CN106246196B - A kind of cutter-devices system for TBM - Google Patents
A kind of cutter-devices system for TBM Download PDFInfo
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- CN106246196B CN106246196B CN201610738807.4A CN201610738807A CN106246196B CN 106246196 B CN106246196 B CN 106246196B CN 201610738807 A CN201610738807 A CN 201610738807A CN 106246196 B CN106246196 B CN 106246196B
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- 230000007246 mechanism Effects 0.000 claims abstract description 53
- 239000007788 liquid Substances 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 4
- 230000002159 abnormal effect Effects 0.000 abstract description 3
- 239000011435 rock Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
Classifications
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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
- E21D9/10—Making by using boring or cutting machines
- E21D9/1086—Drives or transmissions specially adapted therefor
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- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
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- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
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- Fluid-Pressure Circuits (AREA)
Abstract
A kind of cutter-devices system for TBM, comprising: hydraulic-driven subsystem, it connect with the deceleration mechanism of TBM, for the hydraulic torque that hydraulic-driven signal based on the received is answered to deceleration mechanism output phase, to drive the cutterhead of the TBM to operate by the deceleration mechanism；Electrically driven subsystem is connect with the deceleration mechanism, for the electrical torque that electrical driving signals based on the received are answered to deceleration mechanism output phase, to drive the operating of the cutterhead by the deceleration mechanism.This drive system overcome existing TBM as individually use transducer drive and caused by sufficiently large torque can not be provided the problem of, simultaneously, the drive system also passes through the drive characteristic for measuring hydraulic-driven subsystem and electrically driven subsystem respectively, the accurate matching of speed is made by self-learning function, torque dynamic is carried out simultaneously to compensate, and abnormal conditions are made and timely corrects and alarms, to improve the applicability and reliability of drive system.
Description
Technical field
The present invention relates to rock tunnel(ling) machine technical fields, specifically, being related to a kind of cutter-devices system for TBM.
Background technique
TBM is a kind of development machine for hard rock tunnel construction comprising propulsion system, cutter disc system, belt go out slag system
Systems, the development machines such as system are exactly based on these systems to realize the excavation in tunnel.Wherein, cutter disc system is that TBM realizes cutting
The core system of country rock, cutterhead can directly cut country rock.
With long range, great burying, the appearance for passing through unfavourable geological tunnel, people cannot understand tunnel geology feelings completely
Condition, therefore also just to for driving cutter disc system to operate, with the cutter-devices system that cuts country rock, more stringent requirements are proposed, especially
It is in the case where cutterhead blocks to need that cutter disc system is required to be capable of providing torque as big as possible.
Conventional electrically driven mode is used widely due to high-efficient, simple and energy-efficient characteristic, but its
That there are power densities is not high, spatial position is limited and torque storage level many defects such as less, can not provide sufficiently large
Torque.
Summary of the invention
To solve the above problems, the present invention provides a kind of cutter-devices system for TBM, the system comprises:
Hydraulic-driven subsystem is connect with the deceleration mechanism of TBM, for hydraulic-driven signal based on the received to
The hydraulic torque that deceleration mechanism output phase is answered, to drive the cutterhead of the TBM to operate by the deceleration mechanism；
Electrically driven subsystem is connect with the deceleration mechanism, for electrical driving signals based on the received to
The electrical torque that deceleration mechanism output phase is answered, to drive the operating of the cutterhead by the deceleration mechanism.
According to one embodiment of present invention, the hydraulic-driven subsystem includes:
Hydraulic pump is used to generate corresponding hydraulic motor control signal according to the hydraulic-driven signal；
Hydraulic motor is connect with the hydraulic pump and deceleration mechanism, is produced for controlling signal according to the hydraulic motor
Raw corresponding hydraulic torque, to adjust the operating of the cutterhead by the deceleration mechanism.
According to one embodiment of present invention, the hydraulic-driven subsystem further include:
Proportional amplifier is connect with the hydraulic pump, for carrying out ratio enlargement to the hydraulic-driven signal, and will
Obtained driving signal is transferred to the hydraulic pump.
According to one embodiment of present invention, the hydraulic-driven subsystem further include:
Pressure sensor is connect with hydraulic motor, for acquiring the pressure data of the hydraulic motor output.
According to one embodiment of present invention, the electrically driven subsystem includes:
Frequency converter is used to generate corresponding motor drive signal according to the electrical driving signals；
Variable-frequency motor is connect with the frequency converter, for defeated to the deceleration mechanism according to the motor drive signal
Corresponding electrical torque out, to drive the operating of the cutterhead by the deceleration mechanism.
According to one embodiment of present invention, the system also includes:
Controller is connect with the hydraulic-driven subsystem and electrically driven subsystem, for respectively to described hydraulic
Drives subsystem and electrically driven subsystem output hydraulic pressure driving signal and electrical driving signals, to drive hydraulic-driven
The operation of system and electrically driven subsystem.
According to one embodiment of present invention, the controller is configured to according to the hydraulic-driven subsystem in the liquid
The revolving speed for driving the cutterhead under driving signal and its corresponding time are pressed, determines the first relation curve.
According to one embodiment of present invention, the controller is configured to according to the electrically driven subsystem in the electricity
Driven under gas driving signal the cutterhead revolving speed and its corresponding time, determine the second relation curve.
According to one embodiment of present invention, the controller is configured to the liquid fed back according to the hydraulic-driven subsystem
The electrical torque for pressing torque and the electrically driven sub- coefficient feedback, to the electrical torque of the electrically driven subsystem output into
Row is adjusted, to realize that electrical torque is synchronous with hydraulic torque.
According to one embodiment of present invention, the controller is configured to calculate the difference of the hydraulic torque and electrical torque
The absolute value of value, and the absolute value is compared with predetermined torque difference threshold, wherein if the absolute value is greater than in advance
If torque difference threshold value, then the electrical torque of the electrically driven subsystem output is adjusted.
Cutter-devices system provided by the present invention provides low speed by hydraulic-driven subsystem for the operating of the cutterhead of TBM
Large torque, thus overcome existing TBM as individually use transducer drive and caused by sufficiently large torque can not be provided
Problem.
Meanwhile the drive system also passes through the driving spy for measuring hydraulic-driven subsystem and electrically driven subsystem respectively
Property, the accurate matching of speed is made by self-learning function, while carry out torque dynamic compensate, and abnormal conditions are made and
When amendment and alarm, to improve the applicability and reliability of drive system.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by specification, right
Specifically noted structure is achieved and obtained in claim and attached drawing.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is required attached drawing in technical description to do simple introduction:
Fig. 1 is the structural schematic diagram of the cutter-devices system according to an embodiment of the invention for TBM；
Fig. 2 is the structural schematic diagram of hydraulic-driven subsystem according to an embodiment of the invention；
Fig. 3 is the structural schematic diagram of electrically driven subsystem according to an embodiment of the invention；
Fig. 4 is the flow chart of the first relation curve of determination according to an embodiment of the invention；
Fig. 5 is the flow chart of the second relation curve of determination according to an embodiment of the invention；
Fig. 6 is the synchronously control stream of hydraulic-driven subsystem according to an embodiment of the invention Yu electrically driven subsystem
Cheng Tu.
Specific embodiment
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, how to apply to the present invention whereby
Technological means solves technical problem, and the realization process for reaching technical effect can fully understand and implement.It needs to illustrate
As long as not constituting conflict, each feature in each embodiment and each embodiment in the present invention can be combined with each other,
It is within the scope of the present invention to be formed by technical solution.
Meanwhile in the following description, for illustrative purposes and numerous specific details are set forth, to provide to of the invention real
Apply the thorough understanding of example.It will be apparent, however, to one skilled in the art, that the present invention can not have to tool here
Body details or described ad hoc fashion are implemented.
In addition, step shown in the flowchart of the accompanying drawings can be in the department of computer science of such as a group of computer-executable instructions
It is executed in system, although also, logical order is shown in flow charts, and it in some cases, can be to be different from herein
Sequence execute shown or described step.
Fig. 1 outputs the structural schematic diagram of the cutter-devices system according to an embodiment of the invention for TBM.
As shown in Figure 1, cutter-devices system provided by the present embodiment preferably includes: controller 101, hydraulic-driven
System 102, electrically driven subsystem 103 and velocity sensor 104.Wherein, controller 101 and hydraulic-driven subsystem 102
It connects, can be exported to hydraulic-driven subsystem 102 and electrically driven subsystem 103 respectively with electrically driven subsystem 103
Hydraulic-driven signal and electrical driving signals, to control hydraulic-driven subsystem 102 and electrically driven subsystem output phase respectively
Answer torque.
Hydraulic-driven subsystem 102 is connect with the deceleration mechanism 105 of TBM, receive controller 101 send it is hydraulic
After driving signal, hydraulic-driven subsystem 102 hydraulic-driven signal can be answered to 102 output phase of the mechanism of decompressor based on the received
Hydraulic torque.Since deceleration mechanism 102 is linked with the cutterhead 106 of TBM, hydraulic-driven subsystem 102 can
The operating (such as revolving speed etc. of control cutterhead 106) of cutterhead 106 is driven by deceleration mechanism 105.
Electrically driven subsystem 103 is equally connect with the deceleration mechanism 105 of TBM, is receiving what controller 101 was sent
After electrical driving signals, electrically driven subsystem 103 can based on the received electrical driving signals to deceleration mechanism output phase
The electrical torque answered.Similarly, since deceleration mechanism 102 is to link with cutterhead 106, therefore electrically driven subsystem 103 is same
The operating of cutterhead 106 can be driven by deceleration mechanism 105.
Fig. 2 shows the structural scheme of mechanism of hydraulic-driven subsystem 102 in cutter-devices system provided by the present embodiment.
As shown in Fig. 2, hydraulic-driven subsystem 102 preferably includes in the present embodiment: proportional amplifier 201, hydraulic pump
202 and hydraulic motor 203.Wherein, proportional amplifier 201 is connect with controller 101, can be sent to controller 101
Hydraulic-driven signal carries out ratio enlargement, the demand for subsequent device that hydraulic-driven signal can satisfy so that treated.
Hydraulic pump 202 is after receiving the hydraulic-driven signal by ratio enlargement that the transmission of proportional amplifier 201 comes, meeting
Corresponding hydraulic motor, which is generated, according to the hydraulic-driven signal controls signal.Specifically, hydraulic pump 202 can be believed according to hydraulic-driven
Number oil liquid is sucked from hydraulic oil container, to form hydraulic oil discharge.
Hydraulic motor 203 is connect with hydraulic pump 202 and deceleration mechanism 105, can according to hydraulic pump 202 transmit come liquid
Pressure motor 203 controls signal and generates corresponding hydraulic torque.Controller 101 can also be controlled by draining press pump 202 in this way
The operating status of hydraulic motor 203, and then the fortune of the control cutterhead 106 of the deceleration mechanism 105 by linking with hydraulic motor 203
Turn.
It should be pointed out that in other embodiments of the invention, if the hydraulic-driven signal that controller 101 is exported
It can satisfy the use demand of hydraulic pump 202, then ratio enlargement can not also be configured between controller 101 and hydraulic pump 202
Device 201, i.e., controller 101 is directly connected with hydraulic pump 202 at this time, and the invention is not limited thereto.
As shown in Fig. 2, hydraulic-driven subsystem 102 further includes pressure sensor 204 in the present embodiment.Pressure sensor
204 connect with hydraulic motor 203, can acquire the pressure data that hydraulic motor 203 is exported, and the pressure data is transmitted
To controller 101.The torque number that hydraulic motor 203 at this time is exported can be calculated according to the pressure data for controller 102
According to (the hydraulic torque data that i.e. entire hydraulic-driven subsystem is exported).By pressure sensor 204, controller 101 can
Realize closed-loop control to hydraulic-driven subsystem 102 so that the torque that is exported of hydraulic-driven subsystem 102 more subject to
Really.
Hydraulic-driven subsystem 102 has the characteristics that power density is big, adaptive load ability is strong, therefore the present embodiment is mentioned
The cutter-devices system 100 of confession provides low-speed big by hydraulic-driven subsystem 102 for the operating of the cutterhead of TBM, thus
Overcome existing TBM as individually use transducer drive and caused by sufficiently large torque can not be provided the problem of.
Fig. 3 shows the structural representation of electrically driven subsystem 103 in cutter-devices system 100 provided by the present embodiment
Figure.
As shown in figure 3, electrically driven subsystem 103 preferably includes: frequency converter 301 and variable-frequency motor in the present embodiment
302.Wherein, frequency converter 301 is connect with controller 101, can be generated according to the electrical driving signals that controller 101 is sent
Corresponding motor drive signal.Variable-frequency motor 302 is connect with frequency converter 301, is driven receiving the motor that the transmission of frequency converter 301 comes
After dynamic signal, variable-frequency motor 302, which can generate corresponding electrical torque and be exported according to the motor drive signal, gives deceleration mechanism
105, and then control the operation of cutterhead 106.
In the present embodiment, frequency converter 301 can generate real-time electrical torque according to the motor drive signal of itself output
Data, and by the real-time electrical torque data feedback to controller 101.Controller also can be according to 301 institute of frequency converter in this way
The real-time electrical torque data of feedback carry out closed-loop control come the torque exported to electrically driven subsystem, also allow in this way
The torque that electrically driven subsystem 103 is exported is more accurate.
The drive system as provided by the present embodiment is a synchronous mechanism, also requires electrically driven son
System synchronous must drive with hydraulic-driven subsystem, reduce to the greatest extent and drive between electrically driven subsystem and hydraulic-driven subsystem
The difference of dynamic output, otherwise will cause entire drive system badly damaged.
In order to realize the synchronous driving between electrically driven subsystem and hydraulic-driven subsystem, in the present embodiment, control
Device 101 is based respectively on hydraulic-driven subsystem 102 and the course of work of electrically driven subsystem 103 is determined to correspond to hydraulic drive
First relation curve of subsystem and the second relation curve corresponding to electrically driven subsystem.
Fig. 4 shows the implementation flow chart that the first relation curve is determined in the present embodiment.
As shown in figure 4, controller obtains expectation cutterhead speed, the expectation knife first in step S401 in the present embodiment
Disk speed, that is, cutterhead reference rotation velocity.After obtaining expectation cutterhead speed, controller can be in step S402 according to the phase got
Cutterhead speed is hoped to generate transducer drive signal, transducer drive signal can control frequency converter and generate corresponding electrode control letter
Number, and then the electrical torque that variable-frequency motor is answered to deceleration mechanism output phase is controlled, and drive deceleration mechanism 105 is with corresponding revolving speed
Operation.Since deceleration mechanism 105 and cutterhead 106 are linkages, variable-frequency motor operates same in drive deceleration mechanism 105
When, also cutterhead can be driven with certain rotation speed operation.
During driving cutterhead 106 to operate by deceleration mechanism 105, controller 101 also passes through in step S403
Velocity sensor 104 persistently detects the actual speed (i.e. practical cutterhead revolving speed) of cutterhead 106, and judgment step in step s 404
Whether the expectation cutterhead revolving speed obtained in the practical cutterhead revolving speed and step S401 detected in S403 matches.Wherein, if two
Person mismatches, then return step S402 is adjusted transducer drive signal generated, so as to form a closed loop control
System；And if the two matches, the practical cutterhead revolving speed in step S405 according to recorded each moment determines that cutterhead turns
The relation curve of speed and time, to obtain the first relation curve.It should be pointed out that the first relation curve is driven with frequency converter
Dynamic signal is related, can change the form of the first relation curve by changing transducer drive signal.
Therewith similarly, Fig. 5 shows the implementation flow chart that the second relation curve is determined in the present embodiment.
As shown in figure 5, controller obtains expectation cutterhead speed, the expectation knife first in step S501 in the present embodiment
Disk speed, that is, cutterhead reference rotation velocity.After obtaining expectation cutterhead speed, controller can be in step S502 according to the phase got
Cutterhead speed is hoped to generate hydraulic pump drive signal, hydraulic pump drive signal can control hydraulic pump and generate corresponding hydraulic motor control
Signal processed, and then control hydraulic motor and export corresponding hydraulic torque to deceleration mechanism 105, and drive deceleration mechanism 105 is with phase
The revolving speed operation answered.Since deceleration mechanism 105 and cutterhead 106 are linkages, hydraulic motor is transported in drive deceleration mechanism 105
While turning, also cutterhead 106 can be driven with certain rotation speed operation.
During driving cutterhead 106 to operate by deceleration mechanism 105, controller 101 also passes through in step S503
Velocity sensor 104 persistently detects the actual speed (i.e. practical cutterhead revolving speed) of cutterhead 106, and the judgment step in step S504
Whether the expectation cutterhead revolving speed obtained in the practical cutterhead revolving speed and step S501 detected in S503 matches.Wherein, if two
Person mismatches, then return step S502 is adjusted hydraulic pump drive signal generated, so as to form a closed loop control
System；And if the two matches, the practical cutterhead revolving speed in step S505 according to recorded each moment determines that cutterhead turns
The relation curve of speed and time, to obtain the second relation curve.It should be pointed out that the second relation curve is driven with hydraulic pump
Dynamic signal is related, can change the form of the second relation curve by changing hydraulic pump drive signal.
In order to guarantee the synchronous driving between hydraulic-driven subsystem and electrically driven subsystem, this requires driving
The first relation curve needs are consistent with the second relation curve in journey, i.e., slow down in the electrically driven subsystem driving of synchronization
The speed of mechanism operating and the speed of hydraulic-driven subsystem driving revolving speed mechanism operating are answered equal.
In the present embodiment, controller 101 can be come by the function of self study so that the first relationship is bent during driving
Line matches with the second relation curve, to realize accurate of the speed of electrically driven subsystem and hydraulic-driven subsystem
Match.
Fig. 6 shows the implementation process of hydraulic-driven subsystem and electrically driven subsystem synchronously control in the present embodiment
Figure.
As shown in fig. 6, when carrying out the synchronously control of hydraulic-driven subsystem and electrically driven subsystem, controller 101
Expectation cutterhead speed is obtained first, that is, obtains set cutterhead revolving speed.After obtaining expectation cutterhead revolving speed, 101 meeting of controller
Transducer drive signal and hydraulic pump drive signal are generated according to the expectation cutterhead revolving speed respectively in step S602.In frequency converter
Under the action of driving signal, frequency converter will be operated by motor and deceleration mechanism controls cutterhead；Similarly, it drives and believes in hydraulic pump
Under the action of number, hydraulic pump will be operated by hydraulic motor and deceleration mechanism controls cutterhead.
In step S603, controller 101 can judge according to the revolving speed of the revolving speed of obtained hydraulic motor and motor
Whether hydraulic motor matches with the revolving speed of motor.If the two mismatches, controller 101 then can return step S602
Transducer drive signal generated and/or hydraulic pump drive signal are carried out according to the first relation curve and the second relation curve
Adjustment, so that the revolving speed of hydraulic motor and motor matches.
And if controller 101 is judged hydraulic motor in step S603 and matched with the revolving speed of motor, it controls
The signal that device 101 can then be fed back according to compression sensor and frequency converter respectively in step s 604 calculate hydraulic torque and
Electrical torque, and calculate the absolute value of the difference of hydraulic torque and electrical torque.
After obtaining the absolute value of difference of hydraulic torque and electrical torque, controller 101 will judge in step s 605
Whether the absolute value is greater than predetermined torque difference threshold.If the absolute value is greater than predetermined torque difference threshold, controller
101 will adjust transducer drive signal in step S606, so as to adjust the torque that electrically driven subsystem is exported, and return
Step S604 recalculates hydraulic torque and electrical torque；And if the absolute value is less than predetermined torque difference threshold, then
Indicate that hydraulic-driven subsystem with electrically driven subsystem realizes synchronous driving at this time, which is normal driving mistake
Journey.
It should be pointed out that in different embodiments of the invention, the value of above-mentioned predetermined torque difference threshold can root
Value is carried out according to actual needs, the specific value of the predetermined torque difference threshold is not defined herein.
Since hydraulic-driven subsystem is there are characteristics such as non-linear, oil liquid compressibilities, to hydraulic-driven subsystem into
The accurate control of row output torque is relatively difficult.And found by analysis, electrically driven subsystem is due to being by frequency conversion
What device ran to directly drive variable-frequency motor, electrically driven subsystem haves the advantages that regulation is convenient, it is fast to respond, therefore for electricity
The accurate control of gas drive subsystem output torque is easily achieved.So cutter-devices system is in electricity provided by the present embodiment
Gas torque and hydraulic torque realize the matching of the two by adjusting electrical torque there are when larger difference.
As can be seen that cutter-devices system provided by the present embodiment passes through hydraulic-driven subsystem from foregoing description
102 come for the cutterhead of TBM operating low-speed big is provided, thus overcome existing TBM due to individually use transducer drive and
Caused by the problem of sufficiently large torque can not be provided.
Meanwhile the drive system also passes through the driving spy for measuring hydraulic-driven subsystem and electrically driven subsystem respectively
Property, the accurate matching of speed is made by self-learning function, while carry out torque dynamic compensate, and abnormal conditions are made and
When amendment and alarm, to improve the applicability and reliability of drive system.
It should be understood that disclosed embodiment of this invention is not limited to specific structure disclosed herein or processing step
Suddenly, the equivalent substitute for these features that those of ordinary skill in the related art are understood should be extended to.It should also be understood that
It is that term as used herein is used only for the purpose of describing specific embodiments, and is not intended to limit.
" one embodiment " or " embodiment " mentioned in specification means the special characteristic described in conjunction with the embodiments, structure
Or characteristic is included at least one embodiment of the present invention.Therefore, the phrase " reality that specification various places throughout occurs
Apply example " or " embodiment " the same embodiment might not be referred both to.
Although above-mentioned example is used to illustrate principle of the present invention in one or more application, for the technology of this field
For personnel, without departing from the principles and ideas of the present invention, hence it is evident that can in form, the details of usage and implementation
It is upper that various modifications may be made and does not have to make the creative labor.Therefore, the present invention is defined by the appended claims.
Claims (8)
1. a kind of cutter-devices system for TBM, which is characterized in that the system comprises:
Hydraulic-driven subsystem is connect with the deceleration mechanism of TBM, for hydraulic-driven signal based on the received to described
The hydraulic torque that deceleration mechanism output phase is answered, to drive the cutterhead of the TBM to operate by the deceleration mechanism；
Electrically driven subsystem is connect with the deceleration mechanism, for electrical driving signals based on the received to described
The electrical torque that deceleration mechanism output phase is answered, to drive the operating of the cutterhead by the deceleration mechanism；
Controller is connect with the hydraulic-driven subsystem and electrically driven subsystem, for respectively to the hydraulic-driven
Subsystem and electrically driven subsystem output hydraulic pressure driving signal and electrical driving signals, to drive the hydraulic-driven subsystem
With the operation of electrically driven subsystem；
The controller is configured to the hydraulic torque and the electrically driven subsystem number fed back according to the hydraulic-driven subsystem
The electrical torque of feedback is adjusted the electrical torque of the electrically driven subsystem output to carry out the dynamic of torque and mend
It repays, to realize that electrical torque is synchronous with hydraulic torque.
2. the system as claimed in claim 1, which is characterized in that the hydraulic-driven subsystem includes:
Hydraulic pump is used to generate corresponding hydraulic motor control signal according to the hydraulic-driven signal；
Hydraulic motor is connect with the hydraulic pump and deceleration mechanism, generates phase for controlling signal according to the hydraulic motor
The hydraulic torque answered, to adjust the operating of the cutterhead by the deceleration mechanism.
3. system as claimed in claim 2, which is characterized in that the hydraulic-driven subsystem further include:
Proportional amplifier is connect with the hydraulic pump, for carrying out ratio enlargement to the hydraulic-driven signal, and will be obtained
Driving signal be transferred to the hydraulic pump.
4. system as claimed in claim 2, which is characterized in that the hydraulic-driven subsystem further include:
Pressure sensor is connect with hydraulic motor, for acquiring the pressure data of the hydraulic motor output.
5. the system as described in any one of claims 1~4, which is characterized in that the electrically driven subsystem includes:
Frequency converter is used to generate corresponding motor drive signal according to the electrical driving signals；
Variable-frequency motor is connect with the frequency converter, for according to the motor drive signal to deceleration mechanism output phase
The electrical torque answered, to drive the operating of the cutterhead by the deceleration mechanism.
6. system as described in any one of claims 1 to 4, which is characterized in that the controller is configured to according to the liquid
Pressure drives subsystem driven under the hydraulic-driven signal cutterhead revolving speed and its corresponding time, determine the first relationship
Curve.
7. system as described in any one of claims 1 to 4, which is characterized in that the controller is configured to according to the electricity
Gas drive subsystem driven under the electrical driving signals cutterhead revolving speed and its corresponding time, determine the second relationship
Curve.
8. system as described in any one of claims 1 to 4, which is characterized in that the controller is configured to calculate the liquid
The absolute value of the difference of torque and electrical torque is pressed, and the absolute value is compared with predetermined torque difference threshold, wherein
If the absolute value is greater than predetermined torque difference threshold, the electrical torque of the electrically driven subsystem output is adjusted
Section.
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| CN106761793A (en) * | 2017-02-10 | 2017-05-31 | 宁夏百辰工业产品设计有限公司 | A kind of tunneling machine cutting working load coordinates rotation supplementary module |
| CN113125187A (en) * | 2021-04-29 | 2021-07-16 | 中铁工程装备集团有限公司 | Meshing blade disc comprehensive test device |
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| CN103016020A (en) * | 2012-12-31 | 2013-04-03 | 浙江大学 | Compound driving device of TBM cutting disc motor hydraulic motor |
| CN105545882A (en) * | 2016-01-15 | 2016-05-04 | 浙江大学 | Electro-hydraulic synchronous uniform loading cutter driving system of tunneling machine |
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|---|---|---|---|---|
| DE3231544A1 (en) * | 1982-08-25 | 1984-03-01 | Gewerkschaft Eisenhütte Westfalia, 4670 Lünen | Electrohydraulic control arrangement for a cutter shield |
| EP1020617A1 (en) * | 1999-01-14 | 2000-07-19 | SHI Control Systems, Ltd. | Control apparatus for synchronous rotation of cutter heads, for a multiple shield excavator |
| CN201843618U (en) * | 2010-11-15 | 2011-05-25 | 南车资阳机车有限公司 | Cutter disc driving open type hydraulic system of small-size shield machine |
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| CN106246196A (en) | 2016-12-21 |
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