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Front. Inform. Technol. Electron. Eng.  2016, Vol. 17 Issue (1): 55-66    DOI: 10.1631/FITEE.15a0160
    
Adaptive fuzzy integral sliding mode velocity control for the cutting system of a trench cutter
State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
Adaptive fuzzy integral sliding mode velocity control for the cutting system of a trench cutter
Qi-yan TIAN,Jian-hua WEI,Jin-hui FANG(),Kai GUO
State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
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摘要：

This paper presents a velocity controller for the cutting system of a trench cutter (TC). The cutting velocity of a cutting system is affected by the unknown load characteristics of rock and soil. In addition, geological conditions vary with time. Due to the complex load characteristics of rock and soil, the cutting load torque of a cutter is related to the geological conditions and the feeding velocity of the cutter. Moreover, a cutter’s dynamic model is subjected to uncertainties with unknown effects on its function. In this study, to deal with the particular characteristics of a cutting system, a novel adaptive fuzzy integral sliding mode control (AFISMC) is designed for controlling cutting velocity. The model combines the robust characteristics of an integral sliding mode controller with the adaptive adjusting characteristics of an adaptive fuzzy controller. The AFISMC cutting velocity controller is synthesized using the backstepping technique. The stability of the whole system including the fuzzy inference system, integral sliding mode controller, and the cutting system is proven using the Lyapunov theory. Experiments have been conducted on a TC test bench with the AFISMC under different operating conditions. The experimental results demonstrate that the proposed AFISMC cutting velocity controller gives a superior and robust velocity tracking performance.
Abstract:

This paper presents a velocity controller for the cutting system of a trench cutter (TC). The cutting velocity of a cutting system is affected by the unknown load characteristics of rock and soil. In addition, geological conditions vary with time. Due to the complex load characteristics of rock and soil, the cutting load torque of a cutter is related to the geological conditions and the feeding velocity of the cutter. Moreover, a cutter’s dynamic model is subjected to uncertainties with unknown effects on its function. In this study, to deal with the particular characteristics of a cutting system, a novel adaptive fuzzy integral sliding mode control (AFISMC) is designed for controlling cutting velocity. The model combines the robust characteristics of an integral sliding mode controller with the adaptive adjusting characteristics of an adaptive fuzzy controller. The AFISMC cutting velocity controller is synthesized using the backstepping technique. The stability of the whole system including the fuzzy inference system, integral sliding mode controller, and the cutting system is proven using the Lyapunov theory. Experiments have been conducted on a TC test bench with the AFISMC under different operating conditions. The experimental results demonstrate that the proposed AFISMC cutting velocity controller gives a superior and robust velocity tracking performance.
Key words: Cutting system    Electro-hydraulic system    Cutting velocity control    Adaptive fuzzy integral sliding mode control
收稿日期: 2015-06-01 出版日期: 2016-01-05
CLC:  TP271.3  
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Parameter Value
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k 11 500
k21 100
Φ 0.5
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