基于DSP的掘进机截割控制系统

Study on Control System of Tunneling Machine Cutting Based on DSP

分析了基于DSP的掘进机控制系统的各个功能模块,对掘进机路径跟踪原理进行了研究,建立了掘进机截割臂的动力学方程。为了提高路径跟踪的精度,采用神经网络与遗传算法相结合的控制算法计算掘进机的水平摆角和垂直摆角,研究了神经网络与遗传算法相结合的控制系统结构和计算流程。对基于DSP的掘进机控制系统的跟踪能力进行仿真,仿真结果表明,该系统水平摆角和垂直摆角的跟踪轨迹与期望轨迹大致相同,基于神经网络-遗传算法的跟踪精度比基于PID控制算法的高.

The functional modules of the tunneling machine control system based on DSP were analyzed.The path tracking principle of the tunneling machine was studied and the dynamic equation of the cutting arm of the tunneling machine was established.In order to improve the accuracy of path tracking,the control algorithm combined with neural network and genetic algorithm was used to calculate the horizontal swing angle and vertical swing angle of the tunneling machine.The structure of combining algorithm was studied and the calculation process was given.The tracking ability of the tunneling machine control system based on DSP was simulated.The simulation results show that the tracking trajectory of the horizontal swing angle and vertical swing angle of the system is almost the same as the expected trajectory,based on the neural network.The tracking accuracy of the genetic algorithm is higher than that based on the PID control algorithm.