A multi-motor load sharing cooperative control device and method for a shield machine drive system
A drive system and collaborative control technology, which is used in motor generator control, control of electromechanical transmissions, electronic commutation motor control, etc., can solve the weakening of disturbance signals, the poor working environment of shield machines, and the limited work of motor speed sensors, etc. problems, to achieve the effect of simplifying the structure, reducing the design difficulty, and increasing the reliability and stability of the work
Active Publication Date: 2022-02-15
CHINA RAILWAY ENGINEERING EQUIPMENT GROUP CO LTD
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Problems solved by technology
The traditional adjacent cross-coupling strategy can transmit the disturbance information of a single motor to all motors through coupling, but after each transmission, the disturbance signal will be weakened to a certain extent, and the disturbance signal transmission process will also introduce a certain delay. , affecting the overall collaborative performance of the system
In particular, due to the harsh working environment of the shield machine, the work of the motor speed sensor is limited, and the motor speed sampling cannot be realized
Method used
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[0023] The principle and spirit of the present invention will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are given only to enable those skilled in the art to better understand and implement the present invention, rather than to limit the scope of the present invention in any way. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
[0024] Those skilled in the art know that the embodiments of the present invention can be implemented as a system, device, device, method or computer program product. Therefore, the present disclosure may be embodied in the form of complete hardware, complete software (including firmware, resident software, microcode, etc.), or a combination of hardware and software.
[0025] According to an embodiment of the present invention, a multi-motor load sharing coo...
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The invention proposes a multi-motor load-sharing cooperative control device and method for a shield machine drive system, which relates to the technical field of shield machine control. The device includes: multiple shield machine drive systems and a host computer; wherein, each shield machine The driving system of the mechanism machine is respectively connected with the upper computer, and the motor drives the gear to rotate to transmit power to the cutterhead; the upper computer collects the feedback information of each shield machine driving system, and calculates the torque of each shield machine through the torque cooperative control algorithm. The torque compensation amount of the shield machine drive system is sent to the corresponding shield machine drive system for motor coordinated control. By using the device and method, the closed-loop control of the rotational speed can be realized through the rotational speed observer under complex working conditions, and the load of the cutter head can be distributed through the load balancing link, so as to realize the coordinated output of the torque of each motor.
Description
technical field [0001] The invention relates to the technical field of shield machine control, in particular to a multi-motor load sharing cooperative control device and method for a drive system of a shield machine. Background technique [0002] The shield tunnel boring machine is a professional excavation equipment used for excavating underground tunnels. The shield machine tunneling system is a huge system engineering application equipment integrating automation, mechanization, computer and other disciplines. It is mainly composed of shield cutterhead and auxiliary facilities. Among them, the shield body of the shield machine is generally large in size and has a large load power, which requires multiple motors to work cooperatively. During the working process of the shield machine, it is necessary to control the stable speed of the cutter head, so there is a high requirement for the control accuracy of each motor. However, shield machines are often faced with complex wo...
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IPC IPC(8): H02P21/14H02P21/20H02P21/13H02P21/18H02P21/22H02P5/46
CPCH02P21/14H02P21/20H02P21/13H02P21/18H02P21/22H02P5/46
Inventor 贾连辉孙志洪张鹏黄景涛李向春谢彦昆李航苏新波
Owner CHINA RAILWAY ENGINEERING EQUIPMENT GROUP CO LTD