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Fractional order control method for rotation speed of heading machine cutterhead driving system

A technology of fractional-order control and cutter head drive, which is applied in the direction of electric controllers and controllers with specific characteristics, can solve the problems of anti-interference ability and control effect that cannot meet the actual construction, and achieve high design freedom and good performance. The effect of closed-loop performance

Inactive Publication Date: 2018-07-20
HAINAN UNIVERSITY
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Problems solved by technology

At present, the cutter head drive system adopts open-loop control technology, and its anti-interference ability and control effect cannot meet the needs of actual construction in complex and changeable geological environments.

Method used

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  • Fractional order control method for rotation speed of heading machine cutterhead driving system
  • Fractional order control method for rotation speed of heading machine cutterhead driving system
  • Fractional order control method for rotation speed of heading machine cutterhead driving system

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Embodiment Construction

[0025] In order to make the content of the present invention more clear and understandable, the content of the present invention will be described in detail below in conjunction with specific embodiments and accompanying drawings.

[0026] figure 1 Schematically shows a flow chart of the method for fractional order control of the rotational speed of the cutter head driving system of the roadheader according to a preferred embodiment of the present invention.

[0027] Such as figure 1 As shown, the fractional order control method of the speed of the driving system of the roadheader cutter head according to a preferred embodiment of the present invention comprises:

[0028] First step S1: Establish a dynamic equation model according to the dynamic characteristics of each mechanical component in the cutter head drive system, and simultaneously establish a gear mesh model according to the relationship between the gear mesh parameters of each mechanical component and the gear tran...

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Abstract

The invention provides a fractional order control method for the rotation speed of a heading machine cutterhead driving system. The method comprises the steps of (1) establishing a dynamic equation model according to the dynamic characteristics of each mechanical component in the cutterhead driving system and establishing a gear engagement model according to the relationship between the gear engagement parameters and the gear transmission of each mechanical component at the same time, (2) establishing a multi-input single-output transfer function model of the cutterhead driving system based onthe dynamic equation model established in step (1), wherein an input of an actuator of the cutterhead driving system and an input of some key variables of the cutterhead driving system are taken as an input of the transfer function model, and a measurable output of the cutterhead driving system is taken as an output of the transfer function model, and (3) designing fractional order PID controllerfor controlling the rotation speed of a cutterhead by using the multi-input single-output transfer function model established in step (2).

Description

technical field [0001] The present invention relates to the technical field of cutterhead driving of tunnel boring machines, in particular to a fractional-order control method for the rotational speed of the cutterhead driving system of tunnel boring machines. Background technique [0002] TBM (Tunnel Boring Machine) is mainly used in hard rock geological conditions, high hardness, high temperature, high quartz content ("three highs") environment, which makes the surrounding rock conditions faced by TBM extremely complex, uncertain and Uncertainty. In the process of excavation, the problem of strong impact caused by hard rock breaking is very prominent, the loss of tools is large, and the efficiency of rock breaking is low; the unevenness of rock hardness and rock formation cracking cause the cutter head to be stuck and the support force is insufficient, resulting in the inability to effectively excavate. The speed is slow; the position and attitude measurement accuracy is ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 唐荣年李创陈凯姜鸿
Owner HAINAN UNIVERSITY
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