Design of Synchronous Control System of Segment Erector for Rectangular Shield

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.

Key words:segment erector for rectangular shield; synchronous control system; Controller Area Network(CAN) bus; Proportion Integral Derivative(PID) algorithm