A Fractional Order Control Method for the Rotational Speed ​​of the Cutter Drive System of Roadheader

A cutterhead drive and disk drive technology, applied in the direction of electric controllers, controllers with specific characteristics, etc., can solve the problems of anti-interference ability and control effect that cannot meet the actual construction, and achieve high design freedom and good closed loop performance effect

Inactive Publication Date: 2021-02-09
HAINAN UNIVERSITY
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  • Claims
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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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  • A Fractional Order Control Method for the Rotational Speed ​​of the Cutter Drive System of Roadheader
  • A Fractional Order Control Method for the Rotational Speed ​​of the Cutter Drive System of Roadheader
  • A Fractional Order Control Method for the Rotational Speed ​​of the Cutter Drive System of Roadheader

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Embodiment Construction

[0025]In order to make the content of the present invention clearer and easier to understand, the content of the present invention will be described in detail below with reference to specific embodiments and accompanying drawings.

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

[0027]Such asfigure 1 As shown, the method for controlling the rotational speed of the cutter head drive system of a roadheader according to a preferred embodiment of the present invention includes:

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

[0029]That is, the dynamic chara...

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Abstract

The present invention provides a fractional-order control method for the rotational speed of the drive system of the cutter head of the roadheader, comprising: a first step: establishing a dynamic equation model according to the dynamic characteristics of each mechanical component in the drive system of the cutter head; The relationship between the gear meshing parameters of the mechanical parts and the gear transmission is used to establish the gear meshing model; the second step: on the basis of the dynamic equation model established in the first step, a multi-input single-output transfer function model of the cutter head drive system is established, Among them, the input of the actuator of the cutterhead driving system and the input of some key variables of the cutterhead driving system are used as the input of the transfer function model, and the measurable output of the cutterhead driving system is used as the output of the transfer function model; the third step: using The multi-input and single-output transfer function model established in the second step is used to design a fractional-order PID controller for controlling the rotation speed of the cutterhead.

Description

Technical field[0001]The present invention relates to the technical field of the cutter head drive of a tunnel boring machine, and in particular to a fractional-step control method of the rotational speed of the cutter head drive system of the heading machine.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, and with uncertainty and Uncertainty. In the process of tunneling, the problem of strong impact caused by hard rock crushing is very prominent, with large tool loss and low rock breaking efficiency; uneven rock softness and hard rock, rock formations cause the cutter head to be jammed and insufficient support, resulting in ineffective tunneling. Slow speed; low accuracy of pose measurement under strong vibration environment, complex and changeable geological conditions ...

Claims

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Application Information

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Patent Type & Authority Patents(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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