Electro-hydraulic control of high-speed segment erection processes
Electro-hydraulic control of high-speed segment erection processes
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DOI：
10.1016/j.autcon.2016.08.037
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发表时间：
2017
影响因子：
10.3
通讯作者：
Lintao Wang;Wei Sun;Guofang Gong;Huayong Yang
中科院分区：
文献类型：
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作者：
Lintao Wang;Wei Sun;Guofang Gong;Huayong Yang
为了提高隧道衬砌的施工效率，需要一种高效的高速管片安装系统。由于高速、大惯性载荷造成的定位误差过大、关节受力大，传统的管片安装机无法实现高速安装过程。为了减小管片拼装机在高速工况下的稳态定位误差，提出了一种基于电液比例控制技术的速度位置复合控制系统（SPCS）。架设运动采用速度平稳连续的组合运动规律，以减小关节受力。在Φ2.2 m管片安装试验台上进行了实验，对所设计的控制系统的性能进行了评价。实验结果表明，在高速工况下，SPCS在精度和联合力方面优于位置反馈控制系统（PFCS）。在不降低定位精度和增加关节力的情况下，安装SPCS的安装器的最大转速可达到传统管片安装系统的3倍。为了进一步提高管片安装效率，提出了一种多轴同步运动的并联速度位置复合控制系统。分析了三种定位运动的耦合效应。实验结果表明，带PSPCS的安装系统在分段定位过程中所消耗的时间进一步减少到带SPCS的安装系统的三分之一左右。
To improve the efficiency of constructing a tunnel lining, an effective high-speed segment erection system is desired. Due to the excessive positioning errors and large joint forces caused by high speed and large inertia loads, a conventional segment erector is unable to achieve a high-speed erection process. To reduce the steady-state positioning error of a segment erector under high-speed working conditions, this work presents a speed and position compound control system (SPCS) based on the electro-hydraulic proportional control technology. A combined motion law with a smooth and continuous changing speed is adopted for the erecting motion to reduce joint force. Experiments are carried out on a Φ2.2 m segment erector test rig to evaluate the performances of the designed control system. Experimental results show that the SPCS is superior to the position feedback control system (PFCS) in terms of accuracy and joint force under high-speed working conditions. The maximum rotation speed of the erector with the SPCS can reach up to thrice that of the conventional segment erection system without decreasing the positioning precision and increasing the joint force. To further increase the segment erecting efficiency, a parallel speed and position compound control system (PSPCS) with multi-axis simultaneous movements is proposed. The coupling effects of the three positioning motions are analyzed. According to the experimental results, the time consumed by the erection system with PSPCS on the segment positioning process is further reduced to approximate one third of that by the erection system with SPCS.