good performance for tracking tasks in the presence of uncertainties compared with PID control. Together, the data support targeting disturbance observer-based adaptive position control as a potential control strategy for cutterhead anti-torque systems.

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Conflict of interest statement

The authors have declared that no competing interests exist.

Figures

Fig 1
Fig 1. Cutterhead anti-torque system mechanism schematic.
1-Cutterhead, 2-Radial joint bearing, 3-Drive box, 4-Torque cylinder, 5-Motor, 6-Posture cylinder, 7-Support seat.
Fig 2
Fig 2. Schematic diagram of the hydraulic system.
1-Servo proportional valve, 2-Directional valve, 3-Fixed orifice, 4-Pressure relief valve, 5-Pressure sensor, 6.1-Torque cylinder I, 6.2 Torque cylinder II, 6.3-Torque cylinder III, 6.4- Torque cylinder IV, 7-Displacement sensor.
Fig 3
Fig 3. Block diagram of the controller structure.
Fig 4
Fig 4. Virtual test rig of the CATS.
1-AMESim simulation model of the CATS, 1.1-Load cylinder, 1.2-Mechanism, 1.3-Torque cylinder, 2-Virtual 3D structure built by AMESim, 3-MATLAB control algorithm.
Fig 5
Fig 5. Tracking performance (a) and control input voltages (b) of the two controller methods.
Fig 6
Fig 6. Sliding mode surface (a) and pressure in the rodless chamber of the active torque cylinder (b).
Fig 7
Fig 7. Velocity estimation (a) and torque and friction coefficient estimation (b).
See this image and copyright information in PMC

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