An Research On Multi-domain Modeling,simulation And Synchronous Control Strategy To Driving System Of Shield Machine

Shield machine is a large-scale tunneling equipment integrated mechanism,electricity,hydraulic and control.With the large-scale promotion of domestic engineering construction,the market demand for shield machine is huge.Besides improving the level of production and manufacturing technology,it is necessary to further improve the level in the design,control technology and intelligence of shield machine.Aimed to solve the problem of shield machine uneven load of the cutter head and to provide the design and development methods,the multi-domain simulation model for the main drive system of the shield machine is established by the Modelica language in this thesis.The simulation calculation and analysis are completed,and the multi-motor synchronous control structure and control algorithm of the main drive system are studied.The main research is as follows:1.Based on the Modelica language,the working principle for the main drive system of the shield machine and the multi-domain modeling principle are analyzed.The main driving system of shield tunneling is decomposed into the modules by the multi-domain module division.2.Modeling for main drive system component analysis and multi-domain.The basic principles for the system modeling of the main drive system of shield machine,such as the drive motor,the frequency converter and the vector control module are analyzed.The physical models of the drive motor subsystem,the frequency converter subsystem,the vector control module,the mechanical transmission component subsystem and the related accessories are established in the main drive system of the shield machine.The interface connector of information transfer and data exchange between different fields is constructed.Finally,the electromechanical coupling simulation model is built.3.Design for the multi-motor synchronous fuzzy PID control strategy.Based on the existing multi-motor synchronous control structure,an improved ring coupling multi-motor synchronous control structure with compensation module is proposed.An intelligent fuzzy PID control algorithm is also designed.Moreover,the multi-domain model construction and verification of the control algorithm based on Modelica langue are completed.4.Analyzing the simulation results of the multi-motor synchronous performance of main drive system.A complete simulation model of the main drive system is built and the accuracy of the model is verified.Then,three different kinds of synchronous control strategies are simulated and compared,which are the combination of the traditional PID control algorithm with the master-slave synchronous control structure,the combination of the fuzzy PID control algorithm with the master-slave synchronous control structure,and the combination of the fuzzy PID control algorithm with the ring coupling synchronous control structure.The results show that the fuzzy PID control algorithm combined with multi-motor ring coupling synchronous control structure is one of the best control algorithms.This study has the certain reference value for the design and development of shield machine.