TBM支撑—推进—换步系统建模与同步控制研究

发布时间：2018-05-24 22:42

本文选题：TBM + 支撑-推进-换步机构　；参考：《天津大学》2016年博士论文

【摘要】：全断面硬岩掘进机(Tunnel Boring Machine,简称TBM)是铁路、公路、水利、市政建设等隧道施工的重大装备,相对传统的钻爆法具有快速、优质、环保、安全等优点,已成为隧道施工的首选装备。支撑-推进-换步机构是TBM实现连续循环掘进作业的核心传动机构,其性能优劣直接决定TBM的掘进效率和掘进精度。本文紧密结合国家863课题“大直径全断面隧道掘进装备及重大工程机械装备研究”和973课题“硬岩掘进装备的关键基础问题”,以一种开敞式TBM的支撑-推进-换步机构为对象,研究了其动力学建模及同步控制的相关问题。论文取得主要研究成果:采用集中参数模型对TBM支撑-推进-换步机构进行运动学与动力学特性研究。系统分析了支撑-推进-换步机构的拓扑结构、液压缸驱动方式及工作原理,构建了不同工况时机构的等效拓扑构型,计算了不同作业工况机构的自由度,归纳总结了机构的拓扑特性。建立了机构位置正逆解分析模型,揭示出各驱动油缸位姿参数与刀盘位姿间的映射规律。建立机构动力学模型,进行机构固有特性分析,分析固有频率随刚度、质量参数的变化规律。为今后TBM支撑-推进-换步机构设计提供参考。针对键合图法在处理空间问题上的局限性,将AHP分析法应用于键合图模型动力学性能影响因素分析中,简化模型。以键合图法的基本理论和其建模方法为基础,根据TBM支撑-推进-换步系统掘进工况特点建立了其机液耦合键合图模型,为后面纠偏系统模型建立奠定基础。将AHP应用于动力学影响因素分析,分析了主机轴向、径向及转动三方向运动对TBM推进系统动力学特性的贡献度,分析结果表明径向运动对系统动力学特性的贡献度最大,在系统建模时需要详细考虑。针对复杂地质情况下的偏掘直接影响隧道掘进精度和效率,对纠偏系统进行动态性能相关研究。综合考虑影响三相电机、齿轮泵、比例减压阀、液压缸等的非线性因素,采用键合图方法建立了TBM推进工况纠偏的数学模型,推导了系统的状态空间表达式。根据TBM支撑-推进-换步机构推进工况围岩环境不明确等特点,将灰色预测模型应用到传统PID控制中,提出了一种变步长灰色预测PID控制算法(SGPID),应用于推进系统液压同步中的压力控制,通过与常规PID控制算法对比得知,SGPID使支路压力的可控性、同步精度得到显著提高。本文提出的机液耦合动力学建模方法及同步控制策略的正确性需要实验的检验。根据实验台的设计任务和功能要求,确定实验台的设计思路和总体设计方案。根据不同工况下TBM真实受力状态,设计了实验台负载模拟装置和围岩约束模拟装置的机械结构,完成了TBM缩比模型和支护装置设计方案。依据相似理论基本原理建立实验台参数缩比准则,推导出实验台各物理量纲缩比系数,完成了实验台基本参数设计并进行了刀盘驱动伺服元件的选型和实验台液压驱动元件参数设计。并通过对机构缩比模型的运动学特性和纠偏方案实验,验证了模型的正确性和纠偏控制算法的有效性。
[Abstract]:Tunnel Boring Machine (TBM) is a major equipment for tunnel construction such as railway, highway, water conservancy and municipal construction. Relative traditional drilling and explosion method has the advantages of fast, high quality, environmental protection, safety and so on. It has become the first equipment of tunnel construction. Support propelling and stepping mechanism is the core of TBM to realize continuous circulation driving operation. The performance of transmission mechanism directly determines the driving efficiency and driving precision of TBM. This paper closely combines the National 863 subject "large diameter full section tunnel boring equipment and major engineering mechanical equipment research" and the 973 subject "key basic problems of hard rock tunneling equipment", which is based on a kind of open type TBM support propulsion and transfer mechanism. In this paper, the dynamic modeling and the related problems of synchronous control are studied. The main research results are obtained: the kinematic and dynamic characteristics of the TBM support propulsion and transfer mechanism are studied by the centralized parameter model. The topological structure of the support propulsion and transfer mechanism, the driving mode and the working principle of the hydraulic cylinder are systematically analyzed, and the different work is constructed. In the case of the equivalent topology configuration of the mechanism, the degree of freedom of the mechanism in different working conditions is calculated and the topological characteristics of the mechanism are summed up. A positive inverse analysis model of mechanism position is established, and the mapping law between the position and position of the driving oil cylinder and the position of the cutter disk is revealed. The dynamic model of the mechanism is established, the inherent characteristics of the mechanism are analyzed and the analysis is fixed. The variation law of the frequency with the stiffness and the mass parameters can provide reference for the design of the TBM support propulsion and transfer mechanism in the future. In view of the limitations of the bond graph method in dealing with the space problem, the AHP analysis method is applied to the analysis of the dynamic properties of the bond graph model, and the simplified model is used for the basic theory of the bond graph method and its modeling method. Based on the driving condition characteristics of the TBM support propulsion and transfer system, the hydraulic coupling bond graph model is established, which lays the foundation for the establishment of the rear correction system model. The AHP is applied to the analysis of the dynamic factors of the dynamics, and the contribution degree of the three directions of the axial, radial and rotational motion of the host to the dynamic characteristics of the TBM propulsion system is analyzed, and the analysis results are analyzed. It shows that the contribution of radial motion to the dynamic characteristics of the system is the greatest. In the system modeling, it needs to be considered in detail. In the case of complicated geological conditions, the driving precision and efficiency are directly affected and the dynamic performance of the rectifying system is studied. The non line of three phase motor, gear pump, proportional pressure relief valve, hydraulic cylinder and so on is considered. By using the bond graph method, a mathematical model for correcting the deviation of TBM propulsion condition is established, and the state space expression of the system is derived. The grey prediction model is applied to the traditional PID control, and a variable step size grey prediction PID control algorithm (SGP) is proposed. ID), applied to the pressure control in the hydraulic synchronization of the propulsion system, by comparing with the conventional PID control algorithm, it is found that SGPID makes the control of the branch pressure controllable and the synchronization precision is greatly improved. The correctness of the modeling method and the synchronization control strategy proposed in this paper needs to be tested by the experiment. According to the actual stress state of TBM under different working conditions, the mechanical structure of the load simulation device and the surrounding rock restraint simulation device are designed, and the TBM shrinkage model and the supporting device design scheme are completed. According to the basic principle of phase like theory, the parameters shrinkage of the experimental platform is established. In addition, the ratio coefficient of the physical dimension of the experimental platform is derived, the basic parameters of the test bench are designed, the selection of the servo components of the cutter disk drive and the design of the parameters of the hydraulic driving components of the experimental platform are carried out. The correctness of the model and the correction control algorithm are verified by the kinematic characteristics of the mechanism shrinkage model and the experiment of the correction scheme. Efficiency.
【学位授予单位】：天津大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TP273;U455.3

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