Research On Multi-domain Modeling And Simulation Of Shield Machine Propulsion System

Shield machine is a large-scale tunnel boring equipment commonly used in modern subway construction.It integrates functions such as cutter head cutting,propulsion control,segment assembly,and screw conveying.With the rapid development of domestic underground urban space construction,the market demand for shield machine is increasing.While improving the manufacturing level of shield machines,some key technologies still need further research breakthroughs.In combination with the development requirements of the shield machine propulsion system and the current development status of various research methods,this thesis studies the mechanism modeling solution method of the shield machine propulsion system and the key control technology of the hydraulic system.The main research contents include:1.According to the mechanical characteristics of the shield machine propulsion system,the equivalent mechanism model of the propulsion system is constructed,and the kinematics analysis of the shield propulsion mechanism is carried out.Using the simplified equivalent model method,a simplified model of the shield machine propulsion system is constructed,the n-SPS shield parallel propulsion system is simplified to the 4-SPS equivalent parallel propulsion mechanism,and its kinematics model is constructed.According to the established kinematics model of the equivalent mechanism,a neural network-Newton hybrid algorithm is used to solve the tunneling pose of the shield.The results show that the establishment of an equivalent model of the shield machine propulsion system can greatly simplify the complexity of kinematics modeling,and the use of hybrid algorithms to solve the kinematics forward solution has higher accuracy,which can improve the control accuracy of the tunneling position and the attitude of the shield machine,thereby improving the quality of the tunnel.2.According to the composition principle of the shield hydraulic propulsion system,the Modelica modeling language is used to establish a hydraulic component library including hydraulic cylinders,hydraulic pumps and proportional speed control valves,etc.According to the hydraulic component library,the hydraulic propulsion system is constructed and the simulation model is verified and analyzed.According to the functional requirements and research status analysis of the shield machine hydraulic propulsion system,the control system of the hydraulic system is designed and researched,and the overall model of the hydraulic propulsion control system is completed based on the above design.3.According to the constructed shield hydraulic system control model,the PID controller and fuzzy PID controller are studied for speed control and displacement tracking control.The results show that the fuzzy PID controller has better control performance and adaptability.The fuzzy PID controller is used to study the coordinated control of the partitioned hydraulic cylinders.The analysis and research shows that the master-slave synchronization control strategy combined with the fuzzy PID controller can well solve the problem of synchronous control of the displacement of the partitioned hydraulic cylinders when the shield is linearly propelled.Improve the accuracy of the excavation pose and improve the quality of the construction tunnel.The research in this thesis has certain reference value for the design and development of shield machine.