数字化掘进机切割曲线控制单元的研究

Digital unit of tunnel boring machine cutting curves control system

使用新的机器人建模方法设计掘进机切割曲线的数字控制单元.在该方法中,将CORD IC算法拓展到三维空间后,推导出三维向量的向量旋量迭代公式,从而建立了一种基于向量旋量理论的机器人建模新方法,即将机器人连杆体系抽象为一组有序向量集合,各关节的运动用运动向量集合描述,将机器人运动映射为三维空间向量集合各元素的旋转或伸缩.该方法能有效反应机器人运动过程中的空间结构信息,简化逆解求解过程,并且易于VLSI实现.该方法采用嵌入式SIMD阵列结构在FPGA中VLSI实现,能在5μs内完成对切割位置的计算.

A new robot modeling method was used to design digital unit of tunnel boring machine cutting curves control system. CORDIC algorithm was extended to three-dimensional, so that vector spinor iterative formula of the 3D vector was derived. Thereby, robot model method based on vector spinor theory was established and showed that the connecting-rod system, such as robot, considered as a orderly group of abstract mathematical vector set, the joint campaign with motion vector set description, and robot motion mapped to that elements of vector set in the three-dimensional space was rotating or stretching. It can respond effectively to the robot space structure information in the process of its movement, simplify the process of solving inverse kinematics, and is easy to operate VLSI implementation. The method is used embedded SIMD array structure in FPGA VLSI implementation, so that the operation of cutting position computation can be carried out in 5 μs.