长大坡度隧道掘进机电液推进系统关键技术研究

发布时间：2018-03-14 12:28

本文选题：长大坡度隧道掘进机　切入点：推进系统　出处：《浙江大学》2015年博士论文　论文类型：学位论文

【摘要】：全断面隧道掘进机是一种专用于隧道施工的掘进装备,可以实现隧道建设过程的开挖、支护、排渣等自动化作业。目前,针对普通平面隧道施工用的全断面隧道掘进机相关技术已经基本成熟。但是在长大坡度隧道施工中,由于穿越地层深度跨度广,埋深变化大,地质条件更为复杂,对全断面隧道掘进机性能提出了更高要求,普通平面隧道掘进机难以胜任。本文将针对长大坡度隧道施工对全断面隧道掘进机推进系统的特殊需求,通过理论分析、仿真研究和实验研究相结合的方法展开研究,具体内容如下：第一章,介绍了隧道掘进机工作原理及国内外隧道掘进机发展概况,分析了隧道掘进机推进系统电液控制原理、姿态控制算法的研究现状,提出了长大坡度隧道施工对隧道掘进机的特殊需求,指出传统的平面隧道掘进机推进系统在长大坡度隧道施工中存在的问题。在此基础上,对泵控差动液压缸系统的实现原理、变量泵的动态特性及泵控系统闭环控制方法进行了综述,并提出了本文的主要研究内容。第二章,设计了长大坡度隧道掘进机推进系统的电液控制原理,指出变量泵为系统中的关键元件。对斜盘式轴向柱塞变量泵动态特性进行了研究,建立了锥形缸体中柱塞的运动学方程和动力学方程,得到了柱塞腔中的压力动态分布,并分析了斜盘平均负载转矩与斜盘倾角、斜盘倾角角速度,变量泵负载压力、变量泵输入轴转速之间的关系。在此基础上,对变量泵动态特性进行简化,便于控制器设计。第三章,对隧道掘进机推进系统启停过程中的压力匹配控制动态特性进行了分析,指出系统动态模型中存在切换特性、非最小相位特性以及较强的时变干扰,均对控制器设计造成不利影响。针对压力动态中的时变干扰,采用干扰观测器对时变干扰进行估计,将干扰估计值作为前馈以减小系统中的不确定性,并可保证干扰估计误差的有界性。针对压力动态中的非最小相位特性,采用输出重定义方法对原系统进行坐标变换,使得变换后的系统相对重定义输出为最小相位,并设计了重定义输出的参考轨迹,保证了压力瞬态跟踪性能。针对压力动态中的切换特性,采用共同Lyapunov函数法进行反馈控制器的设计,由于被控系统及前馈控制器的切换条件不同,误差动态呈现出四个子系统,采用共同Lyapunov函数法证明了控制器的稳定性。通过仿真分析和实验对比,验证了上述控制算法的性能。第四章,建立隧道掘进机推进系统的压力动态模型,指出系统中存在较强的参数不确定性,此外,系统中还存在较强的饱和非线性现象。为保证系统在饱和输入及参数不确定性下的动态性能及稳定性,在控制器中引入指令滤波反步控制器,将虚拟控制作为二阶滤波器的输入信号,将输出的滤波信号作为实际控制输入,可保证滤波后的控制指令不会超过预设的幅值及速度限制,同时通过特殊构造的控制率,使得闭环系统在执行器饱和时仍可保证系统的稳定性,此外亦可实现对虚拟控制及其导数信号的逼近,避免了对虚拟控制信号的解析求导过程,解决了backstepping方法中因对虚拟控制量求导而导致的“微分爆炸”现象。在此基础上,采用复合自适应方法,同时利用系统中的跟踪误差及预测误差对参数进行估计来达到快速自适应的能力。通过仿真分析和实验对比,验证了上述控制算法的性能。第五章,针对推进系统的速度控制,提出一种级联控制策略,外环为速度控制器,内环为压力控制器,两者之间互相独立,这样在速度控制器设计过程中可以忽略液压缸压力动态,将其当成理想的力产生器。为解决推进系统速度控制中负载力不可测的问题,提出采用干扰力观测器代替力传感器,并将干扰力观测值用于前馈控制,该观测器可保证干扰误差有界。通过仿真分析和实验对比,验证了上述控制算法的性能。第六章,分析了现有推进系统分区方法,以减小管片损伤为目的,建立了推进力均布性能评价指标,提出了基于四分区推进系统的重构方法,并基于此进行推进系统的动态重构。将可重构系统应用于某型隧道掘进机推进系统,分析了其对不同地质条件的适应性,与固定四分区推进系统相比,可重构推进系统可保证在较大阻扭矩下仍可保持较小的偏载。第七章,总结本论文的主要工作,阐述研究结论和创新点,为未来本课题的进一步研究提供了参考思路和方向。
[Abstract]:Tunnel boring machine is a kind of special construction in tunnel excavation equipment, can realize the construction process of tunnel excavation, supporting, slag and other automated operation. At present, the TBM tunnel construction with common plane related technology has been basically mature. But in the long slope in tunnel construction, due to the stratum depth wide span, depth changes, more complex geological conditions, put forward higher requirements on the performance of TBM, the common plane of tunnel boring machine is difficult to do. This article will focus on the growing up slope tunnel construction on tunnel boring machine to promote the special requirements of the system, through theoretical analysis, research methods and experimental research Study on the combination of simulation, the specific contents are as follows: the first chapter introduces the general situation of tunnel boring machine working principle and the domestic and foreign development of tunnel boring machine, tunnel boring machine The propulsion system of electric hydraulic control principle, research status of the attitude control algorithm, put forward special requirements on tunnel construction up slope tunnel boring machine, pointed out that the plane of TBM traditional propulsion system grew up in the existing problems in the construction of the tunnel slope. On this basis, the realization principle of pump controlled differential cylinder system, dynamic characteristics pump and variable pump control system closed-loop control methods are summarized, and put forward the main research contents of this paper. The second chapter, the design principle of electro-hydraulic control system up slope tunnel boring machine, pointed out that the variable pump as the key components in the system. The swash plate axial piston variable pump dynamic characteristic were studied. And establish the kinematic equations and dynamic equations of conical plunger in the cylinder, the dynamic pressure distribution of plunger chamber, and analyzes the swashplate average load torque and swash plate angle, Swash plate angle angular velocity, variable pump load pressure variable pump input shaft speed, the relationship between. On this basis, the dynamic characteristics of the variable pump was simplified for controller design. The third chapter of the propulsion system of tunnel boring machine start and stop the pressure in the process of matching control dynamic characteristic is analyzed, pointed out the existence of switching characteristics the system dynamic model, the non minimum phase characteristics and strong disturbance, causing adverse effects on the controller design for dynamic pressure. The time-varying disturbance, disturbance observer using time-varying disturbance estimation, the disturbance estimation value as the feedforward to reduce the uncertainty in the system, and can guarantee the estimation error of the interference bound. For a non minimum phase characteristic of pressure dynamic, the output redefinition method for coordinate transformation of the original system, the system transforms the relative output redefinition is minimum The design phase, and the reference trajectory output redefinition, the pressure transient tracking performance. The switching characteristics of dynamic pressure in the design of feedback controller using the common Lyapunov function method, the switching condition controlled system and feedforward controller, dynamic error showing four subsystems, using the common Lyapunov function is proved. The stability of the controller. Through the simulation analysis and experimental comparison, verify the performance of the control algorithm. In the fourth chapter, the establishment of TBM forward pressure dynamic model of the system, points out that the uncertainty in the system parameters, strong in addition, strong nonlinear saturation phenomenon also exists in the system. In order to guarantee the dynamic performance and stability of the system in the input saturation and parameter uncertainty, command filter backstepping controller is introduced in the controller, the virtual control as two order filter The input signal, the output signal of the filter as the actual control input, can ensure the filter after the control instruction does not exceed preset amplitude and speed limits, and to control the special structure of the rate, resulting in a closed-loop system with actuator saturation can guarantee the stability of the system, in addition to approximate the virtual control signal can be realized and its derivatives, avoid the analytical derivation of the virtual control signal, the backstepping method for solving the virtual control due to the derivation of "explosion" phenomenon. On this basis, the composite adaptive method, the tracking error and the prediction error in the system are estimated to achieve the fast adaptive of parameters. Through the simulation analysis and the experiments verify the performance of the control algorithm. In the fifth chapter, according to the propulsion system of speed control, this paper proposes a cascaded control strategy, The outer loop is the speed controller, inner pressure controller, both independently of each other, so ignore the pressure of the hydraulic cylinder can be dynamic in the speed controller design process, it as the ideal force generator. In order to solve the load force can not be measured in the velocity control of propulsion system problems, put forward the interference force observer instead of the force sensor, and the observations for interference force feedforward control, the observer can guarantee the bounded disturbance error. Through simulation analysis and experimental comparison, verify the performance of the control algorithm. The sixth chapter analyzes the existing propulsion system partition method to reduce tube damage for the purpose of establishing the uniform propulsion performance evaluation index is put forward the four partition system reconstruction method based on boosting, and based on the dynamic reconfiguration of the propulsion system. The reconfigurable system is applied to a certain type of tunnel boring machine propulsion system, analyses the Different geological conditions of adaptability, compared with the fixed partition four propulsion system, reconfigurable propulsion system can ensure the partial load in the larger resistance torque can be maintained at smaller. In the seventh chapter, we summarize the main work of this paper, on the conclusion of the study and innovation, to provide a reference and direction for the future of this topic further research.

【学位授予单位】：浙江大学
【学位级别】：博士
【学位授予年份】：2015
【分类号】：U455.31

【参考文献】