A shield machine start-stop control method and device

Abstract

The present application provides a shield machine start-stop control method and device, which relates to the field of mechanical control, including: driving a connected motor to run according to a motor drive instruction received from a main controller of the shield machine, and transmitting a first output torque of the connected motor to the main controller; receiving a second output torque of an unconnected motor from the main controller, and determining its own speed compensation state according to the second output torque; adjusting the speed of the connected motor according to the speed compensation state to achieve smooth start-stop control of the shield machine. The present application can achieve smooth start-stop control of a variable frequency drive shield machine.

Description

Technical Field

[0001] The present application relates to the field of mechanical control, and specifically to a method and device for smoothly starting and stopping a variable frequency driven shield machine. Background Art

[0002] According to the main drive form, shield machines can be divided into hydraulically driven shield machines and variable frequency driven shield machines. Variable frequency driven shield machines are increasingly widely used in the field of shield machine manufacturing due to their advantages in many aspects such as high reliability and high maintainability. The working mode of variable frequency driven shield machines is that multiple inverters drive multiple motors with reducers in a one-to-one manner, so that the motor drives the gears, and then drives the cutterhead rigidly connected to the gears to cut the strata in the forward direction.

[0003] Since there are different tooth gaps between the small gears and large gears driven by multiple motors and the rotation speeds of the small gears may not be synchronized, there will be a phenomenon of tooth knocking when the shield machine is started and stopped, which will aggravate the asynchrony between the motors, making some motors have high output and others have low output. This phenomenon can cause gear knocking and motor overload in mild cases, and gear damage and motor burnout in severe cases. How to solve the mechanical damage of gears caused by tooth knocking due to gear gaps during the start and stop of the shield machine and control the smooth start and stop of the shield machine is an urgent problem to be solved. Summary of the invention

[0004] In response to the problems in the prior art, the present application provides a shield machine start-stop control method and device, which can achieve smooth start-stop control of a variable frequency driven shield machine.

[0005] In order to solve the above technical problems, this application provides the following technical solutions:

[0006] In a first aspect, the present application provides a shield machine start-stop control method, comprising:

[0007] driving the connected motor to operate according to the motor driving instruction received from the main controller of the shield machine, and transmitting the first output torque of the connected motor to the main controller;

[0008] receiving a second output torque of the unconnected motor from the main controller, and determining its own speed compensation state according to the second output torque;

[0009] The speed of the connected motor is adjusted according to the speed compensation state to achieve smooth start and stop control of the shield machine.

[0010] Further, the receiving of the second output torque of the unconnected motor from the main controller and determining its own speed compensation state according to the second output torque includes:

[0011] receiving the second output torque from the main controller and determining a mean value of the second output torque;

[0012] determining a current torque deviation according to the first output torque and the mean value;

[0013] The preset backlash deviation threshold is compared with the current torque deviation to determine the rotation speed compensation state.

[0014] Furthermore, before determining the rotation speed compensation state, the method further includes:

[0015] If the current torque deviation is greater than the backlash deviation threshold, comparing the duration for which the current torque deviation is greater than the backlash deviation threshold with a preset time threshold;

[0016] The rotation speed compensation state is determined according to the time comparison result.

[0017] Furthermore, adjusting the speed of the connected motor according to the speed compensation state to achieve smooth start and stop control of the shield machine includes:

[0018] If the speed compensation state is enabled, determining the backlash compensation speed according to the motor rated torque, the motor rated speed and the current torque deviation;

[0019] The speed of the connected motor is adjusted according to the backlash compensation speed to achieve smooth start and stop control of the shield machine.

[0020] In a second aspect, the present application provides a start-stop control device for a shield machine, comprising:

[0021] A torque transmission unit, configured to drive the connected motor to operate according to a motor driving instruction received from a main controller of the shield machine, and transmit a first output torque of the connected motor to the main controller;

[0022] a compensation state determining unit, configured to receive a second output torque of the unconnected motor from the main controller, and determine its own speed compensation state according to the second output torque;

[0023] A start-stop control unit is used to adjust the speed of the connected motor according to the speed compensation state to achieve smooth start-stop control of the shield machine.

[0024] Furthermore, the compensation state determining unit includes:

[0025] a torque mean value determination module, configured to receive the second output torque from the main controller and determine a mean value of the second output torque;

[0026] a torque deviation determining module, configured to determine a current torque deviation according to the first output torque and the mean value;

[0027] The compensation state determination module is used to compare a preset backlash deviation threshold with the current torque deviation to determine the rotational speed compensation state.

[0028] Furthermore, the shield machine start-stop control device further includes:

[0029] a time threshold comparison unit, for comparing, when the current torque deviation is greater than the backlash deviation threshold, a duration during which the current torque deviation is greater than the backlash deviation threshold with a preset time threshold;

[0030] The compensation state determining unit is used to determine the rotation speed compensation state according to the time comparison result.

[0031] Furthermore, the start-stop control unit comprises:

[0032] A compensation speed determination module, used for determining the backlash compensation speed according to the motor rated torque, the motor rated speed and the current torque deviation if the speed compensation state is enabled;

[0033] A start-stop control module is used to adjust the speed of the connected motor according to the backlash compensation speed to achieve smooth start-stop control of the shield machine.

[0034] In a third aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the shield machine start and stop control method when executing the program.

[0035] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the shield machine start and stop control method.

[0036] In response to the problems in the prior art, the shield machine start-stop control method and device provided in the present application can determine whether there is a tooth gap during the start-stop process of the shield machine according to the deviation value of the output torque of each motor; if there is a tooth gap, the speed of the corresponding motor is compensated to eliminate the impact and loss on the mechanical parts caused by the tooth gap during the start-stop process of the shield machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 This is one of the flow charts of the shield machine start and stop control method in the embodiment of the present application;

[0039] Figure 2 A flow chart for determining the speed compensation state of the self in an embodiment of the present application;

[0040] Figure 3 This is the second flow chart of the start and stop control method of the shield machine in the embodiment of the present application;

[0041] Figure 4 A flowchart for realizing smooth start and stop control of a shield machine in an embodiment of the present application;

[0042] Figure 5 This is one of the structural diagrams of the start-stop control device for a shield machine in an embodiment of the present application;

[0043] Figure 6 This is a structural diagram of a compensation state determination unit in an embodiment of the present application;

[0044] Figure 7 This is the second structural diagram of the start-stop control device of the shield machine in the embodiment of the present application;

[0045] Figure 8 This is a structural diagram of the start-stop control unit in an embodiment of the present application;

[0046] Fig. 9 A schematic diagram of the structure of an electronic device in an embodiment of the present application;

[0047] Fig.10 This is one of the overall structure diagrams of the system in the embodiment of the present application;

[0048] Fig.11 This is the second overall structure diagram of the system in the embodiment of the present application. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0050] In one embodiment, see Figure 1 In order to achieve smooth start and stop control of a variable frequency driven shield machine, the present application provides a shield machine start and stop control method, comprising:

[0051] S101: driving a connected motor to operate according to a motor driving instruction received from a main controller of the shield machine, and transmitting a first output torque of the connected motor to the main controller;

[0052] S102: receiving a second output torque of a motor that is not connected from the main controller, and determining its own speed compensation state according to the second output torque;

[0053] S103: adjusting the speed of the connected motor according to the speed compensation state to achieve smooth start and stop control of the shield machine.

[0054] It is understandable that the shield machine's drive system includes an electrical transmission system and a mechanical transmission system. The electrical transmission system includes a programmable logic controller (PLC), high-speed communication equipment (such as Profinet, Profibus-DP and other communication protocols and communication boards), a frequency converter and a motor; the mechanical transmission system includes a reducer, a pinion, a gear, a cutter head and a cutter. The connection relationship between the various components can be found in Fig.10 It should be noted that Fig.10 Only two sets of transmission structures (1 and m; the main drive of a small shield machine may have only two motors, m = 2; a large shield machine may have m greater than 2) are shown in the figure. Under actual working conditions, the number of transmission structures may be multiple sets, that is, the embodiment of the present application does not limit the size of m, and it can be set according to the actual working conditions, and may include multiple frequency converters, multiple motors, multiple reducers and multiple pinions. Generally speaking, the number of frequency converters, motors, reducers and pinions is the same, and they are equipped in a one-to-one manner.

[0055] The process of electrical transmission and mechanical transmission of the shield machine can be as follows: the main controller gives the PLC start and stop command through the switch quantity (the switch quantity refers to only two working states: on and off), and gives the PLC set frequency through the analog quantity (the analog quantity refers to current analog signals such as 4-20mA or 0-±5V, 0-±10V, etc., and voltage analog signals; for example, the analog voltage 0-±10V signal is used as the frequency setting, then 0V corresponds to 0Hz, +10V corresponds to the maximum set frequency of the motor forward rotation, and -10V corresponds to the maximum set frequency of the motor reverse rotation); the start and stop command and the set frequency can be used as motor drive instructions; after obtaining the motor drive instruction, the PLC sends the motor drive instruction to each inverter at the same time through the high-speed communication equipment; each inverter is equivalent to receiving the motor drive instruction from the main controller of the shield machine, and thus drives the motor controlled by each inverter (that is, the "connected motor" in S101) one by one according to the motor drive instruction; the motor drives the small gear through the reducer, and the small gear drives the large gear; the large gear drives the cutter head and the tool to cut the stratum in the forward direction, see Fig.10 and Fig.11 shown.

[0056] The performance and working characteristics of this drive form include: a large number of motors with high power driving the same load, ranging from 4 to 20 motors; when the shield machine is excavating, even if there is a sudden increase or decrease in load or an unbalanced load, it is necessary to ensure that the output torque and current of all motors are balanced.

[0057] From another perspective, the entire driving process of the shield machine is a process in which the electrical transmission system transfers electrical energy to the mechanical transmission system and then converts it into kinetic energy. Since there is a gear gap between the reducer, the pinion and the gear, and the gear faces are not completely fitted or not fitted at all, when the motor is started at high speed, there will be a tooth-smashing phenomenon, which will damage the gear. Therefore, this application aims to determine whether there is a tooth gap between the reducer, the pinion and the gear according to the deviation of the output torque of multiple motors, and then run at a set low speed and perform torque synchronization compensation, and then run at a high speed after eliminating the tooth gap.

[0058] In actual implementation, the execution subject of steps S101 to S103 can be any inverter in the electric transmission system, and each inverter executes the method described in steps S101 to S103 to ultimately achieve smooth start and stop control of the variable frequency driven shield machine.

[0059] Specifically, in step S101, a frequency converter in the electric transmission system drives the motor to which it is connected to operate according to the motor drive instruction, and transmits the first output torque of the motor to which it is connected to to the main controller, so that other frequency converters in the electric transmission system can receive the first output torque from the main controller, and determine their own speed compensation state according to the first output torque; in step S102, the frequency converter receives the second output torque of the motor to which it is not connected (that is, the motor connected to other frequency converters) from the main controller, and determines its own speed compensation state according to the second output torque; in step S103, the frequency converter adjusts the speed of the motor to which it is connected according to the speed compensation state, so as to realize smooth start and stop control of the shield machine.

[0060] From the above description, it can be seen that the shield machine start-stop control method provided in the present application can determine whether there is a tooth gap during the start-stop process of the shield machine according to the deviation value of the output torque of each motor; if there is a tooth gap, the speed of the corresponding motor is compensated to eliminate the impact and loss on the mechanical parts caused by the tooth gap during the start-stop process of the shield machine.

[0061] In one embodiment, see Figure 2 , receiving a second output torque of the unconnected motor from the main controller, and determining its own speed compensation state according to the second output torque, including:

[0062] S201: receiving a second output torque from a main controller, and determining a mean value of the second output torque;

[0063] S202: Determine a current torque deviation according to the first output torque and the mean value;

[0064] S203: Compare the preset backlash deviation threshold with the current torque deviation to determine the speed compensation state.

[0065] It can be understood that the execution subject of steps S201 to S203 is also any inverter in the electric transmission system, and each inverter executes the method described in steps S201 to S203 to determine its own speed compensation state.

[0066] In the specific implementation, the PLC sends motor drive instructions (including start commands and set speed n) to m inverters at the same time. set0 ); After receiving the motor drive instructions forwarded by the PLC through the high-speed communication equipment, the m inverters drive the m motors one-to-one to drive the small gear, large gear and cutter head to move. At the same time, the m inverters transmit the real-time running data of the motors (such as output frequency and output torque, etc.) during the acceleration process to the PLC through the high-speed communication equipment.

[0067] In one embodiment, the following steps may be followed:

[0068] ①The PLC receives the output torque of the m inverter-driven motors and sends it to each inverter;

[0069] ② Each inverter obtains the torque deviation value T after calculation error The specific calculation method is shown in the following formula; and the preset backlash deviation torque threshold T ante Compare; if |T error |>T ante , it is determined that there is a backlash between the large gear and the small gear during the acceleration of the shield machine, and the backlash compensation state position of the inverter (the speed compensation state in step S203) 1 is transmitted to the PLC, otherwise the backlash compensation state position of the inverter (the speed compensation state in step S203) 0 is transmitted to the PLC;

[0070]

[0071] In the formula, m is the number of motors, i is the i-th motor among the m motors, j is the j-th motor among the m motors, and T i is the first output torque of the i-th motor (also its current output torque), T j is the output torque of the jth motor (i.e., all motors in the shield machine including the i-th motor), T error is the torque deviation value of the i-th motor.

[0072] Among them, the torque deviation value of the i-th motor is the "current torque deviation" in step S202. The so-called current means that the above steps S201 to S203 can be executed at any time during the start and stop process of the shield machine. After each execution of step S202, the frequency converter corresponding to the i-th motor will compare the preset tooth gap deviation threshold with the current torque deviation to determine the speed compensation state.

[0073] In another embodiment, the following steps may also be followed:

[0074] ①PLC receives the output torque of the drive motor corresponding to each of the m inverters and calculates the average value T avg ;

[0075] ② Each inverter obtains the torque deviation value T after calculation error The specific calculation method is shown in the following formula; and the preset backlash deviation torque threshold T ante Compare; if |T error |>T ante And the duration exceeds the preset time t anteor a fixed time, it is determined that there is a backlash between the large gear and the small gear during the acceleration of the shield machine, and the backlash compensation state position of the inverter (the speed compensation state in step S203) 1 is transmitted to the PLC, otherwise the backlash compensation state position of the inverter (the speed compensation state in step S203) 0 is transmitted to the PLC;

[0076] T error =T i -T avg

[0077] From the above description, it can be seen that the shield machine start-stop control method provided in the present application can receive the second output torque of the unconnected motor from the main controller and determine its own speed compensation state according to the second output torque.

[0078] In one embodiment, see Figure 3 , before determining the speed compensation state, it also includes:

[0079] S301: Determine whether the current torque deviation is greater than the backlash deviation threshold;

[0080] S302: If yes, compare the duration of the current torque deviation being greater than the backlash deviation threshold with a preset time threshold;

[0081] S303: Determine the speed compensation state according to the time comparison result; if it is greater than, determine that the speed compensation state is enabled.

[0082] It can be understood that the execution subject of steps S301 to S303 is also any inverter in the electric transmission system, and each inverter executes the method described in steps S301 to S303 to determine its own speed compensation state.

[0083] In a preferred embodiment, if |T error |>T ante And the duration exceeds the preset time t ante Or a fixed time, it is determined that there is a backlash between the large gear and the small gear during the acceleration of the shield machine. The advantage of this implementation in engineering is that sometimes the existence of the backlash may be very short, or the current working condition is only a peak working condition, and there is no need to take immediate action to eliminate the backlash; too fast response or blind action may cause motor oscillation; therefore, in this embodiment, a time threshold is set, and only when the duration exceeds the preset time t ante Compensation will only be made when the payment is made at a certain time or at a fixed time.

[0084] From the above description, it can be seen that the shield machine start-stop control method provided in the present application can receive the second output torque of the unconnected motor from the main controller and determine its own speed compensation state according to the second output torque.

[0085] In one embodiment, see Figure 4 , adjust the speed of the connected motor according to the speed compensation state to achieve smooth start and stop control of the shield machine, including:

[0086] S401: Determine whether the speed compensation state is enabled;

[0087] S402: If yes, determine the backlash compensation speed according to the motor rated torque, the motor rated speed and the current torque deviation;

[0088] S403: Adjust the speed of the connected motor according to the backlash compensation speed to achieve smooth start and stop control of the shield machine.

[0089] It can be understood that the execution subject of steps S401 to S403 is also any inverter in the electric transmission system, and each inverter executes the method described in steps S401 to S403 to determine its own speed compensation state.

[0090] When the inverter backlash compensation status position is 1, the backlash compensation coefficient K is automatically enabled. ante . Because when T error When the deviation is too large, the backlash effect will be very obvious, thereby increasing the damage to the mechanical components of the shield machine. Therefore, the embodiment of the present application needs to reduce the mechanical impact caused by the backlash, and at the same time compensate the output torque deviation to the given speed through the backlash compensation coefficient until the output torque of each inverter-driven motor can be maintained at the backlash deviation torque threshold T ante Within the range of the inverter drive motor to reach the set speed n during acceleration set0 Then it runs normally.

[0091]

[0092] Among them, n ante Indicates the backlash compensation speed, T N Indicates the rated torque of the motor, n N Indicates the rated speed of the motor.

[0093] When the inverter backlash compensation state position is 0 (disabled state), there is no backlash, and the inverter drive motor can directly reach the set speed n during acceleration. set0 Normal operation.

[0094] It can be seen from the above description that the shield machine start and stop control method provided in this application can achieve smooth start and stop control of the shield machine.

[0095] In summary, the shield machine start-stop control method provided in this application has at least the following beneficial effects:

[0096] Considering that the transmission mechanism design of mechanical backlash elimination is complex and the debugging is difficult; the multi-speed loop and multi-current loop control technology is used for backlash elimination, the control loop is complex, and it is difficult to debug a suitable loop controller in practical applications; this application provides a start and stop control method for a shield machine, which can judge the tooth gap by controlling the frequency converter, and use a low-speed synchronous compensation method to eliminate the tooth gap during the start and stop process of the shield machine. Compared with mechanical backlash elimination, it saves machinery costs, and compared with multi-speed loop and multi-current loop control backlash elimination, it is simple to debug.

[0097] Based on the same inventive concept, the embodiments of the present application also provide a shield machine start-stop control device, which can be used to implement the method described in the above embodiments, as described in the following embodiments. Since the principle of solving the problem by the shield machine start-stop control device is similar to that of the shield machine start-stop control method, the implementation of the shield machine start-stop control device can refer to the implementation of the method based on software performance benchmark determination, and the repeated parts will not be repeated. As used below, the term "unit" or "module" can be a combination of software and / or hardware that implements predetermined functions. Although the system described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0098] In one embodiment, see Figure 5 In order to achieve smooth start and stop control of a variable frequency driven shield machine, the present application provides a shield machine start and stop control device, including: a torque transmission unit 501, a compensation state determination unit 502 and a start and stop control unit 503.

[0099] The torque transmission unit 501 is used to drive the connected motor to operate according to the motor driving instruction received from the main controller of the shield machine, and transmit the first output torque of the connected motor to the main controller;

[0100] A compensation state determination unit 502 is used to receive a second output torque of the unconnected motor from the main controller, and determine its own speed compensation state according to the second output torque;

[0101] The start-stop control unit 503 is used to adjust the speed of the connected motor according to the speed compensation state to achieve smooth start-stop control of the shield machine.

[0102] In one embodiment, see Figure 6 The compensation state determination unit includes: a torque mean determination module 601, a torque deviation determination module 602 and a compensation state determination module 603.

[0103] A torque mean value determination module 601, configured to receive the second output torque from the main controller and determine a mean value of the second output torque;

[0104] A torque deviation determination module 602, configured to determine a current torque deviation according to the first output torque and the mean value;

[0105] The compensation state determination module 603 is used to compare a preset backlash deviation threshold with the current torque deviation to determine the rotation speed compensation state.

[0106] In one embodiment, see Figure 7 The shield machine start-stop control device also includes: a time threshold comparison unit 701 and a compensation state determination unit 702.

[0107] The time threshold comparison unit 701 is used to compare the duration of the current torque deviation being greater than the backlash deviation threshold with a preset time threshold when the current torque deviation is greater than the backlash deviation threshold;

[0108] The compensation state determining unit 702 is used to determine the rotation speed compensation state according to the time comparison result.

[0109] In one embodiment, see Figure 8 , the start-stop control unit 503 includes:

[0110] The compensation speed determination module 801 is used to determine the backlash compensation speed according to the motor rated torque, the motor rated speed and the current torque deviation if the speed compensation state is enabled;

[0111] The start-stop control module 802 is used to adjust the speed of the connected motor according to the backlash compensation speed to achieve smooth start-stop control of the shield machine.

[0112] From the hardware level, in order to achieve smooth start and stop control of a variable frequency driven shield machine, the present application provides an embodiment of an electronic device for implementing all or part of the content of the shield machine start and stop control method, and the electronic device specifically includes the following content:

[0113] Processor, memory, communication interface and bus; wherein the processor, memory and communication interface communicate with each other through the bus; the communication interface is used to realize information transmission between the shield machine start-stop control device and related equipment such as the core business system, user terminal and related database; the logic controller can be a desktop computer, a tablet computer and a mobile terminal, etc., but the present embodiment is not limited thereto. In the present embodiment, the logic controller can be implemented with reference to the embodiment of the shield machine start-stop control method and the embodiment of the shield machine start-stop control device in the embodiment, and the contents thereof are incorporated herein, and the repeated parts are not repeated.

[0114] It is understandable that the user terminal may include a smart phone, a tablet electronic device, a network set-top box, a portable computer, a desktop computer, a personal digital assistant (PDA), a vehicle-mounted device, a smart wearable device, etc. Among them, the smart wearable device may include smart glasses, a smart watch, a smart bracelet, etc.

[0115] In practical applications, part of the shield machine start-stop control method can be executed on the electronic device side as described above, or all operations can be completed in the client device. The specific selection can be based on the processing power of the client device and the limitations of the user's usage scenario. This application does not limit this. If all operations are completed in the client device, the client device may also include a processor.

[0116] The client device may have a communication module (i.e., a communication unit) that can communicate with a remote server to achieve data transmission with the server. The server may include a server on the task scheduling center side, and other implementation scenarios may also include a server on an intermediate platform, such as a server on a third-party server platform that has a communication link with the task scheduling center server. The server may include a single computer device, or a server cluster consisting of multiple servers, or a server structure of a distributed device.

[0117] Fig. 9 FIG. 9 is a schematic block diagram of the system structure of the electronic device 9600 according to an embodiment of the present application. Fig. 9 As shown, the electronic device 9600 may include a central processor 9100 and a memory 9140; the memory 9140 is coupled to the central processor 9100. It is worth noting that Fig. 9 is exemplary; other types of structures may also be used to supplement or replace this structure to implement telecommunication functions or other functions.

[0118] In one embodiment, the shield machine start-stop control method function may be integrated into the central processor 9100. The central processor 9100 may be configured to perform the following control:

[0119] S101: driving a connected motor to operate according to a motor driving instruction received from a main controller of a shield machine, and transmitting a first output torque of the connected motor to the main controller;

[0120] S102: receiving a second output torque of a motor that is not connected from the main controller, and determining a speed compensation state of the main controller according to the second output torque;

[0121] S103: adjusting the speed of the connected motor according to the speed compensation state to achieve smooth start and stop control of the shield machine.

[0122] From the above description, it can be seen that the shield machine start-stop control method provided in the present application can determine whether there is a tooth gap during the start-stop process of the shield machine according to the deviation value of the output torque of each motor; if there is a tooth gap, the speed of the corresponding motor is compensated to eliminate the impact and loss on the mechanical parts caused by the tooth gap during the start-stop process of the shield machine.

[0123] In another embodiment, the shield machine start-stop control device can be configured separately from the central processor 9100. For example, the data composite transmission device shield machine start-stop control device can be configured as a chip connected to the central processor 9100, and the function of the shield machine start-stop control method can be realized through the control of the central processor.

[0124] like Fig. 9 As shown, the electronic device 9600 may also include: a communication module 9110, an input unit 9120, an audio processor 9130, a display 9160, and a power supply 9170. It is worth noting that the electronic device 9600 does not necessarily have to include Fig. 9 In addition, the electronic device 9600 may also include Fig. 9 For components not shown, reference may be made to the prior art.

[0125] like Fig. 9 As shown, the central processing unit 9100 is sometimes also referred to as a controller or an operation control, and may include a microprocessor or other processor device and / or logic device. The central processing unit 9100 receives input and controls the operation of various components of the electronic device 9600.

[0126] The memory 9140 may be, for example, one or more of a cache, a flash memory, a hard drive, a removable medium, a volatile memory, a non-volatile memory or other suitable devices. The above-mentioned information related to the failure may be stored, and a program for executing the relevant information may also be stored. The CPU 9100 may execute the program stored in the memory 9140 to implement information storage or processing, etc.

[0127] The input unit 9120 provides input to the central processing unit 9100. The input unit 9120 is, for example, a key or a touch input device. The power supply 9170 is used to provide power to the electronic device 9600. The display 9160 is used to display display objects such as images and texts. The display may be, for example, an LCD display, but is not limited thereto.

[0128] The memory 9140 may be a solid-state memory, such as a read-only memory (ROM), a random access memory (RAM), a SIM card, etc. It may also be a memory that saves information even when the power is off, can be selectively erased, and is provided with more data, examples of which are sometimes referred to as EPROMs, etc. The memory 9140 may also be some other type of device. The memory 9140 includes a buffer memory 9141 (sometimes referred to as a buffer). The memory 9140 may include an application / function storage unit 9142, which is used to store application programs and function programs or processes for executing the operation of the electronic device 9600 through the central processor 9100.

[0129] The memory 9140 may also include a data storage unit 9143 for storing data, such as contacts, digital data, pictures, sounds, and / or any other data used by the electronic device. The driver storage unit 9144 of the memory 9140 may include various drivers for communication functions of the electronic device and / or for executing other functions of the electronic device (such as messaging applications, address book applications, etc.).

[0130] The communication module 9110 is a transmitter / receiver 9110 that sends and receives signals via an antenna 9111. The communication module (transmitter / receiver) 9110 is coupled to the central processor 9100 to provide input signals and receive output signals, which may be the same as the case of a conventional mobile communication terminal.

[0131] Based on different communication technologies, multiple communication modules 9110 may be provided in the same electronic device, such as a cellular network module, a Bluetooth module and / or a wireless LAN module. The communication module (transmitter / receiver) 9110 is also coupled to a speaker 9131 and a microphone 9132 via an audio processor 9130 to provide an audio output via the speaker 9131 and receive an audio input from the microphone 9132, thereby realizing a common telecommunication function. The audio processor 9130 may include any suitable buffer, decoder, amplifier, etc. In addition, the audio processor 9130 is also coupled to the central processor 9100, so that recording can be performed on the local machine through the microphone 9132, and the sound stored on the local machine can be played through the speaker 9131.

[0132] The embodiments of the present application also provide a computer-readable storage medium capable of implementing all the steps of the shield machine start-stop control method in the above embodiment, where the execution subject is a server or a client. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, all the steps of the shield machine start-stop control method in the above embodiment are implemented. For example, when the processor executes the computer program, the following steps are implemented:

[0133] S101: driving a connected motor to operate according to a motor driving instruction received from a main controller of a shield machine, and transmitting a first output torque of the connected motor to the main controller;

[0134] S102: receiving a second output torque of a motor that is not connected from the main controller, and determining a speed compensation state of the main controller according to the second output torque;

[0135] S103: adjusting the speed of the connected motor according to the speed compensation state to achieve smooth start and stop control of the shield machine.

[0136] From the above description, it can be seen that the shield machine start-stop control method provided in the present application can determine whether there is a tooth gap during the start-stop process of the shield machine according to the deviation value of the output torque of each motor; if there is a tooth gap, the speed of the corresponding motor is compensated to eliminate the impact and loss on the mechanical parts caused by the tooth gap during the start-stop process of the shield machine.

[0137] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0138] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (apparatus), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0139] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0140] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0141] The present invention uses specific embodiments to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A shield machine start-stop control method, characterized in that: include: driving the connected motor to operate according to the motor driving instruction received from the main controller of the shield machine, and transmitting the first output torque of the connected motor to the main controller; wherein the drive system of the shield machine includes an electric transmission system; the electric transmission system includes a plurality of motors; receiving a second output torque of the unconnected motor from the main controller, and determining its own speed compensation state according to the second output torque; The speed of the connected motor is adjusted according to the speed compensation state to achieve smooth start and stop control of the shield machine; specifically, when the inverter backlash compensation state position is 1, the backlash compensation coefficient K is automatically enabled. ante ; The output torque deviation is compensated to the speed setting through the backlash compensation coefficient until the output torque of each inverter-driven motor can be maintained at the backlash deviation torque threshold T ante Within the range of the inverter drive motor to reach the set speed n during acceleration set0 Then it runs normally; Among them, n ante Indicates the backlash compensation speed, T N Indicates the rated torque of the motor, n N Indicates the rated speed of the motor, T error Indicates the torque deviation value; When the inverter backlash compensation state position is 0, there is no backlash, and the inverter drives the motor to reach the set speed n directly during acceleration. set0 Normal operation.

2. The shield machine start-stop control method according to claim 1, characterized in that: The receiving the second output torque of the unconnected motor from the main controller and determining its own speed compensation state according to the second output torque includes: receiving the second output torque from the main controller and determining a mean value of the second output torque; determining a current torque deviation according to the first output torque and the mean value; The preset backlash deviation threshold is compared with the current torque deviation to determine the rotation speed compensation state.

3. The shield machine start-stop control method according to claim 2, characterized in that: Before determining the rotation speed compensation state, the method further includes: If the current torque deviation is greater than the backlash deviation threshold, comparing the duration for which the current torque deviation is greater than the backlash deviation threshold with a preset time threshold; The rotation speed compensation state is determined according to the time comparison result.

4. The shield machine start-stop control method according to claim 2, characterized in that: The method of adjusting the speed of the connected motor according to the speed compensation state to achieve smooth start and stop control of the shield machine includes: If the speed compensation state is enabled, determining the backlash compensation speed according to the motor rated torque, the motor rated speed and the current torque deviation; The speed of the connected motor is adjusted according to the backlash compensation speed to achieve smooth start and stop control of the shield machine.

5. A start-stop control device for a shield machine, characterized in that: include: A torque transmission unit, used to drive the connected motor to operate according to the motor drive instruction received from the main controller of the shield machine, and transmit the first output torque of the connected motor to the main controller; wherein the drive system of the shield machine includes an electric transmission system; the electric transmission system includes a plurality of motors; a compensation state determining unit, configured to receive a second output torque of the unconnected motor from the main controller, and determine its own speed compensation state according to the second output torque; A start-stop control unit is used to adjust the speed of the connected motor according to the speed compensation state to achieve smooth start-stop control of the shield machine; specifically, when the inverter backlash compensation state position is 1, the backlash compensation coefficient K is automatically enabled. ante ; The output torque deviation is compensated to the speed setting through the backlash compensation coefficient until the output torque of each inverter-driven motor can be maintained at the backlash deviation torque threshold T ante Within the range of the inverter drive motor to reach the set speed n during acceleration set0 Then it runs normally; Among them, n ante Indicates the backlash compensation speed, T N Indicates the rated torque of the motor, n N Indicates the rated speed of the motor, T error Indicates the torque deviation value; When the inverter backlash compensation state position is 0, there is no backlash, and the inverter drives the motor to reach the set speed n directly during acceleration. set0 Normal operation.

6. The shield machine start-stop control device according to claim 5, characterized in that: The compensation state determining unit comprises: a torque mean value determination module, configured to receive the second output torque from the main controller and determine a mean value of the second output torque; a torque deviation determining module, configured to determine a current torque deviation according to the first output torque and the mean value; The compensation state determination module is used to compare a preset backlash deviation threshold with the current torque deviation to determine the rotational speed compensation state.

7. The shield machine start-stop control device according to claim 6, characterized in that: Also includes: a time threshold comparison unit, for comparing, when the current torque deviation is greater than the backlash deviation threshold, a duration during which the current torque deviation is greater than the backlash deviation threshold with a preset time threshold; The compensation state determining unit is used to determine the rotation speed compensation state according to the time comparison result.

8. The shield machine start-stop control device according to claim 6, characterized in that: The start-stop control unit comprises: A compensation speed determination module, used for determining the backlash compensation speed according to the motor rated torque, the motor rated speed and the current torque deviation if the speed compensation state is enabled; A start-stop control module is used to adjust the speed of the connected motor according to the backlash compensation speed to achieve smooth start-stop control of the shield machine.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the shield machine start and stop control method described in any one of claims 1 to 4 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the shield machine start-stop control method described in any one of claims 1 to 4 are implemented.

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