转速受限条件下TBM刀盘混合驱动系统控制器设计  

Controller design for the hybrid cutterhead driving system of TBM under limited rotational speed condition

作　　者：王飞[1] 龚国芳[1] 秦永峰 WANG Fei;GONG Guo-fang;QIN Yong-feng(State Key Laboratory of Fluid Power&Mechatronic Systems,Zhejiang University,Hangzhou 310027,China)

机构地区：[1]浙江大学流体动力与机电系统国家重点实验室

出　　处：《工程设计学报》2019年第6期722-727,共6页Chinese Journal of Engineering Design

基　　金：国家重点研发计划资助项目(2017YFB1302600);国家自然科学基金资助项目(51675472);国家重点基础研究发展计划(973计划)资助项目(2015CB058100)

摘　　要：传统全断面硬岩隧道掘进机(tunnel boring machine,TBM)刀盘转速同步控制方法是针对变频电机单一驱动源进行设计的,直接应用于混合驱动型TBM刀盘驱动系统易导致齿轮齿圈发生严重的偏载,显著降低TBM刀盘传动系统的使用寿命和TBM设备完好率。考虑到实际掘进过程中对刀盘转速的限制和系统参数漂移,采用自适应控制策略,针对电液混合驱动型TBM刀盘驱动系统设计基于驱动源力矩控制的转速控制方法。建立了齿轮齿圈传动系统模型,系统的参数不确定性得到充分考虑。通过MATLAB/AMESim联合仿真表明,该自适应控制系统对参数漂移具有补偿作用,在精确控制刀盘转速的同时,实现了不同类型驱动源间的负载力矩分配,原系统中的偏载问题得到了解决。电液混合驱动型TBM刀盘驱动系统通过液压马达和变频电机两种驱动源驱动特性的互补,有效提高了其地质适应性,并对提高掘进速度有着重要的作用。The conventional cutterhead rotational speed control strategy of TBM(tunnel boring machine) designed for the single driving source of variable frequency motor causes serious bias load in the hybrid cutterhead mechanical transmission system, which decreases the component’s lifespan and TBM availability. Considering the constraints in the rotational speed and the parameter drift in the excavation process, an adaptive control strategy was used to design a rotational speed control system based on driving source torque control for the the electro-hydraulic hybrid cutterhead driving system(EHDS). The model of the gear-ring transmission system was established. The parametric uncertainty in the system was considered. The MATLAB/AMESim co-simulations results showed that the proposed adaptive control system could compensate the parameter drift, realized the load torque distribution between different types of driving sources while realizing the precise control of the cutterhead rotational speed. The bias load phenomena had been eliminated by the proposed adaptive control system. EHDS can effectively improve its geological adaptability and play an important role in improving the driving speed by complementing the driving characteristics of hydraulic motor and variable frequency motor.

关 键 词：刀盘驱动 TBM 自适应控制 负载力矩分配 

分 类 号：TU43[建筑科学—岩土工程]