【作者】 贺星涛； 陶建峰； 熊志林； 唐小涛；

【Author】 HE Xing-tao;TAO Jian-feng;XIONG Zhi-lin;TANG Xiao-tao;School of Mechanical Engineering , Shanghai Jiao Tong University;

【机构】 上海交通大学机械与动力工程学院；

【摘要】 类矩形盾构管片拼装机负载沉重、运动复杂,控制系统调试难度大,构建基于拼装机半物理仿真系统的控制器调试平台可有效降低系统联调过程中的风险。本文给出了类矩形盾构管片拼装机半物理仿真系统的具体实现方案,结合基于Lab VIEW的用户界面程序将运行于MATLAB x PC快速原型开发平台的拼装机实时数学模型、实际应用的RMC电液伺服控制器、Lab VIEW中的3D运动仿真综合为类矩形盾构管片拼装机半物理仿真系统。应用半物理仿真系统,本文设计了类矩形盾构管片拼装机基于RMC的轨迹跟踪和控制算法,实验表明该系统可以大幅降低系统联调风险,提高调试效率,并改善系统控制精度。更多还原

【Abstract】 Due to heavy load and complicated motion, it is hard to debug the control system of the quasi-rectangular shield segment erector. Aiming at solving the problem, a test platform of the electro-hydraulic servo controller is constructed based on the hardware-in-the-loop simulation system. The hardware-in-the-loop simulation system of quasi-rectangular shield segment erector is established, consisting of x PC target, RMC electro-hydraulic servo controller and Lab VIEW user interface. x PC target is used to build a real-time environment and network respectively for rapid prototyping of the hardware simulation and testing in the circuit. RMC motion controller is used as an physical controller for electro-hydraulic servo control. The control and demonstration platform of x PC host PC is established on Lab VIEW software platform to demonstrate real-time 3D simulation. Based on the hardware-in-the-loop simulation system, trajectory tracking and control algorithm is designed and programmed in RMC. The hardware-in-the-loop simulation system is used for real-time simulation, and effect of the control algorithm is analyzed.Risks are reduced, and the efficiency and accuracy are improved during system debugging.更多还原