TBM刀盘驱动系统协调控制.doc

TBM刀盘驱动系统协调控制.doc第54卷第1期
2018年1月
机械工程学报
JOURNAL OF MECHANICAL ENGINEERING

2018
DOI： .0L107
TBM刀盘驱动系统协调控制*
廖建峰1姚斌1,2
（；
）
摘要：刀盘驱动系统是硬岩掘进装备的垂要组成部分。 一种时变的IE线性动力学模型用于描述硬岩堀进装备刀盘驱动系统。针对TBM刀盘驱动系统，提出--种集成控制分配的TBM 。其中，上层控制器用于处理变化的不确定性和作 用于刀盘的可变负我，控制分配策略用于分配驱动扭矩使得各电动机驱动扭矩均衡分布。各种对比仿其用于证明提出控制器 的优越性能。仿真结果表明提出的控制器不仅能够满足刀盘的速度控制也能够实现各驰动电动机驱动扭矩的均衡分布。 关键词：TBM；协调控制；扭矩均衡
中图分类号：TG156
Coordinated Control for Over actuated Hard Rock Tunnel Boring
Machine Cutterhead Driving System
LIAO Jianfeng1 YAO Bin1*2
（1. The State Key Laboratory of Fluid Power and Mechatronics Systems, Zhejiang University, Hangzhou 310027;
2. School of Mechanical Engineering, Purdue University, West Lafayette IN47907, USA）
Abstract： The cutterhead drive system is an important part of the hard rock tunneling equipment. The problem of coordinated control of redundant drive TBM cutter-head driving system is studied. Time-varying nonlinear dynamic model is proposed to describe the hard disk drive equipment cutter drive system. Based on the TBM cutter drive system, an integrated TBM controller is proposed to drive the cutter-head to track the desired speed and the drive torque of each motor is balanced, where the high level controller is used to handle the uncenainties of the va