The Kinetic Analysis And Control Research Of Shield Segment Erector

Along with the scale of China's infrastructure construction pace of urbanization speeding up and expanding, the underground space development is increasing, so the demanding of TBM is also growing. TBM is a set of electro-hydraulic, optical and automatic control in one of the highly intelligent large-scale engineering machinery and equipment, while the segment erector is one of very important component. Segment erector performance directly affects the entire TBM is good or bad, so the segment erector research on the development a good performance TBM is very important.This article taking the Shenyang North Heavy Industries Group TBM State Key Laboratory of ?3.2 meter multifunctional TBM testing machine as a platform. In order to verify the reliability of the improved model, I research the improved Segment erector model, analysis its kinematics and dynamics, plan its driving joint trajectory and design of the controller. This will provide the mathematical theory and dynamical model to building a foundation for visual servo feedback based intelligent automatic control systems segment assembly.This paper studies from the following aspects:Firstly, introduce to this research segment erector briefly, simplify its structure and establish kinematic analysis model, use string and even knowledge of robot kinematics obtained segment erector inverse kinematics and analytic expressions. Make the simulation analysis the model for the segment erector kinematics in adams.Secondly, make the dynamic analysis for segment erector mechanism. Use Newton-Euler recursive equation to build segment erector dynamics model. Use Lagrange equation dynamic model to build the dynamic model of segment erector based on the influence coefficient method. Make dynamic simulation for segment erector model in Adams.Finally, the trajectory of each drive segment erector joints were studied, and its simulation using Matlab. Torque controller is designed based computing segment erector inverse dynamics model and control erected Adams and Matlab co-simulation platform.