The electro-hydraulic hybrid cutterhead driving system is a newly developed innovative cutterhead driving system of tunnel boring machine. Regulating the cutterhead rotational speed, balancing the driving load and the torque control of the hydraulic motors are three essential issues of the electro-hydraulic hybrid cutterhead driving system to be addressed. The conventional synchronization method focuses on pure rotational speed regulation only and therefore causes serious unbalanced driving torque phenomena in the cutterhead driving system. In this article, a cascade control scheme is proposed which is, namely, grouped into three control levels. In the high level, a nonlinear disturbance observer–based integral sliding mode control strategy integrated with anti-windup technique scheme is proposed to guarantee the tracking accuracy of the cutterhead rotational speed. Furthermore, the total driving torque of the electro-hydraulic hybrid cutterhead driving system is estimated by the disturbance observer. The middle level is the driving torque distributor which generates the torque reference for each driving unit. Owing to the nonlinear characteristics of the hydraulic system, an adaptive robust controller is introduced to guarantee the output torque of hydraulic motors and to track the torque reference signal. The torque tracking performance of electromotors is guaranteed by the converter. The co-simulations are carried out to verify the effectiveness and performance of the proposed cascade control scheme. The results show that the proposed control system can guarantee the cutterhead rotational speed tracking performance while overcome the biased load problems in pinion–ring gear transmission system of electro-hydraulic hybrid cutterhead driving system.

中文翻译：

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一种新型混合驱动隧道掘进机刀盘串级控制策略

电液混合刀盘驱动系统是我公司新开发的一种新型隧道掘进机刀盘驱动系统。调节刀盘转速、平衡驱动负载和液压马达扭矩控制是电液混合刀盘驱动系统需要解决的三个基本问题。传统的同步方式只注重纯转速调节，导致刀盘驱动系统出现严重的驱动力矩不平衡现象。在本文中，提出了一种级联控制方案，即分为三个控制级别。在高层，提出了一种基于非线性扰动观测器的积分滑模控制策略，结合抗饱和技术方案，以保证刀盘转速的跟踪精度。此外，电液混合刀盘驱动系统的总驱动扭矩由扰动观测器估计。中间层是驱动扭矩分配器，它为每个驱动单元生成扭矩参考。针对液压系统的非线性特性，引入自适应鲁棒控制器来保证液压马达的输出扭矩并跟踪扭矩参考信号。电动机的转矩跟踪性能由变流器保证。进行联合仿真以验证所提出的级联控制方案的有效性和性能。