Multi-motor synchronous control method for tbm cutter head drive based on torque compensation control

Abstract

The invention discloses a TBM cutter head drive multi-motor synchronous control method based on a torque compensation control strategy, relates to the field of multi-motor synchronous control, and includes the following steps: Step 1: Collect the output torque of each TBM drive motor in real time, and according to the output torque Torque calculates the load torque to obtain the required average torque T distributed to each motor avg ; Step two: take the average torque and output torque error as the controlled object to design a PID controller; step three: process the input parameters e(t), ec(t) fuzzily; step four: based on fuzzy decision theory, Carry out fuzzy control rule design; step 5: defuzzify the obtained parameters; express the fuzzy rules obtained in step 4 with mathematical expressions, and obtain the defuzzified control quantity ΔK that the system can handle p , ΔK i ; Step 6: Apply the torque compensation controllers of each loop to the given speed of each loop to realize speed synchronous control and torque balance.

Description

technical field [0001] The invention relates to the field of multi-motor synchronous control, in particular to a multi-motor synchronous control method for driving a TBM cutter head based on a torque compensation control strategy. Background technique [0002] With the development of high-power frequency conversion technology, TBM cutter head drive is gradually replaced by traditional hydraulic drive mode, which is gradually replaced by high-power inverter drive. High efficiency, good energy saving effect, and large output torque. Due to the rigid connection between the TBM cutter head and each motor, the motor speed is forced to synchronize. Therefore, the TBM cutter head drive has high requirements for motor synchronization, power balance, etc. An effective multi-motor synchronous control method for TBM cutter head drive is of great significance to the protection of equipment and the guarantee of drive efficiency. [0003] According to the transmission characteristics of ...

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Problems solved by technology

Parallel synchronous control is the simplest motor synchronous control method. Each motor works independently and complements each other. Since there is no coupling relationship between the motors, the synchronization error between the motors is difficult to control, and it is easy to cause damage to the torque limiter of the cutter head and affect the normal operation of the TBM. Work

Master-slave control is to use one of the motors as the master, and the other motors except the master are slaves. The given signal of the slave is the output signal of the master, and the slave follows the operation of the master. Any interference on the master will affect the slave motor Therefore, in the state of load disturbance, it is difficult to ensure the synchronous control accuracy between the motors, so the master-slave synchronous control strategy is difficult to apply to the working conditions that require high control accuracy

Coupling synchronous control mode is to compensate the speed feedback signal between each motor, and apply the compensation value to the given speed, so as to play the role of motor synchronization. It is easy to have a power imbalance when coupled with torque, and there may be a deviation between the system input signal and the reference signal, resulting in a deviation in the output of each motor, resulting in synchronous operation between the motors

[0005] Aiming at the characteristics of the existing TBM cutter head drive multi-motor synchronous control with poor stability, unbalanced output torque, and easy damage to the mechanical structure, a stable, superior control performance, and low-cost inverter is designed for better application in TBM. The multi-motor synchronous control method of TBM cutterhead drive is of great significance to improve the reliability of TBM

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