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专利名称: 盾构掘进机刀盘同步控制方法
其他题名: Cutter head driving device for shield tunneling machine and synchronous control method thereof
作者: 李先宏; 于海斌; 苑明哲; 郁洋
所属部门: 信息服务与智能控制技术研究室
专利权人: 中国科学院沈阳自动化研究所
专利代理: 沈阳科苑专利商标代理有限公司 21002
专利国别: 中国
专利类型: 发明授权
专利状态: 有效
摘要: 本发明涉及一种盾构掘进机刀盘驱动装置及其控制方法,驱动装置包括多个驱动电机、多个减速机、主传动箱、圆形刀盘和循环油泵;盾构掘进机刀盘同步控制方法为对多个驱动电机进行同步并行的PID闭环控制;多个驱动电机的参考输入信号相同;对每个驱动电机的输出信号采用同步误差补偿方法计算补偿信号,并反馈到所对应驱动电机的输入端;补偿信号与最优PID控制器输出的控制信号相加输入至对应驱动电机。本发明解决了盾构掘进机刀盘多电机同步出力运行的技术难题;提高了盾构掘进机刀盘驱动系统的出力同步性能与跟踪性能;保证刀盘多电机之间具有相同的稳态转矩或者速度,还能保证盾构掘进机刀盘多个驱动电机之间的动态性能也尽可能相同。
英文摘要:

The invention relates to a cutter head driving device for a shield tunneling machine and a control method thereof. The driving device comprises a plurality of driving motors, a plurality of speed reducers, a main transmission box, a circular cutter head and a circulating oil pump. The synchronous control method for a cutter head of the shield tunneling machine comprises the following steps of: performing synchronous and parallel PID (Proportion Integration Differentiation) closed-loop control on the driving motors keeping the reference input signals of the driving motors the same computing the compensation signal of the output signal of each driving motor by adopting a synchronous error compensation method, and feeding back to the input end of a corresponding driving motor and adding the compensation signals with a control signal output by an optimal PID controller, and inputting into a corresponding driving motor. Due to the adoption of the cutter head driving device and the synchronous control method, the technical problem of synchronous running of a plurality of motors of the cutter head of the shield tunneling machine is solved the running synchronous performance and tracking performance of a cutter head driving system of the shield tunneling machine are improved and the motors of the cutter head are enabled to have the same stable torque or speed, and dynamic performances among the driving motors of the cutter head of the shield tunneling machine can be kept the same.

是否PCT专利:
申请日期: 2012-07-31
公开日期: 2013-04-03
授权日期: 2015-06-24
专利申请号: CN201210272275.1
公布/公告号: CN103016014B
语种: 中文
产权排序: 1
内容类型: 专利
URI标识: http://ir.sia.cn/handle/173321/15960
Appears in Collections:信息服务与智能控制技术研究室_专利

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