急停工况下的盾构机刀盘扭矩自适应滑模控制技术

The adaptive sliding mode control technology for shieldmachine cutterhead torque under emergency stop conditions

在急停工况下,盾构机刀盘扭矩变化速率较快,各种力学参数复杂,控制不及时容易出现盾构机运行失灵等问题。为了保证盾构机刀盘扭矩在急停工况下的控制效果,提出一种自适应滑模控制方法。构建盾构机刀盘扭矩的数学模型;根据模型完成急停工况下刀盘扭矩的受力分析;通过模型设计控制器以实现盾构机刀盘扭矩的自适应滑模控制。仿真结果表明:盾构机在复杂地层中掘进时,刀盘转动切土时具有较大的扭矩。模拟实验结果表明:所提方法在急停工况下控制的盾构机刀盘力矩约为0.05 N·m,振动幅度小,工作效率为0.65,证明所提控制方法效果较好、效率较高,具有实际应用价值。

In the emergency stop conditions,the torque change rate of the cutter head of the shield machine is fast,various mechanical parameters are complex,and the failure of the shield machine operation is easy to be caused if the control is not timely.In order to ensure the control effect of cutter head torque of shield machine in emergency stop conditions,an adaptive sliding mode control technology is proposed.The mathematical model of cutter head torque of shield machine is established.According to the model,the paper introduces the force analysis of cutter head torque under emergency stop conditions;The adaptive sliding mode control of cutter head torque of shield machine is realized by model design controller.The simulation results show that the cutter head has a strong torque at it rotates to cut soil when the shield machine is tunneling in complex strata.The experiment results show that the torque of the shield machine cutterhead controlled by the proposed method under emergency stop conditions is about 0.05 N·m,the vibration amplitude is small,and the working efficiency is 0.65.It is proved that the control technology has good control effect,high efficiency and practical application value.