刀盘驱动系统是硬岩掘进装备的重要组成部分。对冗余驱动TBM刀盘驱动系统的协调控制问题展开研究。本文提出一种时变的非线性动力学模型用于描述硬岩掘进装备刀盘驱动系统。针对TBM刀盘驱动系统，提出一种集成控制分配的TBM棒控制器，驱使刀盘跟踪期望的速度且各电动机的驱动扭矩实现协调控制。其中，上层控制器用于处理变化的不确定性和作用于刀盘的可变负载，控制分配策略用于分配驱动扭矩使得各电动机驱动扭矩均衡分布。各种对比仿真用于证明提出控制器的优越性能。仿真结果表明提出的控制器不仅能够满足刀盘的速度控制也能够实现各驱动电动机驱动扭矩的均衡分布。
The cutterhead drive system is an important part of the hard rock tunneling equipment. The problem of coordinated control of redundant drive TBM cutter-head driving system is studied. Time-varying nonlinear dynamic model is proposed to describe the hard disk drive equipment cutter drive system. Based on the TBM cutter drive system, an integrated TBM controller is proposed to drive the cutter-head to track the desired speed and the drive torque of each motor is balanced, where the high level controller is used to handle the uncertainties of the variable load acting on the cutterhead and the total torque to drive the cutterhead is obtained. The low-level control allocation strategy is used to distribute the torque so that the motor drives the torque equalization distribution. The simulation analysis is used to verify the superior performance of the proposed controller. The simulation results show that the proposed controller can not only meet the speed control of the cutter head, but also realize the equilibrium distribution of the torque of each driving motor.
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