Cutter head driving device for shield tunneling machine and synchronous control method thereof

A cutter head drive and synchronous control technology, which is applied in earth-moving drilling, multiple motor speed adjustment, mining equipment, etc.

Inactive Publication Date: 2013-04-03
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Abstract
  • Description
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Problems solved by technology

The cutter head drive system faces these practical problems, which will affect the normal operation of the cutter head drive system. In severe cases,

Method used

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  • Cutter head driving device for shield tunneling machine and synchronous control method thereof
  • Cutter head driving device for shield tunneling machine and synchronous control method thereof
  • Cutter head driving device for shield tunneling machine and synchronous control method thereof

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Embodiment Construction

[0053] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0054] Aiming at the particularity of synchronous control of multi-motor output in the drive system of the shield tunneling machine and the practical problems faced by the drive system of the cutter head, a motor-driven drive structure of the cutter head of the shield tunneling machine and a principle drive device for the cutter head were invented and designed. , the invention proposes a parallel output synchronization control strategy with synchronization error compensation and an optimal MIMO PID controller design method with dynamic performance constraints, and the invention also proposes a weighted sliding mean synchronization error compensation method. The present invention proves the effectiveness of the present invention's device, output synchronous control strategy, synchronous controller design method and synchronous error compensation...

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Abstract

The invention relates to a cutter head driving device for a shield tunneling machine and a control method thereof. The driving device comprises a plurality of driving motors, a plurality of speed reducers, a main transmission box, a circular cutter head and a circulating oil pump. The synchronous control method for a cutter head of the shield tunneling machine comprises the following steps of: performing synchronous and parallel PID (Proportion Integration Differentiation) closed-loop control on the driving motors; keeping the reference input signals of the driving motors the same; computing the compensation signal of the output signal of each driving motor by adopting a synchronous error compensation method, and feeding back to the input end of a corresponding driving motor; and adding the compensation signals with a control signal output by an optimal PID controller, and inputting into a corresponding driving motor. Due to the adoption of the cutter head driving device and the synchronous control method, the technical problem of synchronous running of a plurality of motors of the cutter head of the shield tunneling machine is solved; the running synchronous performance and tracking performance of a cutter head driving system of the shield tunneling machine are improved; and the motors of the cutter head are enabled to have the same stable torque or speed, and dynamic performances among the driving motors of the cutter head of the shield tunneling machine can be kept the same.

Description

technical field [0001] The present invention relates to the technical field of excavation and construction of underground tunnels such as subway tunnels, subsea tunnels, mine tunnels, coal mine roadways, and oil pipelines, and in particular relates to a motor-driven shield boring machine cutter head drive system and a synchronous control method thereof. Background technique [0002] Shield tunnel boring machine, referred to as shield machine, is a special construction machine for tunnel excavation. Shield tunnel boring machine is a multi-disciplinary technology integrating machinery, electrical appliances, hydraulic pressure, measurement, control, etc. technology-intensive major engineering equipment. Compared with the traditional tunneling technology, the construction characteristics of the shield machine have the advantages of good safety and reliability, high degree of mechanization, small damage to the environment, fast excavation progress, and low construction cost. Th...

Claims

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Application Information

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IPC IPC(8): E21D9/08E21D9/093H02P5/46
Inventor 李先宏于海斌苑明哲郁洋
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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