基于内模重复与自适应复合控制的位置伺服系统

针对传统全断面盾构机姿态调整位置精度难以控制的难题，采用复合控制策略实现位置精度控制。利用模糊控制智能非线性特点在线整定PID参数提高与增强位置伺服系统的自适应与抗干扰能力，同时引入内模重复控制策略进一步优化位置伺服系统的控制精度。通过Simulink/AMEsim联合仿真实现全断面盾构机位置伺服系统的控制与液压系统相联合，实验验证复合策略使设备抗干扰能力与自适应跟踪性能稳步提高，并在矿井巷道试验中取得较好试验结果。

Position Servo System Based on Internal Model Repeat and Adaptive Composite Control

In ordr to solve the difficulty that the position adjustment accuracy of the traditional full-section shield machine is difficult to control,the composite control strategy is adopted to realize the position accuracy control.The fuzzy control intelligent nonlinear features are used to adjust the PID parameters and improve the adaptive and anti-interference ability of the position servo system.While the internal model repeat control strategy is introduced to further optimize the position servo system control accuracy.Through the joint simulation of Simulink/AMEsim,the control of the position servo system of the TBM tunnel boring machine is combined with the hydraulic system.The experiment verifies that the composite strategy makes the anti-interference ability and adaptive tracking performance of the equipment steadily improve,and obtains better test results in the mine roadway test.