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.
LIAO Jianfeng
,
YAO Bin
. Coordinated Control for Overactuated Hard Rock Tunnel Boring Machine Cutterhead Driving System[J]. Journal of Mechanical Engineering, 2018
, 54(1)
: 107
-112
.
DOI: 10.3901/JME.2018.01.107
[1] 杜彦良,杜立杰. 全断面岩石隧道掘进机:系统原理与集成设计[M]. 武汉:华中科技大学出版社,2011. DU Yanliang,DU Lijie. Full face rock tunnel boring machine:System principle and integrated design[M]. Wuhan:Huazhong University of Science and Technology Press,2011.
[2] ROSTAMI J. Hard rock TBM cutterhead modeling for design and performance prediction[J]. Geomechanics and Tunnelling,2008,1(1):18-28.
[3] SU C X,WANG Y Q,CAI Z X,et al. Numerical simulation of excavation load on cutterhead in shield tunneling machine[J]. Journal of Tianjin University,2011,44(6):522-528.
[4] LI X H,YU H B,YUAN M Z,et al. Dynamic modeling and analysis of shield TBM cutterhead driving system[J]. Journal of Dynamic Systems,Measurement,and Control,2010,132(4):1-14.
[5] LI X H,YU H B,YUAN M Z,et al. Research on dynamic models and performances of shield tunnel boring machine cutterhead driving system[J]. Advances in Mechanical Engineering,2013,2013(1):119-138.
[6] PEREZ-PINAL,NUNEZ C,ALVAREZ R,et al. Comparison of multi-motor synchronization techniques[C]//Industrial Electronics Society,IECON 2004,Busan,New York:IEEE,2004:1670-1675.
[7] KOREN Y. Cross-coupled biaxial computer controls for manufacturing systems[J]. Journal of Dynamic Systems Measurement & Control,1980,102(4):265-272.
[8] LIN F J,CHOU P H,CHEN C S,et al. DSP-based cross-coupled synchronous control for dual linear motors via intelligent complementary sliding mode control[J]. Industrial Electronics,IEEE Transactions on,2012,59(2):1061-1073.
[9] CHEN C S,CHEN L Y. Robust cross-coupling synchronous control by shaping position commands in multiaxes system[J]. Industrial Electronics,IEEE Transactions on,2012,59(12):4761-4773.
[10] SUN J,LIU R,LUO Y,et al. Electromechanical coupling model for cutterhead driving system of shield machines[J]. Intelligent Robotics and Applications,2010,1:310-317.
[11] 郭庆鼎,唐光谱,唐元钢,等. 基于自适应控制的双电动机同步传动控制技术的研究[J]. 机械工程学报,2002,38(2):79-81. GUO Qingding,TANG Guangpu,TANG Yuangang,et al. Research on synchrodrive control technology for dual motors based on adaptive control[J]. Chinese Journal of Mechanical Engineering,2002,38(2):79-81.
[12] ALWI H,EDWARDS C. Fault tolerant control using sliding modes with on-line control allocation[J]. Automatica,2008,44(7):1859-1866.
[13] LI C,YAO B,ZHU X C,et al. Adaptive robust synchronous control with dynamic thrust allocation of dual drive gantry stage[C]//IEEE/ASME International Conference on Advanced Intelligent Mechatronics,July 8-11,2014,Besancon. New York:IEEE,2014:316-321.
