【作者】 邢彤；

【导师】 杨华勇； 龚国芳；

【作者基本信息】 浙江大学 ， 机械电子工程， 2008， 博士

【摘要】 盾构机技术正在向“大直径、大推力、大扭矩、多样化、无人值守”为特色的第四代技术发展。刀盘驱动系统是盾构机能耗最大的动力系统,在它的各种驱动方式中,液压驱动方式的功率密度最大,与盾构机大功率和安装空间有限的特点相适应,是应用最广泛的驱动方式,节能化和智能化是刀盘液压驱动技术的主要发展方向。因此,需要从以下三个方面研究新一代盾构刀盘驱动液压系统及其控制方法:第一,研究液压驱动系统的效率,提出效率更高的液压驱动方式;第二,研究刀盘扭矩的准确计算模型以及刀盘扭矩与其它关键施工参数的关系,为盾构刀盘驱动的设计与控制奠定理论计算基础:第三,研究刀盘转速控制与掘进土层的适应问题,提出智能控制方法以便实现刀盘转速的功率自适应,降低刀盘驱动的能耗。论文以φ6.3m土压平衡盾构和φ1.8m模拟试验盾构为研究对象,提出了三种新型刀盘液压驱动方式,即闭式泵控回路的多泵组合驱动方式、大闭环控制的变排量泵控容积调速方式与变转速泵控容积调速方式;提出了土压平衡盾构刀盘扭矩的精确计算模型;提出了一种刀盘转速的智能控制方法,这些液压驱动与控制的新方法不同程度地提高了刀盘驱动液压系统的效率。文中,针对四种驱动方式的刀盘驱动液压系统,进行了理论分析、仿真研究和部分试验研究,仿真研究充分利用AMESim软件的优势,所建立液压驱动系统仿真模型与实际系统高度相似,尤其是负载模型充分考虑了外部条件的变化,研究内容包括刀盘液压驱动方式的效率、刀盘调速性能、时频域特性、液压系统性能、并对负载波动、液压马达故障、刀盘被困等情况进行了研究。文中,分析了单圆土压平衡盾构刀盘扭矩的组成,仿真与试验研究了φ1.8m模拟试验盾构的刀盘扭矩,分析了刀盘扭矩及其与刀盘结构和掘进参数之间的关系,明确了刀盘扭矩的地层特征,提出了刀盘扭矩的精确计算模型,在此基础上,提出了基于土层识别和驱动功率效能指数的刀盘转速智能控制方法,初步研究了土层的统计分类方法和智能控制策略。论文中各章的具体内容如下:第一章,综述了盾构掘进机和盾构电液控制技术的国内外发展概况及现状,论述了盾构刀盘驱动技术现状及发展趋势以及刀盘驱动液压节能技术的发展过程,最后概述了本课题的研究内容以及所要进行的研究工作。第二章,仿真研究表明多泵组合驱动比多泵联合驱动方式的效率高3%—7%。设计了φ6.3m土压平衡盾构刀盘驱动液压系统,提出了以多泵组合驱动技术、电液比例控制技术和电液混合恒功率控制技术的新型刀盘驱动液压系统方案。采用AMESim软件仿真研究了多泵组合驱动液压系统在多种工况下的液压系统性能,并在掘进试验中验证了液压系统的多泵组合、恒功率、正反转和调速等性能。第三章,研究了φ1.8m模拟试验盾构的刀盘驱动液压系统,系统采用闭环控制的变排量容积调速技术。论述了刀盘与螺旋输送机驱动液压泵站的集成与现场总线的PLC控制技术。采用AMESim软件仿真分析了所设计液压系统在多种工况下的性能,并在试验中验证了刀盘驱动液压系统的正反转、调速性能及仿真模型的正确性。此外,仿真研究表明,不同工况下,对比变转速容积控制方式和变排量容积控制方式,液压系统效率提高4%—25%。因此,提出了实现刀盘驱动进一步节能的液压驱动方式—闭环控制的变转速容积调速液压驱动方式。第四章,分析影响土压平衡盾构刀盘扭矩的各种因素和刀盘扭矩组成。利用AMESim软件建立了φ1.8m模拟试验盾构刀盘扭矩的仿真研究模型,通过仿真与试验研究了刀盘扭矩及其与刀盘转速、推进速度、推进力、盾构埋深和刀盘开口率之间的关系,提出了土压平衡盾构刀盘扭矩的精确计算模型。第五章,研究了掘进土体的模式识别方法和刀盘驱动效能评价指标,研究表明,以FPI和TPI统计分类指数建立的特征空间有很好的土体区分性,据此,提出了掘进土体的统计分类方法。最后,提出了刀盘转速智能专家系统结构,并讨论了刀盘驱动功率自适应控制策略。第六章,概括了全文的主要研究工作、结论及本文的创新点,最后展望了今后的研究工作和方向。更多还原

【Abstract】 The shield machine(SM) has been developing the fourth-generation technology with the characteristics of big diameter, great thrust, great torque, diversification, and automation. The drive system of the cutter head has the greatest energy expenditure in SM, the hydraulic drive mode is the uppermost drive mode by reason of its bigger power density and more adapting with SM requirement in great power and lesser setting space, and it is developing towards the energy saving and intelligentize. So, it needs to study the new generation hydraulic drive system and control methods from three aspects thereinafter. Firstly, research the hydraulic system efficiency and advance the higher efficiency hydraulic drive method. Secondly, research the reasionship between torque of the cutter head (Tc) with the other working parameters and the exact computational torque model for the accurate design and control of the cutter head drive system. Thirdly, study how the cutter head speed adapts the gelolgical condition; furthermore, propose brainpower control method for the self-adapting drive power and reducing the drive power largely.The dissertation aims at aφ6.3m earth pressure balance shield machine (EPB) and aφ1.8m test SM, proposes three new hydraulic drive modes including the multi-variable pumps built-up drive with closed hydraulic circuit, the variable displacement pump control and the variable speed pump control with closed loop control; proposes an accurate Tc calculate model for EPB; proposes a brainpower control method of the cutter head speed. In this paper, the research aiming at the hydraulic systems with different drive modes is taken by the principle analyse, test and simulation which the models are highly alike with the real systems by taking advantage of the AMESim fully and especially considing the change of the out load. The reaserch includes the hydraulic system efficiency, the cutter head speed, time domain analyse, frequency domain analyse and the hydraulic system performances in the changed load, hydraulic motor failure, or the cutter head binding conditions. This paper also analises Tc’s constitution of EPB, and studies on Tc of theφ1.8m test SM by simulation and test including Tc and the relationship of Tc with other parameters, and proposes the accurate calculate model of Tc, furthermore, proposes a brainpower control method of the cutter head speed based on the earth condition recognition and the index of drive power efficiency, the statistical classified method of the tunneling earth layer and the expert system have been firstly researched.The main contents of each chapter are summarized in the following:In chapter 1, the history and current technology status of SM and its electro-hydraulic control system are discussed based on lots of the publications and conference papers. The developing process and- current technology of the cutter head hydraulic drive are also discussed, futhermore the hydraulic energy saving techniques are introduced. Consequently, the research contents and the goal of the dissertation were proposed.In chapter 2, the syudy shows that the hydraulic efficiency can be improve 3%—7% by multi-variable pumps built-up drive mode contrast the multi-variable pumps joint drive mode. The cutter head hydraulic drive system ofφ6.3m EPB is designed using the multi-variable pumps built-up technique, the electro-hydraulic proportional control technique and the electr-hydraulic mixed constant power control technique. The hydraulic system performance is analyzed by AMESim and tunneling test including the multi-pumps built-up, const power control, positive and negative rotation and other working conditions.In chapter 3, the cutter head hydraulic drive sytstem ofφ1.8m test SM is designed in which the closed loop control technique is used. System integration and PLC control technique with field bus of hydraulic system for driving the cutter head and screw conveyer are introduced. The AMESim simulation and test research to the cutter head hydraulic drive system are made including the positive and negative rotation; cutter head speed adjustment, and the validity of the simulation model. The efficiency of two hydraulic drive systems of the cutter head are analized contrastively, the result shows that efficiency of the variable speed pump control mode is higher than the variable displacement pump control mode about 4%—25%, so it is the more energy saving hydraulic drive mode of the cutter head drive.In chapter 4, the infection factors and the constitution of the EPBs Tc are analyzed; the cutter head torque model of the test SM is built up by AEMSim. By test and the simulation, Tc and the relationship between Tc and the cutter head rotate speed, the thrust speed, the thrust force, and other parameters are analized; finally, confirm the accurate EPBs Tc model.In chapter 5, the earth recognition method used by pattern recognition technique and the power efficiency index of the cutter head drive are studied, the result shows that the feature space built by FPI and TPI index has good partition character to the tunneling earth. Based on it, the cutter head speed expert system is proposed, and the self-adaption control method of the cutter head drive is discussed at first step.In chapter 6, the main achievements and conclusion are summarized and the further research work is put forward here.更多还原