Fuzzy Controller of Shield Posture Based on Particle Swarm Optimization Algorithm

The shield machine, as a large tunneling equipment integrating various technologies, plays a crucial role in ensuring the quality of tunnel construction through its attitude control. This paper presents a fuzzy controller trained using a particle swarm optimization (PSO) algorithm for the automatic control of the shield machine's attitude. In order to improve the performance of the controller, this paper improves the particle swarm optimization algorithm and proposes the adaptive particle swarm optimization algorithm (APSO), and optimizes the parameters of the fuzzy controller using this algorithm. The effectiveness of the proposed control method is verified through Simulink simulation and Webots joint on-board simulation. The simulation results show that compared with the traditional PID controller and standard fuzzy controller, the fuzzy controller optimized based on APSO has significant improvement in performance indexes such as overshooting amount, regulation time and rise time, and it can more accurately control the attitude deviation of the shield machine.