The Research On Control System Of The Shield Erector Test Rig

Shield is a type of advanced engineering equipment applied in underground tunnel excavation. As an important part of shield, shield erector is used for fixing concrete segment. It can hold the segment and put it to the target potion through different motions such as turn, telescope, travel, and so on. Building shield erector test rig will contribute to make further research on shield key techniques, such as shield design theory and method. The thesis focuses on the research of electro-hydraulic control system. The mathematic models of its control system are established, and the dynamic behaviors of system are studied through the simulation curves. Furthermore, the monitor system is designed based on the PLC and LabVIEW.The main content of each chapter is summarized as follow:In chapter 1, the background of the shield technology and the structure of the shield erector are introduced, and the significance of the project is referred, also, the main objectives of this research project are showed at the end of this chapter.In chapter 2, the function of shield erector and its hydraulic system design principle are introduced. And the characters of its hydraulic control system are analyzed, including the erector-turn hydraulic circuit, the erector-travel circuit, the erector-telescope circuit, and the erector-gesture adjuster circuit.In chapter 3, the thesis focuses on the mathematical modeling. The models of pump, valve, actuator and load, and pilot valve are established separately in time domain. The mathematical model of gear system is also given.In chapter 4, the erector-turn hydraulic circuit is analyzed by the simulation software of AMESim. The shaft speed and the load speed are calculated. Further, the influences of different parameters on the dynamic behaviors of system are also studied, and some constructive conclusions are given through analyzing the simulation curves.In chapter 5, the model of hydraulic synchronous motion with double cylinders is built, and the factors of influence on the synchronous motion are analyzed. Finally, under different loads on the cylinders, the synchronous accuracy is studied through simulation.In chapter 6, the hardware design of the shield erector control system is introduced. The thesis accomplishes the PLC programs and VI programs, which could achieve the function of date collection and monitoring.In chapter 7, a brief summarization of the thesis and some new views are given.