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Driving shaft torque coordinated distribution control method of shield tunneling machine cutter head driving system

A technology of cutterhead drive and control method, which is applied in earthwork drilling, mining equipment, tunnels, etc., and can solve problems such as backlash interference and load interference

Active Publication Date: 2017-10-13
ZHEJIANG UNIV
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Problems solved by technology

[0006] The purpose of the present invention is to provide a drive shaft torque coordinated distribution control method for the cutter head drive system of a shield tunnel boring machine, which can solve the problem of load interference of the cutter head of the shield tunnel boring machine and the interference of backlash during the gear meshing process, and realize simultaneous control Stable cutter head speed and balanced distribution of drive shaft torque

Method used

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  • Driving shaft torque coordinated distribution control method of shield tunneling machine cutter head driving system
  • Driving shaft torque coordinated distribution control method of shield tunneling machine cutter head driving system
  • Driving shaft torque coordinated distribution control method of shield tunneling machine cutter head driving system

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Embodiment Construction

[0098] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0099] Establish a two-layer structure of the cutter head speed control layer and the drive shaft torque coordination layer, such as figure 2 As shown, the cutter head speed control layer solves the problem of cutter head speed stability in the case of cutter head load interference, and obtains the base torque of the drive motor. The problem of unbalanced distribution of drive shaft torque under the condition of backlash interference when the ring gear is meshing is to find the torque coordination amount of each drive motor. The sum of the base torque and the torque coordination amount is the actual input torque of each drive motor.

[0100] The control algorithm of the cutter head speed cont...

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Abstract

The invention discloses a driving shaft torque coordinated distribution control method of a shield tunneling machine cutter head driving system. A two-layer structure composed of a cutter head rotating speed control layer and a driving shaft torque coordination layer is used in the cutter head driving system, the basic torque of each driving motor is output in the cutter head rotating speed control layer, and stable control over the rotating speed of a cutter head is achieved; the torque coordination amount of each driving motor is output in the driving shaft torque coordination layer, and the balanced distribution of the meshing torque of a small gear is achieved. According to the problems about the stable rotating speed of the cutter head and driving shaft torque balanced distribution, controllers are designed respectively, the adaptability of the cutter head driving system to the suddenly changed load is improved, and the problem of driving shaft torque unbalanced distribution caused by the mechanical property difference of the cutter head driving system and meshing tooth space difference is solved.

Description

technical field [0001] The present invention designs underground tunnel excavation and construction technical fields such as subway tunnels, submarine tunnels, mine tunnels, coal mine roadways, and oil pipelines, and in particular relates to the coordinated distribution of drive shaft torque of the cutter head drive system of a shield tunnel boring machine that adopts a multi-motor drive mode Control Method. Background technique [0002] Shield tunnel boring machine is a kind of excavation equipment specially used for excavating underground tunnels. Shield tunnel boring machine technology integrates computer, new materials, automation, informatization, system science, management science and other multidisciplinary technologies. It has the advantages of fast speed, short construction period, high safety and reliability, and small impact on the ecological environment. The cutter head drive system of shield tunnel boring machine includes cutter head, gear transmission system, ...

Claims

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Application Information

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IPC IPC(8): E21D9/093E21D9/08
CPCE21D9/08E21D9/093
Inventor 张正刘之涛苏宏业邵诚俊
Owner ZHEJIANG UNIV
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