Research And Design Of Hydraulic Servo System For TBM Cutter Changing Robot

At present,when the cutters of TBM cutting wheel are worn out,cutter detection and replacement need workers to enter the TBM excavation chamber.But there are many problems for manual cutter changing,such as poor working environment,low efficiency of cutter changing.The main purpose of this research is to establish a set of hydraulic servo system of TBM cutter changing robot,which can control cutter changing robot,and replace the workers to complete the replacement of the specific cutter on the TBM cutting wheel.This paper focuses on the research of the hydraulic servo system of the TBM cutter changing robot.The main research contents of this dissertation include:Firstly,TBM and traditional cutter changing operation mode are summarized,then studied the research situation of TBM cutter changing robot at domestic and oversea.Combined with the design requirements of the hydraulic servo system,the relevant literature is reviewed,which is the theoretical basis for the next stage of research.Then,the combination of the cutter changing robot and TBM in space and function is analyzed.The cutter changing robot components and the actuators contained in each components are detailed analyzed.The working condition of the cutter changing robot is classified according to the different cutter positions.In order to achieve precise control of the hydraulic system,the mathematical models of the cutter changing robot electro-hydraulic position servo system are established.It is mainly divided into two parts:the telescopic rotary module double hydraulic cylinder synchronous control system and the digital valve controlled double spiral swing cylinder position control system.After mathematical modeling,in this paper,mathematical models are simulated by Matlab/Simulink.The PID controller and fuzzy adaptive PID controller are applied to correct the model.Finally,the modular assembly of cutter changing robot and cutter changing processes are researched,all the limit switches needed in the operation of the cutter changing robot are summarized.It lays the foundation for the next step of electronic control system and software system design.