Proposed sliding mode control strategy improves synchronization accuracy in segment erectors, suggesting effective inertial force management.
As a critical component in tunnel construction, the segment erector of shield tunneling machines critically influences segment assembly quality and construction efficiency, largely determined by its dual-cylinder synchronization control. Addressing challenges such as dynamic coupling, nonlinear disturbances, and significant inertial force fluctuations inherent in hydraulic cylinder synchronization under large-inertia loads and variable working conditions, this study proposes an optimized inertial force suppression strategy utilizing an improved sliding mode control (SMC). Mechanical and hydraulic dynamic models of the dual-cylinder lifting mechanism were established to analyze load distribution and force-arm variation patterns, thereby elucidating the influence of inertial forces on synchronization accuracy. Based on this analysis, an adaptive boundary-layer SMC, incorporating real-time inertial force compensation, was designed. This design effectively suppresses system chattering and enhances robustness. Simulation and experimental results demonstrate that the proposed method achieves synchronization errors within ±0.5 mm during step responses, reduces inertial force peaks by 50%, and exhibits significantly superior anti-interference performance compared to conventional PID control. This research provides theoretical foundations and practical engineering insights for high-precision synchronization control in shield tunneling, demonstrating substantial application value.
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Zhang et al. (2025) studied this question.
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