Research On Electro-hydraulic Technology Control For Thrust System Of Full-face Rock Tunnel Boring Machine

Tunnels and mines have special underground working environments that must be considered for safe operation when construction is underway,such as ground collapse,uplift,and water seepage.Therefore,reasonable control over the speed of advancement will be required during advancement.In addition,the size of the propulsion speed is greatly related to the excavation volume and the molding quality of the tunnel.However,the advancing speed has a direct relationship with the size of the load resistance.However,in this paper,under the load within a certain range,after the relevant proportional valve is modeled and analyzed,the advancing speed is controlled by closed-loop control of pressure and flow.First of all,this article describes the application background of this project and the development of hard rock tunneling machines at home and abroad.Next,the structure of the TBM as well as the hydraulic system and the electronic control system were introduced.Based on the analysis of the driving system of the roadheader,the corresponding mathematical model was established and AMESim was modeled for the electro-hydraulic control system.The machine control algorithm focuses on analysis,focusing on the analysis of the advantages and disadvantages of the traditional PID and fuzzy-PID algorithm.Finally,the fuzzy-PID algorithm has a higher control accuracy than the traditional PID algorithm,so the full-surface hard rock roadheader is mainly used.It is a fuzzy-PID control algorithm.Finally,the simulation software MATLAB and simulink were used to verify the results of the joint simulation experiments.The differences of the simulation results presented by the traditional PID and fuzzy-PID in the simulation diagram were obtained,and the superiority of the fuzzy-PID was further verified.At the end of the article,field experiments were performed to verify that the fuzzy-PID control algorithm for the control of the propulsion speed of the hard rock roadheader had a great advantage over the pressure or flow control alone.The fluctuation of its speed is small,and the control result is within the expected range.