盾构管片拼装机电液系统高速-低冲击控制方法

为了解决当前管片拼装机回转系统转速低且存在较大启动冲击的问题，提出采用蓄能器回路变速积分控制的高速管片拼装电液控制系统.通过根据误差信号幅值实时调整积分系数，使系统在获得较高运动精度的同时，有效地抑制了系统冲击；通过在液压马达两端增加蓄能器，吸收液压冲击，减小启动阶段的冲击振荡.利用AMESim软件建立管片拼装机回转系统仿真模型，通过对比仿真数据与实验数据验证了该模型的有效性，利用修正后的仿真模型对管片拼装机回转系统进行仿真分析.结果表明，采用提出的高速-低冲击控制方法，可以将管片拼装机回转系统的转速由当前的1.5 r/min提高到6 r/min，能够有效地降低启动阶段的系统冲击，避免出现系统冲击力矩随转速升高而变大的现象.
Abstract: An electro-hydraulic control system of high speed segment assembling was proposed in order to solve the current problem of low speed and big start-up impact in rotary system of segment erector. The system used an accumulator circuit with variable speed integration. The system could get higher kinematic accuracy and the system impact could be effectively restrained through the real-time adjustment on integral coefficient according to the amplitude of error signal. The concussive impact of starting could be further reduced by setting accumulators on both sides of the motor for absorbing hydraulic impact. A rotary system of segment erector was constructed and analyzed by AMESim software after verifying that the simulation data is equivalent to the test data. Results show that the speed of rotary system in segment erector can be improved from 1.5 r/min to 6 r/min by using the high speed and low impact control method. The system impact of start-up phrase can be effectively reduced and the system impact will not increase with the improvement of rotating speed.