Distributed predictive control method for multi-motor cutter system of heading machine

Abstract

The invention discloses a distributed predictive control method for a multi-motor cutter system of a heading machine. The method comprises a step of modeling a cutter driving system according to a mechanical association relationship, obtaining each motor system equation, accordingly establishing a partition system model of the heading machine cutter system, and providing a model for the torque optimization of a motor, a step of using the distributed predictive control method to design an independent distributed prediction controller for each partition based on the cutter system partition model, and carrying out optimization setting on the motor torque of the partition, and a step of introducing an iterative algorithm to realize the iterative interaction of the motor torque setting of eachpartition and performing multiple interactions of controllers in each sampling period to achieve a load balance of each partition motor. The method of the invention extends and expands a traditional centralized control algorithm and has advantages over traditional centralized control in terms of reliability, flexibility and fault tolerance.

Description

technical field [0001] The invention relates to the technical field of intelligent control and optimization of equipment, in particular to a distributed predictive control method for a roadheader multi-motor cutter head system. Background technique [0002] The full-face hard rock tunnel boring machine is a large-scale industrial tunnel construction operation system integrating machinery, electronics, hydraulic pressure, laser and other technologies. It is one of the important methods of tunnel construction at home and abroad. In recent years, roadheaders have developed in the direction of diversified sections and multiple working faces, and have played an important role in excavating underground projects such as urban subway tunnels, national defense projects, railway tunnels, and submarine tunnels. The front shield of the roadheader is mainly composed of the cutter head and its drive system, hydraulic propulsion system, and support shoe system. The cutter head is install...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, and provide a distributed predictive control method for the multi-motor cutterhead system of the roadheader, which can solve the optimization time and structural robustness of the centralized control algorithm in complex industrial processes The problem is the extension and expansion of the traditional centralized control algorithm, which has more advantages than the traditional centralized control in terms of reliability, flexibility and fault tolerance.

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