隧道掘进机刀盘驱动多电机同步自适应耦合控制研究

为解决隧道掘进机运行过程中刀盘驱动系统各电机受力不均衡导致的部件损坏或系统故障的问题，对刀盘驱动系统结构及控制模式进行分析，建立电机矢量控制模型，提出一种改进的刀盘驱动耦合控制结构。该结构一方面可以增加从电机给定转速选择功能，消除起动阶段延时引起的同步误差； 另一方面，可以通过转速补偿耦合策略缩小电机之间的转速差。在控制方法上，设计神经网络PI控制器来控制各个电机的转速，使控制系统能够根据载荷的变化自适应调整控制参数，提高控制精度。最后，通过建立Simulink仿真模型，对比自适应耦合控制与主从控制、并行控制的同步效果。结果表明，所提出的自适应耦合控制方法能够使控制中的各个环节相互配合，可达到较好的控制性能和响应转速。

Study on Adaptive Coupling Synchronous Control of Cutterhead Driving Motors of Tunnel Boring Machine

During the operating of tunnel boring machine, the unbalanced force of each motor in cutterhead drive system would cause component damage or even system malfunction. Hence, the structure and control mode of the cutterhead drive system are analyzed, the motor vector control model is established, and an improved coupling control structure is proposed for cutterhead drive system. The motor given speed selection function is equipped on the structure to eliminate the synchronous error caused by the delay in the starting stage, and the speed compensation coupling strategy is adopted to reduce the speed difference between motors. Furthermore, the neural network PI controller is designed to control the running speed of each motor, which helps the control system to adjust the control parameters adaptively according to the load variation and improve the control accuracy. Finally, the synchronization effect of the proposed adaptive coupling control is compared with that of master slave control and parallel control by establishing a Simulink simulation model, and the comparison results show that the proposed adaptive coupling control method can make each link in the control cooperate with each other and can achieve better control performance and response speed．