盾构智能管片拼装机的平移运动电液系统精确控制  

Precise control of translational motion electro-hydraulic system of intelligent shield segment assembly machine

作　　者：陈旭阳[1] 黄鑫[1] 郭俊可 林福龙 贾连辉 龚国芳[1] 杨华勇[1] 祝毅[1] CHEN Xuyang;HUANG Xin;GUO Junke;LIN Fuong;JIA Lianhui;GONG Guofang;YANG Huayong;ZHU Yi(State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou 310027,China;Electrical and Intelli-gent Technology Research Institute,China Railway Engineering Equipment Group Co.Ltd,Zhengzhou 450047,China)

机构地区：[1]浙江大学流体动力基础件与机电系统全国重点实验室,浙江杭州310027 [2]中铁工程装备集团有限公司电气与智能技术研究院,河南郑州450047

出　　处：《浙江大学学报(工学版)》2025年第3期588-596,共9页Journal of Zhejiang University:Engineering Science

基　　金：国家自然科学基金优秀青年基金资助项目(52222503);浙江省自然科学基金重大资助项目(LD22E050003);国家重点研发计划资助项目(2022YFB4602502).

摘　　要：管片拼装机载荷大、滞后大、摩擦扰动大,为了提高管片自动拼装的精度和效率,通过对模型精确辨识和iPIDD2算法实现在摩擦扰动下液压平移系统的精确控制.在理论模型基础上,提出多算法融合信号降噪方法对输出信号进行预处理,并采用带遗忘因子的偏差补偿递推最小二乘辨识算法,以获得更精确的液压系统模型.针对摩擦扰动下拼装机平移运动的精确控制,提出iPIDD2控制算法实现平移油缸的精确控制.通过AMESim-Simulink联合仿真和搭建电液伺服系统实验台及实时控制系统验证研究结果.在不同的负载工况下进行全尺寸实验验证,结果表明,所提方法的位移跟踪稳态误差小于3mm,与PID相比最大跟踪误差减小77.6%,迟滞时间减少超过10s.在参数不确定和摩擦扰动下具有更好的精确控制性能和更小的迟滞时间,所提算法对提高摩擦扰动下自动管片拼装的拼装精度和效率具有积极意义.Aiming at the problem of heavy load,large hysteresis and large friction disturbance of segment assembly machine,the precise control of hydraulic translation systems under friction disturbances was addressed through accurate model identification and the implementation of the iPIDD2 algorithm,to improve the accuracy and efficiency of automatic segment assembly.Initially,a signal preprocessing method combining multiple algorithms for noise reduction was proposed based on the theoretical model to preprocess the output signal.Subsequently,a deviation-compensating recursive least squares identification algorithm with a forgetting factor was adopted to obtain a more accurate hydraulic system model.To achieve precise control of the translational motion of the assembly machine under friction disturbances,the iPIDD2 control algorithm was proposed to achieve precise control of the translation cylinder.The research results were validated through AMESim-Simulink co-simulation and the construction of an electro-hydraulic servo system experimental platform with real-time control systems.Full-scale experimental verification was conducted under different load conditions.Results showed that compared with PID,this method had better precise control performance and smaller hysteresis time under parameter uncertainty and friction disturbance.The displacement tracking of this method was stable.The state error was less than 3 mm,which was 77.6%smaller than the maximum tracking error of PID control,and the hysteresis time was reduced by more than 10 s.This method held significant potential for improving the assembly precision and efficiency of automatic shield segment assembly under friction disturbances.

关 键 词：盾构机 管片拼装 信号处理 参数识别 精确控制 

分 类 号：TH137[机械工程—机械制造及自动化]