摘要
液压系统是驱动盾构机刀盘转动的核心,由电动机、变量泵、变量马达等元件组成。盾构机作为目前地铁施工的主流设备,面对复杂多变的地质条件,刀盘容积调速系统如何减小由系统输入扰动导致的马达转速扰动,使刀盘稳定运行,是值得研究的关键问题。讨论了一种PID+前馈补偿控制方法,通过对系统数学模型的分析,建立了AMESim刀盘容积调速系统仿真模型,并通过实验得到了系统转速特性曲线。结果表明,PID+前馈补偿方法相比于常规PID控制方法,将马达转速的瞬态误差减小了13%,调整时间缩短了1.5 s。研究结果对刀盘稳定运行具有重要的意义。
The hydraulic system is the core of driving the cutter disk of shield driving machine,which is composed of motor,variable pump,variable motor and other components.Shield tunneling machine is the mainstream equipment of subway construction at present.Facing the complicated and changeable geological conditions,how to reduce the disturbance of motor speed caused by the input disturbance of the system and how to make the cutter stable operation is a key link worthy of research.This paper discusses a kind of PID+ feedforward compensation control method,through the analysis of the system mathematical model,the AMESim knife plate of volumetric speed control system simulation model is established,and the system speed characteristic curve is obtained by experiment,the results show that the PID+ feedforward compensation method is compared with the conventional PID control method,the transient error of the motor speed reduced by 14%,adjust the time of 2s,the research results have important sense to the knife dish and stable operation.
作者
吕金豆
刘江
王晓燕
LV Jin-dou;LIU Jiang;WANG Xiao-yan(Shaanxi Railway Institute,Weinan 714099,China;Xi an University of Architecture and Technology,Xi an 710055,China)
出处
《液压气动与密封》
2023年第8期30-34,共5页
Hydraulics Pneumatics & Seals
基金
陕西省教育厅服务地方专项科研计划项目(22JC026)
陕西铁路工程职业技术学院科学研究基金项目(KY2022-43)。
关键词
盾构机刀盘
扰动
容积调速
前馈补偿
PID
AMESIM
cutter head of shield driving machine
disturbance
volume speed-modulating
feedforward compensation
PID
AMESim
