TBM刀盘驱动系统单神经元模糊同步控制

Synchronous control of TBM cutterhead driving system based on single-neuron fuzzy strategy

针对全断面硬岩隧道掘进机(TBM)刀盘多电机并联驱动由于载荷突变和传动系统磨耗所引起的电机偏载甚至过载,提出基于单神经元模糊自适应PI速度调节器的转矩主从控制策略.搭建电机闭环矢量控制模型,推导多齿轮齿圈并联系统的数学模型并使用S函数加以描述,在Simulink环境下将两者连接,对比分析转速并联和转矩主从控制策略下,电机对外在载荷和机械磨耗的黏性和刚性啮合响应及其机理,将单神经元模糊PI速度调节器应用于转矩主从策略消除扭矩超调.仿真结果表明,基于单神经元模糊PI速度调节器的转矩主从控制策略能够适应传动系统的参数变化,消除电机在负载变化时的扭矩超调和偏载,并能提高系统的精度和响应速度.

A single-neuron fuzzy proportion-integration （PI） speed controller （NFPISC） for the cutterhead driving system of hard rock tunnel boring machine （TBM） was proposed in order to protect induction mo-tors against load unbalance and overload caused by complex stratum condition and mechanical transmission structure abrasion. The model of closed-loop vector controlled induction motor was established. Dynamic functions of multi-gear meshing system was derived and described in S-Function. Connecting parallel motor and gear meshing system, the total model of TBM cutterhead driving system was founded in Simulink under speed parallel control and torque master-slave control （TMSC） respectively. Speed and torque response against load unbalance and mechanical abrasion were correspondingly discussed based on rigidity and viscosity meshing analysis. NFPISC was applied to overcome torque overshoot. Rresults show motors under NFPISC based TMSC can eliminate torque overshot and unbalance loading against complex load and mechanical abrasion Response speed and accuracy were significantly improved