CN104763694B - A kind of development machine hydraulic propelling system zoned pressure setting value optimization method - Google Patents
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
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Abstract
The present invention provides a kind of development machine hydraulic propelling system zoned pressure setting value optimization method, comprises the following steps：The hydraulic cylinder of development machine hydraulic propelling system is divided into N number of subregion, using linearquadratic regulator, making a concerted effort and resultant moment of hydraulic cylinder offer in each subregion is provided, making a concerted effort of hydraulic cylinder offer in each subregion optimizing is provided using quadratic programming, obtains the cylinder pressure setting value in each subregion.The development machine hydraulic propelling system zoned pressure setting value optimization method that the present invention provides, the hydraulic cylinder of development machine hydraulic propelling system is divided into N number of subregion, the pressure set points of the hydraulic cylinder in each subregion are identical, simplifies the control of hydraulic propelling system；Making a concerted effort of each subregion is optimized using quadratic programming, to realize the good ability of tracking of development machine backbone mark；Linear quadratic regulator is used in combination with conventional controller, improves the ability of track following further.
Description
Technical field
The present invention relates to planting development machine hydraulic propelling system zoned pressure setting value optimization method, specifically refer to development machine
Each subregion propelling pressure setting value optimization method of hydraulic system.
Background technology
Tunneling boring hard rock tunnel development machine (Tunnel boring machine, TBM) is the dress of large-scale modernization
Standby, current collection air-liquid pressure, machinery, be controlled in one, dedicated for the tunnelling under rock environment situation.Certainly, Quan Duan
Face hard rock tunnel development machine is being hopeful most and side that the most competitive underground space is excavated and utilized so far
Method.Development machine has that a rate of advance is fast, is of relatively low cost, safety is higher, reliability is high, little to surrounding environment influence and
The advantages of automatization of height, therefore it becomes the instrument that an important subterranean tunnel excavates.
In the engineering of tunnel piercing, the use of development machine can improve the efficiency of engineering construction, improves the quality of process,
The expense of reduction process, has been widely used.The primary task of development machine in work progress is to ensure that can dig out
Set the tunnel of track, within the time of regulation, efficiently high-precision complete Tunnel Engineering.But, current development machine is in construction
During operation, significant portion depends on engineering staff, and it is low to there is efficiency, error some shortcomings of big grade.Therefore, development machine
The control of track is emphasis in tunnel excavating process, is related to the quality of engineering.
Therefore those skilled in the art are devoted to providing a kind of development machine hydraulic propelling system optimization of pressure set-point method,
Linear quadratic regulator method is applied to hydraulic propelling system zoned pressure optimization, to realize the good of development machine backbone mark
Ability of tracking.
Content of the invention
In view of defect present in prior art, the technical problem to be solved is to provide a kind of development machine hydraulic pressure
Propulsion system optimization of pressure set-point method, linear quadratic regulator method is applied to hydraulic propelling system zoned pressure excellent
Change, to realize the good ability of tracking of development machine backbone mark.
The control of the track of development machine, substantially needs the position and posture according to current development machine, reasonably adjusts hydraulic pressure
The thrust of propulsion system is such that it is able to make development machine work on setting track.Development machine TRAJECTORY CONTROL, first to work process
In development machine stressing conditions analysis, according to kinetics and kinematic knowledge, set up the dynamic mathematical model of development machine.
Meanwhile, need the model according to the development machine set up, model is carried out with necessary simplification, the TRAJECTORY CONTROL of research development machine is calculated
Method.The thrust that TRAJECTORY CONTROL algoritic module provides according to the information of collection, optimization hydraulic propelling system.
The hydraulic propelling system subregion thrust optimization method that the present invention provides, using linear quadratic regulator (LQR) with often
Rule PID controller combines, and calculates thrust and the moment of torsion that hydraulic propelling system provides.Pass through quadratic programming, that is, QP optimizes simultaneously,
Calculate each subregion of hydraulic propelling system thrust, such that it is able to enable development machine according to set track tunneled it is ensured that
The quality of engineering.
The present invention provides a kind of development machine hydraulic propelling system zoned pressure setting value optimization method, comprises the following steps：
(1) hydraulic cylinder of development machine hydraulic propelling system is divided into N number of subregion, the pressure of the hydraulic cylinder in each subregion sets
Definite value is identical；
(2) in fuselage coordinates system with geographic coordinate system, set up the pose dynamic model of development machine；
(3) simplifying pose dynamic model is linear time invariant system, and the input of linear time invariant system is to act on driving
Machine hydraulic propelling system make a concerted effort and resultant moment；
(4) adopt linearquadratic regulator, according to setting track and real-time attitude, calculate the liquid in each described subregion
What cylinder pressure provided makes a concerted effort and resultant moment；
(5) making a concerted effort that the hydraulic cylinder in each subregion calculated in step (4) provides be not unique with resultant moment, adopts
Making a concerted effort of hydraulic cylinder offer in each subregion optimizing is provided with quadratic programming；
(6) number made a concerted effort divided by the hydraulic cylinder in subregion that the hydraulic cylinder in each subregion provides, obtains the every of optimization
The pressure set points of the hydraulic cylinder in individual subregion.
Hydraulic propelling system is made up of many hydraulic cylinders, is evenly distributed on shield first, in order to simplify the control of hydraulic propelling system
System, has carried out subregion to the hydraulic cylinder of hydraulic propelling system, each subregion is equivalent to a big hydraulic cylinder, in each subregion
Hydraulic cylinder is adopted and is controlled in a like fashion, and that is, the pressure set points of the hydraulic cylinder in each subregion are identical.
The development machine hydraulic propelling system zoned pressure setting value optimization method that the present invention provides, solves simple dependence and applies
Workman person's experience and set development machine hydraulic propelling system subregion thrust, there is a problem of tunnel track deviate, can be well
Solve the problems, such as track following.
Further, the initial point of step (2) middle fuselage coordinate system is the center of development machine hydraulic propelling system, and x-axis is along pick
Enter machine hydraulic propelling system central axial before, perpendicular to x-axis to the right, z-axis is downward perpendicular to x-axis for y-axis.
Further, the input of step (3) linear time invariant system is the F that makes a concerted effort in x-axisx, y-axis resultant moment TyWith
And resultant moment T in z-axisz.
Further, in step (4), the computing formula of linearquadratic regulator is：
U=-KX,
Wherein, U is the control signal of linear time invariant system, and K represents feedback of status gain matrix, and X is state variable.
Further, in step (4), linearquadratic regulator has guiding input, and computing formula is：
U=-KX+HW,
Wherein, U is the control signal of linear time invariant system, and K represents feedback of status gain matrix, and H is input matrix, W
Represent guiding input, X is state variable.
The computational methods of input matrix H are：
H=- [C (A-BK)-1B]-1
Wherein A is the sytem matrix of linear system, and B is the input matrix of linear system, and C is the output square of linear system
Battle array.
Further, the equivalent operating point made a concerted effort that the hydraulic cylinder in each subregion in step (4) provides is at the angle of subregion
On bisector.
Further, the computing formula of the equivalent arm of force made a concerted effort that the hydraulic cylinder in each subregion in step (4) provides is：
Wherein, n1、n2、n3、nNRepresent the quantity of the hydraulic cylinder in each subregion, n respectivelyiRepresent the hydraulic pressure in i-th subregion
The quantity of cylinder, RiRepresent the equivalent arm of force made a concerted effort that the hydraulic cylinder in i-th subregion provides, R is each point of hydraulic propelling system
Area's thrust generation and the equivalent redius of subregion.
Further, in step (5), the object function of quadratic programming is：
st.f1+f2+f3+...+fN- f=Fx
f1>0,f2>0,f3>0,...fN>0
Wherein, J2For performance index function, f1、f2、f3、fNWhat the hydraulic cylinder of respectively each subregion provided makes a concerted effort, and f is driving
Machine in the x-axis under fuselage coordinates system resistance and,The equivalent operating point being respectively each subregion is in fuselage
The coordinate of the y-axis under coordinate system,The equivalent operating point being respectively each subregion is under fuselage coordinates system
The coordinate of z-axis, FxFor development machine x-axis make a concerted effort, TyFor development machine y-axis resultant moment Ty, TzFor development machine z-axis conjunction
Moment.
Further, the linearquadratic regulator in step (4) with guiding input is used in conjunction with PID controller,
To improve robustness.
Compared with prior art, the development machine hydraulic propelling system zoned pressure setting value optimization method that the present invention provides,
Have the advantages that：
(1) hydraulic cylinder of development machine hydraulic propelling system is divided into N number of subregion, the pressure of the hydraulic cylinder in each subregion sets
Definite value is identical, simplifies the control of hydraulic propelling system；
(2) making a concerted effort of each subregion is optimized using quadratic programming, to realize the good ability of tracking of development machine backbone mark；
(3) linear quadratic regulator is used in combination with conventional controller, improves the ability of track following further.
Technique effect below with reference to design, concrete structure and generation to the present invention for the accompanying drawing is described further, with
It is fully understood from the purpose of the present invention, feature and effect.
Brief description
Fig. 1 is the geographic coordinate system of development machine and fuselage coordinates system in one embodiment of the present of invention；
Fig. 2 is the hydraulic cylinder subregion schematic diagram of the hydraulic propelling system of development machine shown in Fig. 1；
Fig. 3 is the control structure figure of the linearquadratic regulator with guiding input of the development machine shown in Fig. 1；
Fig. 4 is the control structure that the linearquadratic regulator with guiding input shown in Fig. 3 is used in combination with PID
Figure；
The method that each zoned pressure setting value of Fig. 5 hydraulic propelling system optimizes.
Specific embodiment
Taking development machine driving TRAJECTORY CONTROL as a example, the development machine hydraulic propelling system zoned pressure that the present invention provides is set
Value optimization is described in detail.
Physical quantity represented by the symbol occurring in accompanying drawing and part formula and symbol is as shown in table 1：
Table 1
As shown in figure 1, development machine is set up employs two kinds of coordinate systems when dynamic model：Geographic coordinate system is sat with fuselage
Mark system.O-xyz represents fuselage coordinates system, and O'-x'y'z' represents geographic coordinate system.Geographic coordinate system has been generally acknowledged that inertial coordinate
System.
As shown in Fig. 2 the hydraulic cylinder of the hydraulic propelling system of development machine is evenly distributed in shield head, hydraulic cylinder is carried out point
For N number of subregion, each subregion is equivalent to a big hydraulic cylinder, and the hydraulic cylinder in each subregion adopts identical to control.
As shown in Figure 3 it is shown that guiding the structure of the linear quadratic regulator of development machine of input.Made by inputting control
Guiding characteristic is not affected by dynamic characteristic and disturbance characteristic, can be with an input matrix H come the feedback of status of replenishment system
K.This controlling organization can reach stable state guidance accuracy.Wherein H only affects to guide characteristic, does not interfere with the dynamic spy of system
Property.
As shown in Figure 4 it is shown that PID inputs, with having guiding, the structure chart that LQR is used in combination.LQR and PID combines and makes
With the stability of system can be increased, reduces the steady-state error of system, improve the performance that system trajectory is followed the tracks of.
As shown in figure 5, according to the setting trace information of development machine and feedack, hydraulic thrust is calculated by LQR-PID
Enter the thrust of system.The thrust of each subregion of hydraulic propelling system is not unique, according to QP optimize calculate hydraulic propelling system each
The setting value of zoned pressure.
The invention provides the method that each zoned pressure setting value of the hydraulic propelling system of development machine optimizes, solve list
Pure dependence construction experience and set the pressure of each subregion of hydraulic propelling system of development machine, development machine can be solved well
The problem of correction, thus the track of development machine meets sets requirement, also can ensure that construction is more safe and reliable and efficient.
In the optimum control of linear system, there is a class optimal control system, it is with state variable and control variable quadratic form
As object function, the actuator of design system, so that object function has minima to the integration of function.Therefore, generally will
This kind of optimal control problem is referred to as linear guadratic regulator problem.
When linear time invariant system deviates poised state, linearquadratic regulator is consuming minimum energy
In the case of, make system again be close to poised state.Linearquadratic regulator optimum control is a kind of modern times of comparative maturity
Control theory, is conventional method in linear system.
For the linear equation of state space, the feedback states matrix in the general optimum control by determination makes performance refer to
Scalar functions reach minimum, then linear system reaches optimum state.The minimum essence of performance indications is to be come in fact with less control
Now systematic error is less, so that the energy consuming reaches optimum with the synthesis of error.Performance index function is generally secondary
Type integrates cost function, conventional performance index function J1As follows：
Q is semi-positive real symmetric matrix, and R is positive definite real symmetric matrix.Q and R is the weighting matrix of X and U respectively, Er Qieyi
As adopt diagonal matrix.The value adjusting element in matrix Q can increase the fast-response energy of system.But system can be made to produce
Vibration, increases the overshoot of system, the energy of loss system.When in regulation matrix R, the value of element can increase the response of system
Between, make the reaction dull of system, but consume less energy.Q matrix and R matrix are the parameters of conflict, mutually make
About.In system control process, by choosing suitable Q and R, make compromise controlling between cost and systematic procedure characteristic.
In order that the performance index function of system can get minima, according to Pang Teli refined gold classics calculus of variations basis
The minimal principle of upper development, constructs hamilton's function, thus control signal U of linear system can be expressed as：
U=-KX (2)
K represents feedback of status gain matrix, and its representation is as follows：
K=-R-1BTP (3)
P represents diagonal matrix, can be obtained by Riccati equation：
PA+ATP-PBR-1BTP+Q=0 (4)
Meanwhile, guiding characteristic is made not affected by dynamic characteristic and disturbance characteristic in order to control by input, can be with one
Individual input matrix H carrys out feedback of status K of replenishment system.Fig. 3 shows the control structure figure of the LQR adding guiding input.
According to the method for the linearquadratic regulator setting introducing input described above, can derive that addition guiding is defeated
The control signal of the linear system entering：
U=-KX+HW (5)
In formula, W represents guiding input.Meanwhile, can derive in state equation equation (5) being brought into linear system as
Lower system state equation：
When system is in poised state, then the derivative of system state amountIt is zero, can derive following
Formula:
X=- (A-BK)-1BHW (7)
Can obtain further guiding characteristic equation as follows：
Y∞=-C (A-BK)-1BHW∞(8)
Thus obtaining input matrix H is following form：
H=- [C (A-BK)-1B]-1(9)
The foregoing describe the form of expression of the linearquadratic regulator (LQR) adding guiding input, this controlling organization
Stable state guidance accuracy can be reached.Wherein H only affects to guide characteristic, does not interfere with the dynamic characteristic of system.
Based on the linear quadratic regulator structure adding guiding input of description above, the hydraulic drive in the present embodiment
The comprising the following steps that of each zoned pressure setting value optimization method of system：
Step 1：According to Fig. 2, N subregion is carried out to the hydraulic cylinder of hydraulic propelling system.Each point of hydraulic propelling system
The equivalent redius in area are as follows：
Meanwhile, the equivalent operating point of each subregion of hydraulic propelling system is on subregion angular bisector.According to equivalent operating point
With equivalent redius it may be determined that the coordinate of hydraulic propelling system equivalent operating point, provide facility for calculating hydraulic zone moment of torsion.
Step 2：Fuselage coordinates system according to Fig. 1 and geographic coordinate system, based on phases such as Newton's Theorem, the moments of momentum theorem
Close the knowledge of rational mechanics, set up the kinematics and dynamics model of development machine.
Step 3：The pose dynamic model of the development machine that appeal is introduced is simplified.The simplification of the model of development machine be by
The pose Simplification of Dynamic Model of development machine is linear time invariant system.The input of the linear system after development machine simplification is hydraulic thrust
Enter making a concerted effort and resultant moment on the reference axis that system can affect.
Step 4：With the linearquadratic regulator with guiding input presented hereinbefore.Simultaneously as Fig. 4, PID is controlled
Device processed and LQR controller are used in combination, and go calculating hydraulic propelling system to provide making a concerted effort and resultant moment of each subregion offer.
Step 5：The theory being optimized according to QP, calculates the thrust that each subregion of hydraulic propelling system of development machine provides.
The population structure that the zoned pressure setting value of hydraulic propelling system optimizes is as shown in Figure 4.
The performance function that QP optimizes is as follows：
The optimal value of the pressure of each subregion of hydraulic propelling system can be calculated by above step.
The development machine hydraulic propelling system zoned pressure setting value optimization method that the present invention provides, by development machine hydraulic drive
The hydraulic cylinder of system is divided into N number of subregion, and the pressure set points of the hydraulic cylinder in each subregion are identical, simplify hydraulic propelling system
Control；Making a concerted effort of each subregion is optimized using quadratic programming, to realize the good ability of tracking of development machine backbone mark；By line
Property secondary regulator be used in combination with conventional controller, further improve track following ability.
The preferred embodiment of the present invention described in detail above.It should be appreciated that those of ordinary skill in the art is no
Need creative work just can make many modifications and variations according to the design of the present invention.Therefore, the technology of all the art
It is available that personnel pass through logical analysis, reasoning, or a limited experiment under this invention's idea on the basis of existing technology
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (10)
1. a kind of development machine hydraulic propelling system zoned pressure setting value optimization method is it is characterised in that comprise the following steps：
(1) hydraulic cylinder of development machine hydraulic propelling system is divided into N number of subregion, the pressure set points of the hydraulic cylinder in each subregion
Identical；
(2) in fuselage coordinates system with geographic coordinate system, set up the pose dynamic model of development machine；
(3) simplifying described pose dynamic model is linear time invariant system, and the input of described linear time invariant system is to act on
Described development machine hydraulic propelling system make a concerted effort and resultant moment；
(4) adopt linearquadratic regulator, according to setting track and real-time attitude, calculate the hydraulic cylinder in each described subregion
There is provided makes a concerted effort and resultant moment；
(5) making a concerted effort that the hydraulic cylinder in each described subregion calculated in step (4) provides be not unique with resultant moment, adopts
Making a concerted effort of hydraulic cylinder offer in each the described subregion optimizing is provided with quadratic programming；
(6) number made a concerted effort divided by the hydraulic cylinder in described subregion that the hydraulic cylinder in each described subregion provides, is optimized
Each described subregion in hydraulic cylinder pressure set points.
2. development machine hydraulic propelling system zoned pressure setting value optimization method as claimed in claim 1 is it is characterised in that walk
Suddenly the initial point of fuselage coordinates system described in (2) is the center of described development machine hydraulic propelling system, and x-axis is along described development machine hydraulic pressure
Propulsion system central axial before, perpendicular to described x-axis to the right, z-axis is downward perpendicular to described x-axis for y-axis.
3. development machine hydraulic propelling system zoned pressure setting value optimization method as claimed in claim 2 is it is characterised in that walk
Suddenly the input of (3) linear time invariant system is the F that makes a concerted effort in described x-axisx, described y-axis resultant moment TyAnd in described z-axis
Resultant moment Tz.
4. development machine hydraulic propelling system zoned pressure setting value optimization method as claimed in claim 3 is it is characterised in that walk
Suddenly in (4), the computing formula of linearquadratic regulator is：
U=-KX,
Wherein, U is the control signal of described linear time invariant system, and K represents feedback of status gain matrix, and X is state variable.
5. development machine hydraulic propelling system zoned pressure setting value optimization method as claimed in claim 3 is it is characterised in that walk
Suddenly in (4), linearquadratic regulator has guiding input, and computing formula is：
U=-KX+HW,
Wherein, U is the control signal of described linear time invariant system, and K represents feedback of status gain matrix, and H is input matrix, W
Represent guiding input, X is state variable.
6. development machine hydraulic propelling system zoned pressure setting value optimization method as claimed in claim 5 is it is characterised in that institute
The computational methods stating input matrix H are：
H=- [C (A-BK)-1B]-1
Wherein A is the sytem matrix of linear system, and B is the input matrix of linear system, and C is linear system output matrix.
7. development machine hydraulic propelling system zoned pressure setting value optimization method as claimed in claim 3 is it is characterised in that walk
Suddenly the equivalent operating point made a concerted effort that the hydraulic cylinder in each described subregion in (4) provides is on the angular bisector of described subregion.
8. development machine hydraulic propelling system zoned pressure setting value optimization method as claimed in claim 3 is it is characterised in that walk
Suddenly the computing formula of the equivalent arm of force made a concerted effort that the hydraulic cylinder in each described subregion in (4) provides is：
Wherein, n1、n2、n3、nNRepresent the quantity of the hydraulic cylinder in each subregion, n respectivelyiRepresent hydraulic cylinder in i-th subregion
Quantity, RiRepresent the equivalent arm of force made a concerted effort that the hydraulic cylinder in i-th subregion provides, R pushes away for each subregion of hydraulic propelling system
Power generation and the equivalent redius of subregion.
9. development machine hydraulic propelling system zoned pressure setting value optimization method as claimed in claim 3 is it is characterised in that walk
Suddenly in (5), the object function of quadratic programming is：
st.f1+f2+f3+...+fN- f=Fx
f1>0,f2>0,f3>0,...fN>0
Wherein, J2For performance index function, f1、f2、f3、fNWhat the hydraulic cylinder of respectively each subregion provided makes a concerted effort, and f exists for development machine
In x-axis under fuselage coordinates system resistance and,The equivalent operating point being respectively each subregion is in fuselage coordinates
The coordinate of the y-axis under system,It is respectively the z-axis under fuselage coordinates system for the equivalent operating point of each subregion
Coordinate, FxFor development machine x-axis make a concerted effort, TyFor development machine y-axis resultant moment Ty, TzFor development machine z-axis make a concerted effort
Square.
10. development machine hydraulic propelling system zoned pressure setting value optimization method as claimed in claim 3 it is characterised in that
The linearquadratic regulator in step (4) with guiding input is used in conjunction with PID controller, to improve robustness.
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| CN109696830B (en) * | 2019-01-31 | 2021-12-03 | 天津大学 | Reinforced learning self-adaptive control method of small unmanned helicopter |
| CN110145501B (en) * | 2019-04-10 | 2020-05-12 | 中国矿业大学 | Method for controlling position and posture of lifting container of double-rope winding type ultra-deep vertical shaft lifting system |
| CN110488600B (en) * | 2019-09-01 | 2022-05-31 | 长春工业大学 | lQR optimized brushless DC motor speed regulation neural network PID controller |
| CN111810172B (en) * | 2020-07-24 | 2021-12-28 | 上海隧道工程有限公司 | Control method and system of shield propulsion system |
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| JPH06313403A (en) * | 1993-04-27 | 1994-11-08 | Yutani Heavy Ind Ltd | Hydraulic circuit of construction machine |
| JPH10266274A (en) * | 1997-03-27 | 1998-10-06 | Hitachi Constr Mach Co Ltd | Hydraulic circuit device of construction machine |
| US9022749B2 (en) * | 2008-03-31 | 2015-05-05 | Komatsu Ltd. | Swing drive controlling system for construction machine |
| CN101922294B (en) * | 2010-05-25 | 2012-05-16 | 大连理工大学 | Dynamic coordinate control method of full-face large-scale tunneling equipment |
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