Research On Speed Governing Combined Synchronous Compound Control Technology For Driving System Of Shield Cutter Head

With the continuous expansion of the construction of subway tunnels in China,shield technology is playing an increasingly important role.Compared with the motor drive,the hydraulic drive has the characteristics of simple structure,convenient operation,easy to automatic control and strong carrying capacity,so it is often used as the driving mode of shield cutter.Due to the harsh geological environment and variable load of the shield machine,the hydraulic motor is still widely used as the power component of the shield machine.However,due to wear caused by mechanical friction,plastic deformation of parts,contamination of working fluids,and installation and manufacture errors of other hydraulic components,the hydraulic motor speed is not synchronized and the working efficiency is lowered.In this paper,the speed regulation synchronization problem of the parallel hydraulic motor in the hydraulic drive system of the shield cutter head is taken.Taking a certain type of shield machine as an example,the hydraulic drive composite control system of the shield cutter head is designed,and the speed of the pump control motor is adjusted.The synchronous control of the valve-controlled motor is used for mathematical modeling analysis.AMESim(hydraulic simulation software)combined with MATLAB software is used to establish the joint simulation model of constant power speed synchronous compound control of the hydraulic drive system of the cutter head.The two control methods of PID and fuzzy PID are carried out.Co-simulation comparison analysis shows that the synchronous control of the motor speed,and the fuzzy PID control is superior to the PID control.The main research contents of this paper are as follows:In the first chapter,the development and research status of shield machine at home and abroad is introducted,discusses the characteristics and development trend of the control technology of shield drive hydraulic drive system is discussed,and finally the research content and research significance of this topic is summarized.In the second chapter,analyzes the hydraulic drive system of the shield cutter head is analyzed,analyzes the principle and characteristics of the hydraulic speed control and synchronous control technology is analyzed,and summarizes the characteristics of the electro-hydraulic proportional control technology is summarized.The design of the hydraulic speed synchronous composite control system and the working principle of the system are studied.The schematic diagram of the hydraulic composite control system is drawn.Finally,the main parameters of the key components of the hydraulic drive system of the cutter head are calculated and selected.In the third chapter,according to the requirements of the hydraulic composite control system,mathematical models the pump-controlled motor speed control system and the valve-controlled motor synchronous system are established.The internal structure of the electronically controlled variable pump is analyzed,and the mathematical modeling of the variable pump-controlled quantitative motor was completed.The various links of the single-loop valve-controlled motor synchronization system are studied separately and the transfer function is established,and the closed-loop control transfer function model of the valve-controlled motor is obtained.In the fourth chapter,based on the schematic diagram of the hydraulic drive system of the cutter head,the hydraulic drive system model of the cutter head is established by AMESim hydraulic simulation software.The system control model is established by MATLAB/Simulink software,and the hydraulic control of the cutter head is constructed by combining the fuzzy self-tuning PID control strategy.The composite control system is combined with the simulation model to verify the feasibility of the control scheme.In the fifth chapter,summarizes the main work of the thesis research are summarized,and the part of the hydraulic control synchronous composite control system of the cutter head that needs further research and improvement are analyzed and summarized..