基于Modelica的盾构主驱动多电机同步控制仿真  

The Simulation of Multi-Motor Synchronous Control for Shield Main Drive Based on Modelica

作　　者：周鹏 秦东晨[1] 王杜娟 贾连辉 ZHOU Peng;QIN Dong-chen;WANG Du-juan;JIA Lian-hui(School of Mechanical Engineering,Zhengzhou University,Zhengzhou Henan 450000,China;China Railway Engineering Equipment Group Co.,Ltd.,Zhengzhou Henan 450000,China)

机构地区：[1]郑州大学机械工程学院,河南郑州450000 [2]中铁工程装备集团有限公司,河南郑州450000

出　　处：《计算机仿真》2020年第12期239-244,共6页Computer Simulation

基　　金：郑洛新国家自主创新示范区首批创新引领型产业集群专项资助(181200210100)。

摘　　要：盾构主驱动系统通常由多台电机共同驱动,任何一台电机的不同步都会对整个传动系统造成重大损害,同步性控制结构复杂,结合多电机耦合控制与非耦合控制的优缺点,最终选择了环形耦合控制并说明了该控制策略的合理性;将模糊控制与PID控制相结合,设计一种模糊自适应PID控制算法,并与多电机环形耦合控制策略相结合,基于多领域仿真语言Modelica在仿真平台MWorks中搭建模型并进行仿真分析。通过与传统PID控制方式对比,结果表明采用模糊自适应PID环形耦合同步控制各电机具有更好的同步性能表现,并能够有效地改善主驱动系统的稳定性和动态性能,提高了控制精度,加快了系统响应速度,而且具有良好的鲁棒性。The main drive system of shield machine is usually driven by multiple motors.The asynchronization of any motor will cause great damage to the whole transmission system,synchronization control structure is complex.Combining the advantages and disadvantages of multi-motor coupling control and uncoupled control,the ring cou-pling control was chosen and the rationality of the control strategy was illustrated.Combining fuzzy control with PID control,a fuzzy adaptive PID control algorithm was designed.,which was combined with multi-motor ring coupling control strategy.Based on the multi-domain simulation language Modelica,the model was built and simulated on the simulation platform MWorks.Compared with the traditional PID control method,the results show that the fuzzy a-daptive PID ring coupling synchronization control method has better synchronization performance,can effectively im-prove the stability,dynamic performance of the main drive system and the control accuracy,and speed up the re-sponse of the system,and has good robustness.

关 键 词：盾构主驱动 多电机同步 环形耦合 模糊比例积分微分控制 多领域仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]