TBM机电耦合建模与同步控制策略对比分析
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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。
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.
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.
引文
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[3]LIU R,SUN J Z,LUO Y Q,et al.Research on multi-motor synchronization control based on the ring coupling strategy for cutterhead driving system of shield machines[J].Applied Mechanics&Materials,2011,52-54:65-72.
[4]赵刚,刘德全.盾构机刀盘多电动机同步驱动研究[J].广东造船,2012,31(6):73-77.ZHAO Gang,LIU Dequan.Synchronously research of the shield machine cutter drive[J].Guangdong Ship Building,2012,31(6):73-77.
[5]HUO J Z,HOU N,SUN W,et al.Analyses of dynamic characteristics and structure optimization of tunnel boring machine cutter system with multi-joint surface[J].Nonlinear Dynamics,2017,87(1):237-254.
[6]HUO J Z,ZHU D,HOU N,et al.Application of a small-timescale fatigue,crack-growth model to the plane stress/strain transition in predicting the lifetime of a tunnel-boring-machine cutter head[J].Engineering Failure Analysis,2017,71:11-30.
[7]凌静秀,孙伟,霍军周,等.TBM刀盘系统动态特性及参数影响[J].哈尔滨工程大学学报,2016,37(4):598-602.LING Jingxiu,SUN Wei,HUO Junzhou,et al.Dynamic characteristics of TBM cutterhead system and its parametric influence[J].Journal of Harbin Engineering University,2016,37(4):598-602.
[8]HUO J Z,ZHU D,WANG W,et al.Theoretical crack growth prediction model for thick plate butt welding joints based on stress/strain transitions[J].The International Journal of Advanced Manufacturing Technology,2017(3):1-16.
[9]ZHANG K,YU H,LIU Z,et al.Dynamic characteristic analysis of TBM tunnelling in mixed-face conditions[J].Simulation Modelling Practice&Theory,2010,18(7):1019-1031.
[10]ZHANG K Z,YU H D,ZENG X X,et al.Numerical simulation of instability conditions in multiple pinion drives[J].Proceedings of the Institution of Mechanical Engineers,Part C,Journal of Mechanical Engineering Science,2011,225(6):1319-1327.
[11]HUO J Z,WU H Y,YANG J,et al.Multi-directional coupling dynamic characteristics analysis of TBM cutterhead system based on tunnelling field test[J].Journal of Mechanical Science and Technology,2015,29(8):3043-3058.
[12]WU H Y,HUO J Z,ZHANG W,et al.An electromechanical coupling model of TBM's main driving system[C]//American Society of Mechanical Engineers.International Conference on Mechatronic and Embedded Systems and Applications,August 29-31,2016,Auckland,New Zealand:ASME,2016:1-6.
[13]LIU R,LI W,SUN J,et al.Research on compliance control for cutterhead driving system of shield machines[J].Journal of Convergence Information Technology,2013,8(1):401-408.
[14]SHI X,WANG L.TEHL analysis of high-speed and heavy-load roller bearing with quasi-dynamic characteristics[J].Chinese Journal of Aeronautics,2015,28(4):1296-1304.
[15]张凯之.盾构机冗余驱动回转系统动态特性研究[D].上海:上海交通大学,2011.ZHANG Kaizhi.Study on dynamic characteristics of redundantly driven revolving system of shield TBM[D].Shanghai:Shanghai Jiao Tong University,2011.
[16]HUO J Z,WANG W Z,SUN W,et al.The multi-stage rock fragmentation load prediction model of tunnel boring machine cutter group based on dense core theory[J].The International Journal of Advanced Manufacturing Technology,2017,90(1-4):277-289
[17]ZHANG Z H,MENG L.Design theory of full face rock tunnel boring machine transition cutter edge angle and its application[J].Chinese Journal of Mechanical Engineering,2013,26(3):541-546.
[18]周思阳,亢一澜,苏翠侠,等.基于力学分析的TBM掘进总推力预测模型研究[J].机械工程学报,2016,52(20):76-82.ZHOU Siyang,KANG Yilan,SU Cuixia,et al.Prediction of thrust force requirements for TBMs based on mechanical analysis[J].Journal of Mechanical Engineering,2016,52(20):76-82.
[19]JAMAL R.Hard rock TBM cutterhead modeling for design and performance prediction[J].Geomechanik Und Tunnelbau,2008,1(1):18-28.
[20]GERTSCH R,GERTSCH L,ROSTAMI J.Disc cutting tests in Colorado Red Granite:Implications for TBM performance prediction[J].International Journal of Rock Mechanics&Mining Sciences,2007,44(2):238-246.