【作者】 杨旭；

【导师】 龚国芳；

【作者基本信息】 浙江大学 ， 机械电子工程， 2017， 博士

【摘要】 盾构掘进机可在不影响地面设施的前提下开展隧道施工的一体化作业,是面向国家基础设施建设而研制的大型复杂装备。随着盾构机技术的不断提升,盾构隧道施工方法得到了广泛应用。刀盘系统作为盾构掘进机的关键子系统,不仅是耗能巨大,而且其性能还直接影响隧道施工的速度与安全。因此,刀盘驱动技术是盾构掘进机的关键技术之一。本文主要为提高刀盘系统的调速特性与效率特性,针对刀盘电液驱动系统开展优化设计与优化控制的研究。具体研究内容如下:第一章,介绍盾构机的施工原理与施工特点;阐述盾构机的发展状况,重点介绍近年来国内盾构掘进机的研制状况;概括现有盾构机刀盘系统的主要驱动方式,对面向刀盘电液驱动系统节能技术而开展的优化设计研究与优化控制研究,进行系统总结分析;并进一步提出本文的研究内容。第二章,设计一刀盘连续调速电液驱动系统。在分析传统盾构机刀盘电液驱动系统调速特性的基础上,本章提出了一刀盘连续调速电液驱动系统的设计方案。针对这一新型系统,设计一分段补偿控制方法,数值分析系统在该控制方法下的额定工作域特性。通过损耗建模方法,揭示刀盘液压系统效率的分布特性,为系统节能提供参考。此外,还提出可通过优化管路连接模式来提高刀盘液压系统效率的方法。最后,通过建模仿真的方法,分析刀盘转动惯量、管路模式与马达排量对刀盘系统速度刚度特性与速度调节特性的影响,为刀盘电液驱动系统的优化设计与优化控制提供理论指导。第三章,提出一种刀盘电液驱动系统优化决策方法。通过分析传统刀盘载荷参数,得到一刀盘载荷特征的定义方法,并设计出刀盘载荷特征在线预测算法。基于现场施工数据,对该新型预测算法的预测精度进行了数值分析。通过实验方法,揭示刀盘电液驱动系统在不同电机模式下的系统效率特性。结合刀盘载荷特征在线预测算法与系统效率特性分析结果,进一步提出一刀盘电液驱动系统的优化决策方法。第四章,开展刀盘电液驱动系统的优化控制分析。对某隧道的5个等间隔隧道段的掘进参数进行优化决策,并得到试验台的优化控制模式。将5个隧道段的现场刀盘转速与刀盘扭矩数据,经相似变换后加载到刀盘电液驱动试验台,测试并分析系统优化前与优化后的能耗特性与能量传递特性,以分析优化决策方法的效率优化特性。进一步通过实验,对刀盘电液驱动系统进行驱动模式应急切换(刀盘控制模式优化失效时)时的电气冲击进行分析。最后通过建模仿真,对刀盘系统在进行驱动模式应急切换过程中的转速波动情况进行分析。第五章,对刀盘变转速变排量电液驱动系统的效率特性进行试验分析。对一变转速变排量泵控马达试验系统的额定工作域进行数值分析。通过实验,分析该新型驱动方式的效率随变量泵排量的变化而产生的变化,从环节角度揭示这一变化的原因,并得到系统在不同工作点的最高效率及其对应的变量泵排量。通过优化驱动,进一步得到系统在全工作域内高效工作的效率谱。将该效率谱与传统变排量泵控马达电液驱动系统的效率谱进行对比分析,得到两系统各自的优势效率工作域。此外,还对新型变转速变排量泵控马达电液驱动系统的待机功耗特性进行实验分析。最后,提出一种刀盘变转速变排量电液驱动系统的设计及驱动方案。第六章,总结本文主要的研究工作,并对今后刀盘电液驱动系统方面的研究工作提出一些建议。更多还原

【Abstract】 Shield tunneling machine is an important basic equipment specially designed for the national infrastructure projects.It can achieve a mechanized continuous construction of the tunnel.With improving techniques,shield machines have been widely used.As one of shield machine’s key subsystems,cutterhead electro-hydraulic driving system consumes plenty of energy,and its drving performance directly influences construction speed and construction safety.To achieve better efficiency characteristic and better speed characteristic,optimal design and optimal control researches are carried out for the cutterhead electro-hydraulic driving system.The main research contents are as follows:In chapter 1,the operating principle and operating feature of shield machine is firstly introduced.Then,a development status is reviewed about the shield machine,especially about the domestic shield machine.And its cutterhead driving methods are also reviewed and analyzed.For the energy-saving research about cutterhead electro-hydraulic driving system that have been carried out,a detail summary and analysis is made.Based on the previous studies,main research contents of this paper are finally proposed.In chapter 2,a stepless cutterhead electro-hydraulic driving system is developed.The traditional cutterhead electro-hydraulic system is firstly analyzed.Based on its function and feature,a stepless cutterhead electro-hydraulic system is put forward.For this new system,a compensation control method is designed which can achieve a linear control of rotate speed.With this control method,the rated operating space of stepless cutterhead electro-hydraulic system is analyzed by numerical calculation.Besides,loss models are built to draw the efficiency map of the controlled cutterhead hydraulic system.Further analysis reveals that optimization of pipe connecting methods can help to improve system efficiency.Finally,a cutterhead electro-hydraulic system model is build in AMEsim.With this model,the influence of cutterhead’s rotational inertia,pipe connecting mode and motor displacement on speed characteristic is analyzed.In chapter 3,an optimized decision method is developed for the cutterhead electro-hydraulic system.Firstly,a cutterhead load characteristic parameter is defined based on traditional cutterhead load parameters.A cutterhead load characteristic forecast method is then designed.Based on the field data of a tunnel,its prediction accuracy is evaluated through numerical calculation.In addition,efficiency of the cutterhead electro-hydraulic system with different electric motor driving pattern is analyzed by experiments.Based on the measured efficiency characteristic and the designed forecast method,a cutterhead mode control strategy is developed.In chapter 4,the performance of optimally controlled cutterhead electro-hydraulic system is analyzed.Five rings(with equal interval)of a tunnel are firstly selected for tunnelling optimization analysis.For the cutterhead electro-hydraulic test bed,optimized electric motor driving pattern is also calculated.Field cutterhead torque and cutterhead speed(after similarity transformation)of the five rings of tunnel,is then applied to the optimized cutterhead electro-hydraulic test bed and unoptimized cutterhead electro-hydraulic test bed.And their energy performance is measured and analyzed.Besides,online driving mode switch method for the cutterhead electro-hydraulic system is analyzed.Experiments are carried out to analyze its electric shock.Simulations are carried out to analyze its speed influence.In chapter 5,the performance of a cutterhead variable-speed-displacement pump controlled motor system(VSDPM)is investigated.As one of its key performance parameters,VSDPM’s rated operating space is firstly investigated through modelling and calculation.As another of its key performance parameters,VSDPM’s efficiency is then investigated through experiments.Since VSDPM’s efficiency changes with the pump’s displacement,the efficient displacement is searched at typical working points.With the efficient displacement,we then measure VSDPM’s efficiency over its calculated operating space.To analyze its efficiency performance,the efficiency of a variable-displacement pump controlled motor system(VDPM)is measured as a contrast.Besides,VSDPM’s stand-by power is measured and analyzed.Finally,a design and drive scheme of cutterhead VSDPM is put forward.In chapter 6,main research contents are summarized and concluded.And some suggestion about the furture study of cutterhead electro-hydraulic driving system is proposed.更多还原