TBM机电耦合建模与同步控制策略对比分析

doi:10.3901/JME.2018.01.120

机械工程学报 ›› 2018, Vol. 54 ›› Issue (1): 120-126.doi: 10.3901/JME.2018.01.120

• 特邀专栏:硬岩掘进装备(TBM)的关键基础问题 • 上一篇下一篇

TBM机电耦合建模与同步控制策略对比分析

霍军周, 吴瀚洋, 朱冬, 孙伟, 鲍有能

大连理工大学机械工程学院大连 116024

收稿日期:2017-03-02 修回日期:2017-05-02 出版日期:2018-01-05 发布日期:2018-01-05
通讯作者: 吴瀚洋(通信作者),男,1991年出生,博士研究生。主要研究方向为动力学建模及抗振设计。E-mail:wuhanyang@mail.dlut.edu.cn
作者简介:霍军周,男,1979年出生,博士研究生导师。主要研究方向为软土及硬岩TBM系统设计、性能驱动的机械零部件结构优化设计及测试及复杂机械结构疲劳裂纹扩展及抗损设计。E-mail:huojunzhou@dlut.edu.cn
基金资助:
国家自然科学基金（51375001）、国家重点基础研究发展计划（973计划，2013CB35400）、国家辽宁省科技攻关课题（2015106016）和辽宁省优秀人才课题（LJQ2014005，LJQ2014075）资助项目。

TBM Electromechanical Coupling Modeling and Comparative Analysis of Synchronous Drive Control Strategy

HUO Junzhou, WU Hanyang, ZHU Dong, SUN Wei, BAO Youneng

College of Mechanical Engineering, Dalian University of Technology, Dalian 116024

Received:2017-03-02 Revised:2017-05-02 Online:2018-01-05 Published:2018-01-05

摘要/Abstract

摘要： 为了保证TBM掘进过程中各电动机扭矩同步输出，确定合适的控制策略尤为重要。机电耦合动力学模型考虑各齿轮的动态负载和同步控制策略下电动机输出扭矩之间的耦合关系，能够更加精确地计算主驱动系统动态特性。因此以TBM突变冲击动态载荷为输入，基于主驱动系统机电耦合动力学模型，分别对转矩主从控制和转速跟随控制下各电动机扭矩输出同步性和齿轮的三向振动情况进行了分析。分析结果表明：采用扭矩主从控制策略时，由于直接对电动机输出转矩进行干预调整。在其控制下各电动机能够更好地保证输出扭矩的一致性，同时减少齿轮的三向振动。而采用转速并联控制时，由于各电动机之间相对独立。系统通过同步转速而被动协调输出转矩，这导致系统同步性能较差，其在同一时刻输出扭矩的最大差异为转矩主从控制策略下的3.5倍左右。这种扭矩的异步输入直接恶化了齿轮的振动情况。大齿圈径向振动增大了2倍以上，这极易造成齿轮齿面断裂，齿轮轴扭断等安全事故。

关键词: TBM, 动态特性, 控制策略, 主驱动系统

Abstract: To keep the motors' torque synchronously during tunneling, the proper control strategy is very important. The electromechanical coupling dynamic model takes the coupling relation between the dynamic load of each gear and the output torque of the motor under the synchronous control strategy into consideration which makes the calculation results more accurately. Based on the TBM electromechanical coupling dynamic model, the synchronization of motors' output torque and three-dimension vibration condition are analyzed under torque master-slave and rotate speed parallel control with impact dynamic loads on cutterhead. The results show that:The torque master-slave control strategy is used to adjust the motors' output torque directly which makes the synchronization of the motor output torque better rather than rotate speed parallel control. The gears' three-dimension vibration is smaller, respectively. When using the rotate speed parallel control, the motor is relatively independent. The system can coordinate the output torque through the synchronous speed, which results in the poor synchronization performance. The maximum difference is 3.5 times of torque master-slave control's. This kind of asynchronous input torque will directly worse the gear's vibration situation. The ring gear's radial vibration is twice larger, which will leads to the broken surface of gear and shaft torsion failure.

Key words: control strategy, dynamic characteristics, main drive system, TBM

中图分类号:

TP391

霍军周, 吴瀚洋, 朱冬, 孙伟, 鲍有能. TBM机电耦合建模与同步控制策略对比分析[J]. 机械工程学报, 2018, 54(1): 120-126.

HUO Junzhou, WU Hanyang, ZHU Dong, SUN Wei, BAO Youneng. TBM Electromechanical Coupling Modeling and Comparative Analysis of Synchronous Drive Control Strategy[J]. Journal of Mechanical Engineering, 2018, 54(1): 120-126.

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TBM机电耦合建模与同步控制策略对比分析

TBM Electromechanical Coupling Modeling and Comparative Analysis of Synchronous Drive Control Strategy

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