盾构管片拼装机动力学分析与控制研究

发布时间：2019-05-09 19:43

【摘要】：伴随着我国城市化步伐的加快和基础设施建设规模的不断扩大,对地下空间的开发力度不断增大,对盾构机的需求也是日益增长。盾构机是一种集机电液、光学和自动控制于一体的高度智能化的大型工程机械设备,而管片拼装机是其中一个很重要的组成部分。管片拼装机的性能直接影响到整个盾构机的好坏和施工进度,所以研究管片拼装机对开发良好性能的盾构机有着十分重要的意义。本课题以沈阳北方重工集团全断面掘进机国家重点实验室的Φ3.2米多功能全断面掘进试验机为平台,对改进后的管片拼装机模型进行运动学和动力学仿真分析、驱动关节的轨迹规划、以及控制器研究分析,以此来验证改进后模型的可靠性,为搭建基于视觉伺服反馈的智能化全自动管片拼装控制系统提供的数学模型和动力学理论基础。本文主要从如下几方面进行研究：首先简要的介绍本课题研究的管片拼装机,简化其结构,建立运动学分析模型,运用串并连机器人运动学知识求出管片拼装机运动学正解和逆解的解析表达式。在Adams中对管片拼装机模型进行运动学仿真分析。其次,接着对管片拼装机机构进行动力学分析。运用牛顿一欧拉递推方程,建立管片拼装机串联机构的动力学模型,运用基于影响系数法的拉格朗日方程建立管片拼装机微调机构的动力学模型,并在Adams对管片拼装机模型进行动力学仿真。最后,对管片拼装机驱动关节的运动轨迹进行了研究,并用Matlab对其仿真分析。设计了基于管片拼装机逆动力学模型的计算力矩控制器,搭建起Adams和Matlab控制联合仿真平台,并进行控制仿真分析。
[Abstract]:With the acceleration of urbanization and the expansion of infrastructure construction in China, the development of underground space is increasing, and the demand for shield machines is also increasing. Shield machine is a highly intelligent large-scale construction machinery equipment which integrates electromechanical fluid, optics and automatic control, and segment assembly machine is one of the very important components. The performance of segment assembly machine directly affects the quality and construction progress of the whole shield machine, so it is of great significance to study the segment assembly machine for the development of shield machine with good performance. Based on the 桅 3.2 m multifunctional full section roadheader testing machine in the State key Laboratory of Shenyang North heavy Industry Group, the kinematic and dynamic simulation analysis of the improved segment assembly machine model is carried out in this paper. The trajectory planning of the driving joint and the research and analysis of the controller are used to verify the reliability of the improved model, and to provide the mathematical model and the theoretical basis of dynamics for building the intelligent automatic segment assembly control system based on visual servo feedback. This paper mainly studies from the following aspects: firstly, the segment assembly machine studied in this paper is briefly introduced, its structure is simplified, and the kinematic analysis model is established. Based on the kinematic knowledge of serial-parallel robot, the analytical expressions of forward and inverse kinematic solutions of segment assembly machine are obtained. The kinematic simulation analysis of the segment assembly machine model is carried out in Adams. Secondly, the dynamic analysis of the segment assembly mechanism is carried out. The dynamic model of the series mechanism of the segment assembly machine is established by using Newton Euler recurrence equation, and the dynamic model of the fine tuning mechanism of the segment assembly machine is established by using the Lagrangian equation based on the influence coefficient method. The dynamic simulation of the segment assembly machine model is carried out in Adams. Finally, the motion trajectory of the joint driven by the segment assembly machine is studied, and its simulation analysis is carried out by Matlab. A computational torque controller based on the inverse dynamic model of the segment assembly machine is designed, and the joint simulation platform of Adams and Matlab control is built, and the control simulation analysis is carried out.
【学位授予单位】：东北大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U455.39

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