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Shield tunneling machine hydraulic system synchronization control Simulation Analysis
Hun Guoliang
Abstract:
A thrust hydraulic system of shield tunnellingmachine integration of p ressure and flow controlwas designed1Simulation
analysis of synchronizing thrust for thrust hydraulic system was carried out usingAMESim andMATLAB software1The simulation results
show that there are good synchronizing effects by app lying synchronization controlwith master2slave mode, and the synchronization precision can be controlled within ±1mm, which can p rovide the references for the shield tunnels。
Keywords: Shield tunnellingmachine；Thrust hydraulic system；Synchronization control；Simulation。.
Shield tunnellingmachine is a mechanical, electrical, hydraulic, measurement and control technology in the multidisciplinary integration, For the underground tunnel excavation of the major projects in technology-intensive equipment. It is excavating speed, high quality and labor intensity, high security, the right of surface subsidence and the environmental impact of small advantages, with the traditional method of drilling and blasting tunnel construction compared to the more obvious advantages, especially in complex geological conditions. a high water table depth of the tunnel and a larger, they can only rely on the shield. Propulsion system is the key to shield one of the main commitments of the entire shield jacking tasks required to complete Shield turning, The road curves, attitude control, and synchronous rectification campaign. Propulsion system to control Shield in overcoming the course of the advance encountered resistance on the premise that Driving under the process of construction, the various strata and soil changes in the earth pressure, to promote the right speed and pressure without advance-level coordination regulation, Shield tunneling makes the process as possible simultaneously to avoid unnecessary digging and less-digging To achieve control, Hydraulic System Requirements advance to the nonlinear variable load conditions and the pressure to achieve real-time control of volume, and require high reliability. Based on this, this paper to promote the hydraulic system synchronization control was related to simulation analysis.
1 Promoting an integrated design of hydraulic systems
Shield's hydraulic system is more complex, belonging to change load, high power, low flow applications. The system in the main oil pump along variable load-sensitive control; For six cylinder actuator will be divided into six groups, for a control to the completion of this progress, individual advancement or retreat. Double-forward or backward movements. All of a control module are the same, are proportional relief valve proportional valve, electromagnetic valve, auxiliary valve testing and related components and so on. Figure 1 hydraulic system to promote the work of a single diagram. Shield, the two-pass an electromagnetic valve power outages, system pressure oil ratio by two outflow valve, At this time three or four electromagnetic valve 9 Switch to state B position, the hydraulic cylinder piston rod 6 forward movement. Promote the process, the hydraulic cylinder 6 of displacement sensors embedded real-time detection of seven advancing displacement, Feedback converted into electrical signals proportional to the speed control valve proportional solenoid 2, Speed ratio control valve 2 throttle opening, thereby advancing the speed of the real-time control, At this point the system redundant flow from proportional relief valve 3 outflow. To achieve attitude, it is also necessary to promote real-time control pressure At this time the pressure sensor can detect five of the six cylinder pressure advance, Feedback converted into electrical signals proportional to the ratio of three relief valve electromagnet, 3 proportional valve control the throttle opening is to be achieved. The proportion of a relief valve 3 and proportional flow control valve and pressure sensor 2 5 7 and displacement sensor with the pressure flow Minute a control, real-time control propulsion systems driving speed and pressure.
Rapid regression, two-pass an electromagnetic valve in the power, short-circuit ratio valve 2, the system using a large flow of oil, At this time three or four electromagnetic valve 9 switched to a working state position, the hydraulic cylinder piston rod six rapid regression, Segment to meet assembly requirements.
Various sub-groups, 8 hydraulic lock and Y-type function of three or four electromagnetic valve 9 locking components together into a loop median may very well cease to prevent the leakage of hydraulic oil. Hydraulic cylinder returned, the balance valve four could play a role in stabilizing campaign.
2 promote multi-cylinder hydraulic system simulation
Cylinder the synchronous movement is very important, especially in the changing load shield equipment appear to be even more pronounced. Due to the special nature of the work Shield, Shield knife before the excavation site to the frequent load changes in straight forward cases, If we do not take the necessary synchronization measures to promote the process of setting Shield of deviation from the track, unnecessary or less dug-dug, it may even cause Shield poor equipment performance, failure or damage.
Propulsion system caused various hydraulic cylinder is not a synchronized for many reasons, mainly in the following aspects :
(1) Gain flow, the initial work current, linear zone differences, made the opening when a flow proportional flow control valve flow is not equal, with the result that when the hydraulic cylinder movement is not synchronous.
(2) hydraulic cylinder under different load, tunneling process Shield Cutter Face water pressure changes are random. Thus, all of a hydraulic cylinder to bear the load size, Carrying large hydraulic cylinder smaller than carrying hydraulic cylinder running slow.
(3) The hydraulic cylinder manufacture precision errors, leading to the Deputy Campaign hydraulic cylinder friction different; In addition, Installed with the deputy campaign gap, deputy campaign makes no equivalent friction. Friction large hydraulic cylinders running relatively slow.
Figure 2 promote multi-cylinder hydraulic system simulation model
Simulation of two hydraulic cylinder and the same speed as the input. Figure 3 and Figure 4 for the two symmetrical hydraulic cylinder pressure and the speed of simulation map. From the map you can see that since the two hydraulic cylinders suffered load, No.2 hydraulic cylinder pressure on the hydraulic cylinder than No.5 suffered some major atmospheric pressure. In addition, the No.2 hydraulic cylinder and viscous friction coefficient ratio No.5 hydraulic cylinder and viscous friction coefficient also, reflected in the speed has been different, force, viscous friction coefficient of hydraulic cylinder speed to advance more slowly, From Figure 4 advancing speed simulation curves, we can see that this time No.2 tank promoting stability in the rate of 36mm per minute. No.5 tanks and stability after the advance rate of about 39mm per minute.
Figures 5 and 6 for the two hydraulic cylinder displacement and displacement curves for the poor simulation curve. As the No.2 hydraulic cylinder No.5 advancing faster than hydraulic cylinder speed of the advance to the small, as time increases, two hydraulic cylinder displacement poor is also growing. Figure 6 shows that in the course of time to reach the 50's, the two hydraulic cylinder displacement of the poor to 215mm. In other words, every advance 1min, about 3mm of error, It may lead to the actual process of shield tunneling deviate from the pre-set trajectory. it is necessary to take immediate control strategy.
3 to promote multi-cylinder hydraulic system simulation analysis of synchronous control
now we often used hydraulic synchronous control in two major ways. One is the open-loop-control methods that use streaming manifold valve, synchronous cylinder, synchronous motors and other components synchronous hydraulic circuit, Its characteristics are the principle is simple and low cost, but also low accuracy. The second method is to use electro-hydraulic servo valves, or electro-hydraulic proportional valve components closed-loop control system, the adoption of this closed-loop control method, "the same way" and "master-slave" approach commonly used two control strategy using this control strategy is expected to be high-precision synchronization control requirements [7]. Simulation using master-slave synchronization control, No.2 hydraulic cylinder as the main hydraulic cylinders, hydraulic cylinder as No.5 from the hydraulic cylinder. No.2 hydraulic cylinder to the output of the ideal output No.5 hydraulic cylinder under control to track the selected ideal output and achieve.
Figure 7 for promoting multi-cylinder hydraulic system simulation AMESim synchronous model, Figure 8 Simulink was used to promote the construction of multi-cylinder hydraulic system simulation model synchronization. Simulation parameters obtained with the lack of synchronization control of the same, and two hydraulic cylinder speed input were the same. Given suffered load and hydraulic cylinder and viscous friction coefficient, to promote the process of hydraulic cylinder driving speed and displacement different. At this point, No.2 and No.5 two hydraulic cylinder displacement input to the S AMESim function, Then the output interface control structures Simulink simulation model. Simulation of the two-cylinder displacement of poor and the displacement settings, the differential displacement feedback signal to speed settings, compensation to achieve synchronization c
Figure 9 and Figure 10 using synchronous control of the hydraulic cylinder pressure and the speed of simulation curve. From the map you can see that two hydraulic cylinder pressure on the map with three no synchronization control measures adopted to promote the pressure curve, the there is no change. However, Figure 10 shows, this time from the two main hydraulic cylinder speed of the advance of basic coincidence, promoting the stability of both 36mm per minute speed.
Figure 11 and Figure 12 for two hydraulic cylinder displacement and displacement curves for the poor simulation curve. As the No.2 hydraulic cylinder speed of the advance and No.5 hydraulic cylinder speed of the advance of the same, So two hydraulic cylinder displacement of very similar. Figure 12 shows two hydraulic cylinder displacement of poor 01025mm only completely satisfy the control requirements.
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4 Conclusion
This paper to promote a multi-cylinder hydraulic system to promote the simulation analysis, Comparing the absence of synchronization and the use of two simultaneous control of the simulation results. Simulation results show that the master-slave synchronization control strategy to achieve better propulsion systems simultaneously coordinated campaign Hydraulic cylinder can be controlled simultaneously accuracy of ± 1mm between actual Shield simultaneously provide a reference.