盾构推进电液系统动力学特性及轨迹实时精确控制研究

发布时间：2018-12-09 16:37

【摘要】：盾构机是一种用于隧道建设的掘进装备,集成了刀盘切削、推进控制、管片拼装、导向测量等功能。面对复杂地质与诸多不可预测的因素,施工时会出现掘进调节失当,引起开挖面失稳、轴线偏离等问题,严重时会导致地面变形、建筑物倒塌等事故。安全、高效的掘进是隧道施工的突出问题。本文研究了盾构推进系统的动力学特性以及突变载荷下轨迹控制方法,目的是提高掘进安全性与隧道成型质量,具有工程应用背景与科学研究价值。本学位论文创建了盾构推进系统的动力学模型,揭示了推进力与盾构姿态控制的多变量非线性耦合关系,进而提出一种盾构轨迹误差实时精确控制方法。该方法有两个特点：第一是具有良好的推进力动态调节性能,现有的压力动态控制研究采用的是伺服阀,目前尚无采用比例压力阀进行动态控制的相关研究,本文提出了一种适用于盾构的降阶压力调节系统,实现了自适应鲁棒控制在该降阶系统下的前馈作用以及参数自适应调节,提高了压力调节频响并实现快速跟踪。经典的方法对振幅1.5MPa的1Hz正弦压力跟踪控制,产生了约30。相位滞后以及20%的幅值衰减,而本文提出的新型压力控制算法能显著减少上述动态缺陷所带来的滞后误差。第二是具有适应突变载荷的速度自稳定性能,通过研究突变载荷对推进速度之间的影响,揭示现有控制方法下推进速度波动的主因是未考虑盾体摩擦力的变化,本文提出把盾体摩擦力作为动态变量,建立了盾体摩擦力LuGre模型并充分考虑低速区域的Strebeck线性效应,较为准确地对摩擦力变化进行预估补偿控制,有效降低由突变载荷造成的速度波动,最高位置控制精度达到0.2mm。本文所提的轨迹误差控制方法适用于三维轨迹规划及误差动力学,能使掘进轨迹在地下三维空间内无超调地收敛于给定轨迹,与二维轨迹规划及控制的传统方法相比,极大地提高了轨迹跟踪精度及效率,同时可避免纠偏过程中载荷变化或调节滞后引起的蛇形轨迹,为盾构掘进的自动化提供了参考依据。此外,提出一种仿真与实验结合的断面异质工况分布载荷的交互式模拟方法,该方法实现负载仿真模型与推进实验台控制系统进行数据交换与同步计算,可为推进电液系统工况模拟提供交互式动态载荷,并构建了用于盾构推进系统试验的地层模拟液压多模式加载试验台,具有主动／被动负载加载以及力／速度复合加载功能,提高了实验系统的地层模拟性能。全文结构如下：第一章对国内外的业界现状以及学界的研究现状作概要介绍,分析了现有研究的一些不足,引入本文的研究重点,即推进力、推进速度、以及掘进轨迹控制方法研究。第二章针对现有的两种典型的推进电液系统,即溢流阀调节型系统以及减压阀调节型系统作介绍,分析其工作原理以及结构特点,并通过典型工况阐述了两套系统的不同的调节方法。针对系统的关键调节元件——比例压力阀、比例调速阀进行了数学建模,通过模型分析了其稳态及动态工作特点；随后通过AMESim软件对两套系统进行建模,并对断面异质的掘进工况进行了仿真分析,仿真结果表明溢流阀调节型系统具有更良好的调节性能,受地层变化影响较小。第三章介绍了盾构推进电液系统综合试验台,包括试验台的机械结构、推进系统、加载系统的组成,自动控制模块以及电气系统。第四章是推进力控制及推进速度的控制方法研究。对于推进力控制方法,给出了压力调节的降阶段系统自适应鲁棒算法的实现,由仿真与实验结果表明控制效果优于经典的死区阶跃补偿控制以及比例积分控制,其跟踪正弦的效果基本没有相位滞后及幅值衰减,很大地提高了压力控制的动态性能。对于速度控制方法,建立了具有LuGre模型的盾构动力学模型,设计了适应突变载荷的速度控制器,并通过施工中常用的提速调节以及降速调节的仿真与实验验证了其有效性。第五章研究了盾构机的三维坐标轨迹控制,建立了盾构机动力学模型以及误差动力学模型,是一个多变量耦合的非线性多输入多输出模型。轨迹控制设计方法分为三步,第一步是设计虚拟输入使三维坐标误差渐进收敛为零,第二步是设计使得实际输入信号能收敛到所设计的虚拟输入,第三步是考虑了未知扰动的控制器实现设计。随后通过仿真研究说明控制器的有效性,并对其中对控制性能有显著影响的设计参数进行了研究。第六章给出了全文的研究结论,并讨论未来工作展望。
[Abstract]:The shield machine is a kind of tunneling equipment for tunnel construction, and integrates the functions of cutting, pushing control, segment assembly, guide measurement and so on. In the face of complex geology and many unpredictable factors, there will be such problems as the failure of the excavation, the instability of the excavation surface, the deviation of the axis, etc., which can lead to the deformation of the ground and the collapse of the building. Safe and efficient tunneling is a prominent problem in tunnel construction. The dynamic characteristics of shield propulsion system and the method of trajectory control under sudden load are studied in this paper. The purpose of this paper is to improve the safety of driving and the quality of tunnel forming, and to have the background of engineering application and the value of scientific research. In this thesis, the dynamic model of shield propulsion system is established, and the multi-variable nonlinear coupling relation of thrust and shield attitude control is revealed, and a real-time accurate control method for shield track error is proposed. The method has two characteristics: firstly, the first is a dynamic regulation performance with good thrust force, the existing pressure dynamic control research adopts a servo valve, In this paper, a reducing-order pressure regulation system for shield is proposed, and the feed-forward function and the parameter self-adaptive adjustment of the adaptive robust control under the order-reducing system are realized, and the frequency response of the pressure regulation is improved and the rapid tracking is realized. The classical method control the amplitude of 1. 5MPa of the sinusoidal pressure of 1Hz, resulting in about 30. The phase lag and the attenuation of the amplitude of 20%, the new pressure control algorithm proposed in this paper can significantly reduce the lag error caused by the above dynamic defects. The second is the speed self-stability of the adaptive mutation load, and by studying the influence of the abrupt load on the propulsion speed, it is revealed that the main reason for the speed fluctuation under the current control method is not to consider the change of the friction of the shield body, and the friction force of the shield body is used as the dynamic variable, The LuGre model of the shield body is established and the Strebbeck linear effect of the low-speed region is fully considered, and the compensation control for the change of the friction force is carried out more accurately, and the speed fluctuation caused by the abrupt load is effectively reduced, and the control accuracy of the highest position is 0.2mm. The trajectory error control method disclosed by the invention is suitable for the three-dimensional trajectory planning and the error dynamics, can enable the tunneling track to converge in a given track in the underground three-dimensional space, and greatly improves the track tracking precision and the efficiency compared with the traditional method of the two-dimensional trajectory planning and control, and meanwhile, the snake track caused by the load change or the adjustment lag in the deviation correction process can be avoided, and the reference basis is provided for the automation of the shield tunneling. in addition, an interactive simulation method for simulating the distribution load of a cross-section heterogeneous working condition in combination with an experiment is provided, and the formation simulation hydraulic multi-mode loading test bed for the test of the shield propulsion system is constructed, has the active/ passive load loading and the force/ speed composite loading function, and improves the formation simulation performance of the experimental system. The structure of the full text is as follows: The first chapter gives a brief introduction to the current situation of the industry and the current research situation of the academic circle, and analyzes some shortcomings of the existing research, and introduces the research focus of this paper, namely, the propulsive force, the propulsion speed, and the method of control of the driving track. The second chapter introduces the existing two typical propulsion electro-hydraulic systems, namely the relief valve adjusting type system and the pressure reducing valve adjusting type system, analyzes the working principle and the structural characteristics, and expounds the different adjusting methods of the two systems through the typical working conditions. Based on the mathematical modeling of the key adjusting element _ proportional pressure valve and the proportional speed-regulating valve of the system, the steady and dynamic working characteristics of the system are analyzed through the model, and the two sets of systems are modeled by AMESim software, and the driving conditions of the cross section are simulated and analyzed. The simulation results show that the relief valve adjusting system has better regulation performance and is less affected by the formation change. The third chapter introduces the integrated test bed of the shield propulsion electro-hydraulic system, including the mechanical structure of the test bed, the propulsion system, the composition of the loading system, the automatic control module and the electrical system. The fourth chapter is the control method of propulsion control and propulsion speed. For the control method of thrust force, the realization of the self-adaptive Rurod algorithm for pressure regulation is given, and the simulation and experimental results show that the control effect is better than the classical dead zone step compensation control and proportional integral control. The tracking sine effect basically has no phase lag and amplitude value attenuation, and the dynamic performance of the pressure control is greatly improved. In the method of speed control, a shield dynamics model with LuGre model is established, the speed controller is designed to adapt to the sudden load, and the effectiveness is verified by simulation and experiment of speed-increasing regulation and speed-reduction regulation commonly used in the construction. In the fifth chapter, the three-dimensional coordinate trajectory control of the shield machine is studied, the dynamic model of the shield machine and the model of the error dynamics are established, which is a multi-variable coupled nonlinear multi-input multi-output model. The design method of the trajectory control is divided into three steps. The first step is to design the virtual input so that the three-dimensional coordinate error gradually converges to zero, and the second step is that the actual input signal can be converged to the designed virtual input, and the third step is to design the controller which takes into account the unknown disturbance. The effectiveness of the controller is then explained by the simulation study, and the design parameters which have a significant effect on the control performance are studied. The sixth chapter gives the research conclusion of the full text, and discusses the prospect of future work.
【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】：U455.39

【相似文献】