盾构推进系统专家PID同步控制分析

Expert-PID Synchronization Control of Thrust Hydraulic System

在分析专家PID特性的基础上,设计了保证盾构推进系统推进缸同步控制的PID控制器。根据系统实际参数要求在AMESim里搭建了推进系统的仿真模型,并通过AMESim和MATLAB的接口程序,在MATLAB中搭建了基于控制比例流量阀流量的专家控制模型和普通PID控制模型,并对比了两种控制模型的频响特性,仿真结果表明推进偏差控制在4.5mm内。实验分析表明,专家PID控制系统对推进系统的同步性控制有较好的控制效果,两缸的同步误差控制在7.0mm左右,满足系统的控制精度要求。

Based on the analysis of expert-PID,an adaptive PID controller for displacement deviation of the cylinders of thrust system was designed.According to the actual parameters and requests of the system,a simulation model was built in AMESim,and the expert-PID control model based on the control of flow for controlling thrust displacement deviation was established in MATLAB through the interface programme between AMESim and MATLAB.From the simulation results it is found that it can regulate the displacement deviation between two cylinders of groups within 4.5mm.From the analysis of the experimental results,expert-PID has good influence on the synchronization control and can regulate the displacement deviation within 7.0mm,meeting the requirements of control precision.