A Method for Optimizing the Setting Value of Partition Pressure in Hydraulic Propulsion System of Roadheader

A propulsion system and optimization method technology, applied in the direction of mechanical equipment, fluid pressure actuators, mining equipment, etc., can solve the problems of dependence, low efficiency, large error, etc., achieve simplified control, improve the ability of trajectory tracking, and solve the problem of trajectory Tracking the effect of the problem

Inactive Publication Date: 2017-03-08
SHANGHAI JIAOTONG UNIV
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  • Abstract
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  • Claims
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Problems solved by technology

However, at present, the operation of roadheaders in the construction process largely depends on engineering personnel, which has some shortcomings such as low efficiency and large errors.

Method used

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  • A Method for Optimizing the Setting Value of Partition Pressure in Hydraulic Propulsion System of Roadheader
  • A Method for Optimizing the Setting Value of Partition Pressure in Hydraulic Propulsion System of Roadheader
  • A Method for Optimizing the Setting Value of Partition Pressure in Hydraulic Propulsion System of Roadheader

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Embodiment Construction

[0050]Taking the excavation trajectory control of the excavation machine as an example, the optimization of the pressure setting value of the hydraulic propulsion system of the excavation machine provided by the present invention is described in detail.

[0051] The symbols appearing in the drawings and some formulas and the physical quantities represented by the symbols are shown in Table 1:

[0052] Table 1

[0053]

[0054]

[0055] like figure 1 As shown, two coordinate systems are used when building the dynamic model of the roadheader: geographic coordinate system and fuselage coordinate system. O-xyz represents the fuselage coordinate system, and O'-x'y'z' represents the geographic coordinate system. The geographic coordinate system is usually considered an inertial coordinate system.

[0056] like figure 2 As shown, the hydraulic cylinders of the hydraulic propulsion system of the roadheader are evenly distributed in the shield head, and the hydraulic cylinde...

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Abstract

The invention provides a sectional pressure set value optimization method of a hydraulic propelling system of a heading machine. The method comprises the steps of dividing the hydraulic cylinder of the hydraulic propelling system of the heading machine into N sections, calculating the resultant force and the resultant moment provided by the hydraulic cylinder in each section by use of a linear quadratic form regulator, and obtaining the optimized resultant force provided by the hydraulic cylinder in each section by virtue of quadratic programming, thereby obtaining the hydraulic cylinder pressure set value in each section. According to the sectional pressure set value optimization method of the hydraulic propelling system of the heading machine, the hydraulic cylinder of the hydraulic propelling system of the heading machine is divided into N sections, the pressure set value of the hydraulic cylinder in each section is the same and the control on the hydraulic propelling system is simplified; the resultant force of each section is optimized by virtue of quadratic programming so as to realize excellent tracking capability of main trajectory of the heading machine; the linear quadratic form regulator is combined with a conventional controller to further improve the trajectory tracking capability.

Description

technical field [0001] The invention relates to a method for optimizing the pressure setting value of a hydraulic propulsion system of a roadheader, in particular to a method for optimizing the setting value of the propulsion pressure in each area of ​​the hydraulic system of the roadheader. Background technique [0002] Full-section hard rock tunnel boring machine (TBM) is a large-scale modern equipment, which integrates electrical, hydraulic, mechanical and control, and is specially used for tunnel excavation under rock environment conditions. There is no doubt that the full-face hard rock tunnel boring machine is by far the most promising and competitive method of excavating and utilizing underground spaces. The roadheader has the advantages of fast excavation speed, relatively low cost, high safety, high reliability, small impact on the surrounding environment and high automation, so it has become an important tool for underground tunnel excavation. [0003] In the engi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): F15B11/02E21D9/10
CPCE21D9/10F15B11/02
Inventor 王景成刘华江张浪文石伟晶胡涛乐文华
Owner SHANGHAI JIAOTONG UNIV
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