矩形盾构管片拼装机同步控制系统的设计

Design of Synchronous Control System of Segment Erector for Rectangular Shield

摘要:

针对矩形盾构管片拼装机拼装拱顶块和拱底块时需要同步控制两台机械手的问题，设计了基于CAN（Controller Area Network）总线的同步控制系统并采用同步PID（Proportion Integral Derivative）算法实现对同步误差的控制.对同步控制系统的工作原理以及系统的网络架构做了分析.建立了矩形盾构管片拼装机两台机械手沿径向的立柱同步升降和沿轴向的同步拼装头移动同步控制系统的仿真模型，并对这两个动作的同步PID控制性能进行仿真分析.通过矩形盾构管片同步立柱升降和同步拼装头移动的实验对同步控制性能进行验证，结果表明，同步PID算法可减小同步误差并将立柱升降同步误差控制在±3 mm之间，拼装头移动同步误差控制在不超过±1 mm，显示了同步PID控制在矩形盾构管片拼装过程中的有效性与可实现性.

Abstract:

The synchronous control system based on CAN (Controller Area Network) bus was designed and the synchronous PID (Proportion Integral Derivative) algorithm was proposed to control the synchronization error in synchronous assembly for rectangular shield segment erector when it constructed the top block and the bottom block. The working principle of the synchronous control system was described as well as system’s network structure. The model of the synchronous control system was established to simulate synchronous lifting and lowering of the block in the vertical direction and its synchronous moving in the axial direction. Then the PID control performances of these two actions were analyzed by simulation and verified by the synchronization assembly experiments. Experimental results show that PIDcontrolled synchronization error is lowered. The synchronization error of synchronous lifting and lowering is between ±3 mm and the synchronization error of the axial move is no more than ±1 mm, which shows the effectiveness and achievability of synchronous PID control in the rectangular shield segment assembly process.