CN105863658A - TBM cutter head hybrid drive system based on overall torque master-slave control - Google Patents
TBM cutter head hybrid drive system based on overall torque master-slave control Download PDFInfo
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Abstract
本发明公开了一种基于全局扭矩主从控制的TBM刀盘混合驱动系统。驱动变频电机连接定量泵，补油单向阀组、系统安全阀组、系统冲洗阀组和混合驱动组件相并联连接在定量泵的两个油口之间，变量马达和马达开关阀相并联接在定量泵的两个油口之间，变量马达输出端连接到与传动系统，传动系统分别连接有主驱动变频电机和从驱动变频电机；传动系统与主驱动变频电机之间的扭矩传感器连接到控制器，控制器分别经马达排量增益模块和扭矩增益模块连接到变量马达和驱动变频电机。本发明可同步调整变量马达排量和驱动变频电机的参考扭矩，使得泵驱动变频电机的转速与变量马达的排量互适应，进而协同刀盘的主变频电机使刀盘脱困。The invention discloses a TBM cutterhead hybrid drive system based on global torque master-slave control. The drive frequency conversion motor is connected to the quantitative pump, the fuel supply check valve group, the system safety valve group, the system flushing valve group and the hybrid drive assembly are connected in parallel between the two oil ports of the quantitative pump, and the variable variable motor and the motor switching valve are connected in parallel Between the two oil ports of the quantitative pump, the output end of the variable motor is connected to the transmission system, and the transmission system is respectively connected to the main drive variable frequency motor and the slave drive variable frequency motor; the torque sensor between the transmission system and the main drive variable frequency motor is connected to The controller is connected to the variable motor and drives the variable frequency motor through the motor displacement gain module and the torque gain module respectively. The invention can synchronously adjust the displacement of the variable motor and the reference torque of the drive variable frequency motor, so that the rotation speed of the pump driven variable frequency motor and the displacement of the variable motor are mutually compatible, and then cooperate with the main frequency conversion motor of the cutter head to release the cutter head.
Description
技术领域 technical field
本发明涉及一种TBM刀盘驱动系统，尤其涉及一种基于全局扭矩主从控制的TBM刀盘混合驱动系统。 The invention relates to a TBM cutter head drive system, in particular to a TBM cutter head hybrid drive system based on global torque master-slave control.
背景技术 Background technique
刀盘驱动系统是TBM设备的关键系统之一，承担为刀盘破岩提供扭矩的任务。变频电机工作效率较高，变频电机的变频技术也日益成熟，因而现有的TBM刀盘驱动系统采用的是变频电机驱动。然而，由于地质勘测的不准确性，导致系统设计时所设定的刀盘驱动扭矩不能满足复杂的地质环境的要求。另一方面，变频电机本身功率密度较低，高度集成化的掘进设备的空间又有限，所以仅靠增加变频电机的数量无法提供足够的扭矩，从而导致刀盘时常被困，进而影响工程进度。液压马达因其功率密度高的优点，广泛应用于重型机械设备，但是其工作效率比较低，仅使用液压马达驱动刀盘会造成大量能量损失。 The cutter head drive system is one of the key systems of TBM equipment, which undertakes the task of providing torque for the cutter head to break rock. The frequency conversion motor has high working efficiency, and the frequency conversion technology of the frequency conversion motor is becoming more and more mature. Therefore, the existing TBM cutter head drive system uses the frequency conversion motor drive. However, due to the inaccuracy of geological survey, the drive torque of the cutter head set during system design cannot meet the requirements of complex geological environment. On the other hand, the power density of the frequency conversion motor itself is low, and the space of highly integrated excavation equipment is limited. Therefore, simply increasing the number of frequency conversion motors cannot provide sufficient torque, resulting in the cutter head being often trapped, which in turn affects the progress of the project. Hydraulic motors are widely used in heavy machinery due to their high power density, but their work efficiency is relatively low, and only using hydraulic motors to drive cutterheads will cause a lot of energy loss.
发明内容 Contents of the invention
针对TBM刀盘驱动系统中变频电机提供的扭矩不足导致刀盘被困的问题，本发明的目的在于提供一种基于全局扭矩主从控制的刀盘混合驱动系统，该系统采用变频电机与变频电机+定量泵+变量马达混合驱动的方式，将主电机扭矩信号反馈给控制器，计算处理后乘以马达排量增益来调整变量马达的排量，乘以扭矩增益来调整泵的变频电机的参考扭矩，从而实现驱动变频电机的转速与变量马达排量的互适应，使得系统压力达到相对稳定，进而实现刀盘高效脱困。另外，该驱动系统采用变频电机主从控制的方法控制驱动变频电机，具有高效、可控性强的特点。 In view of the problem that the torque provided by the variable frequency motor in the TBM cutterhead drive system is insufficient and the cutterhead is trapped, the purpose of the present invention is to provide a cutterhead hybrid drive system based on global torque master-slave control, which uses a variable frequency motor and a variable frequency motor +The hybrid driving method of quantitative pump+variable motor, the main motor torque signal is fed back to the controller, after calculation and processing, it is multiplied by the motor displacement gain to adjust the displacement of the variable motor, and multiplied by the torque gain to adjust the reference of the variable frequency motor of the pump Torque, so as to realize the mutual adaptation between the speed of driving the variable frequency motor and the displacement of the variable motor, so that the system pressure can be relatively stable, and then the cutter head can be efficiently released. In addition, the driving system adopts the master-slave control method of the variable frequency motor to control and drive the variable frequency motor, which has the characteristics of high efficiency and strong controllability.
本发明解决其技术问题所采用的技术方案是： The technical solution adopted by the present invention to solve its technical problems is:
本发明包括驱动变频电机、定量泵、油箱、补油单向阀组、补油系统、补油溢流阀、系统安全阀组、系统冲洗阀组和混合驱动组件；驱动变频电机连接定量泵，由两个单向阀背向安装组成的补油单向阀组、由两个反向并联安装的溢流阀组成的系统安全阀组、由冲洗阀和冲洗限压阀组成的系统冲洗阀组的两端油口和混合驱动组件相并联连接在定量泵的两个油口之间；混合驱动组件包括变量马达、马达开关阀、马达排量增益模块、扭矩增益模块和传动系统。 The invention includes driving a variable frequency motor, a quantitative pump, an oil tank, an oil replenishment one-way valve group, an oil replenishment system, an oil replenishment overflow valve, a system safety valve group, a system flushing valve group and a hybrid drive assembly; the drive variable frequency motor is connected to the quantitative pump, The oil charge check valve group is composed of two check valves installed in reverse, the system safety valve group is composed of two anti-parallel relief valves, and the system flushing valve group is composed of flushing valves and flushing pressure limiting valves Both ends of the oil port and the hybrid drive assembly are connected in parallel between the two oil ports of the quantitative pump; the hybrid drive assembly includes a variable motor, a motor switch valve, a motor displacement gain module, a torque gain module and a transmission system.
所述的混合驱动组件中，变量马达和马达开关阀相并联接在定量泵的两个油口之间，变量马达输出端连接到与传动系统，传动系统分别连接有主驱动变 频电机和从驱动变频电机；传动系统与主驱动变频电机之间设有扭矩传感器，扭矩传感器连接到控制器的输入端，控制器的输出端分别经马达排量增益模块和扭矩增益模块连接到变量马达和驱动变频电机。 In the hybrid drive assembly, the variable variable motor and the motor switching valve are connected in parallel between the two oil ports of the quantitative pump, the output end of the variable variable motor is connected to the transmission system, and the transmission system is respectively connected to the main drive variable frequency motor and the slave drive Variable frequency motor; a torque sensor is installed between the transmission system and the main drive variable frequency motor, the torque sensor is connected to the input terminal of the controller, and the output terminal of the controller is respectively connected to the variable motor and the drive variable frequency through the motor displacement gain module and the torque gain module motor.
所述的补油单向阀组中两个单向阀之间的进油口分别与补油系统和补油溢流阀的进口连接，补油溢流阀出口接油箱。 The oil inlet between the two check valves in the oil replenishment one-way valve group is respectively connected with the oil replenishment system and the inlet of the oil replenishment overflow valve, and the outlet of the oil replenishment overflow valve is connected to the oil tank.
所述的系统冲洗阀组中，冲洗阀的中间出油口经冲洗限压阀连接油箱。 In the system flushing valve group, the middle oil outlet of the flushing valve is connected to the oil tank through the flushing pressure limiting valve.
本发明具有的有益效果是： The beneficial effects that the present invention has are:
本发明在刀盘负载扭矩增大超过变频电机驱动能力时，可以结合主电机反馈的扭矩信号，同步调整变量马达排量和驱动变频电机的参考扭矩，从而实现驱动变频电机的转速与变量马达的排量互适应，进而协同刀盘主变频电机使刀盘脱困。 When the load torque of the cutter head increases beyond the driving capacity of the variable frequency motor, the invention can combine the torque signal fed back by the main motor to synchronously adjust the displacement of the variable motor and the reference torque for driving the variable frequency motor, thereby realizing the speed of driving the variable frequency motor and the speed of the variable motor. The displacements are adapted to each other, and then cooperate with the main frequency conversion motor of the cutter head to make the cutter head out of trouble.
附图说明 Description of drawings
图1是本发明刀盘混合驱动系统的原理结构图。 Fig. 1 is a schematic structure diagram of the cutter head hybrid driving system of the present invention.
图中：1、驱动变频电机，2、定量泵，3、补油单向阀组，4、补油溢流阀，5、油箱，6、补油系统，7、系统安全阀组，8、系统冲洗阀组，9、马达开关阀，10、变量马达，11.1、主驱动变频电机，11.2、从驱动变频电机，12、扭矩传感器，13、传动系统，14、控制器，15、马达排量增益模块，16、变频电机的扭矩增益模块。 In the figure: 1. Drive variable frequency motor, 2. Quantitative pump, 3. Oil replenishment one-way valve group, 4. Oil replenishment overflow valve, 5. Fuel tank, 6. Oil replenishment system, 7. System safety valve group, 8. System flushing valve group, 9. Motor switch valve, 10. Variable motor, 11.1. Main drive variable frequency motor, 11.2. Slave drive variable frequency motor, 12. Torque sensor, 13. Transmission system, 14. Controller, 15. Motor displacement Gain module, 16. The torque gain module of the variable frequency motor.
具体实施方式 detailed description
下面结合附图和实施例对本发明进一步说明。 The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
如图1所示，本发明包括驱动变频电机1、定量泵2、油箱5、补油单向阀组3、补油系统6、补油溢流阀4、系统安全阀组7、系统冲洗阀组8、马达开关阀9、变量马达10、主驱动变频电机11.1、从驱动变频电机11.2、扭矩传感器12、传动系统13、控制器14、马达排量增益模块15和扭矩增益模块16。 As shown in Figure 1, the present invention includes driving a variable frequency motor 1, a quantitative pump 2, a fuel tank 5, an oil replenishment check valve group 3, an oil replenishment system 6, an oil replenishment overflow valve 4, a system safety valve group 7, and a system flushing valve Group 8, motor switching valve 9, variable motor 10, main drive variable frequency motor 11.1, slave drive variable frequency motor 11.2, torque sensor 12, transmission system 13, controller 14, motor displacement gain module 15 and torque gain module 16.
如图1所示，定量泵2的A2油口、补油单向阀组3的A3侧出油口、系统安全阀组7的A7侧进油口、系统冲洗阀组8的A8侧进油口、系统冲洗阀组8的A8侧控制油口、马达开关阀9的A9油口和变量马达10的A10油口相连；定量泵2的B2油口、补油单向阀组3的B3侧出油口、系统安全阀7的B7侧进油口、系统冲洗阀8的B8侧进油口、系统冲洗阀8的B8侧控制油口、马达开关阀9的B9油口和变量马达10的B10油口相连。 As shown in Figure 1, the A2 oil port of the quantitative pump 2, the A3 side oil outlet of the oil supply check valve group 3, the A7 side oil inlet of the system safety valve group 7, and the A8 side oil inlet of the system flushing valve group 8 port, A8 side control oil port of system flushing valve group 8, A9 oil port of motor switch valve 9 is connected to A10 oil port of variable motor 10; B2 oil port of quantitative pump 2, B3 side of oil supply check valve group 3 Oil outlet, B7 side oil inlet of system safety valve 7, B8 side oil inlet of system flushing valve 8, B8 side control oil port of system flushing valve 8, B9 oil port of motor switch valve 9 and variable motor 10 The B10 oil port is connected.
如图1所示，补油系统6的出油口、补油单向阀组3的P3进油口和补油溢流阀4的进油口相连；补油溢流阀4的出油口与油箱5相连，系统冲洗阀组8的T8出油口与油箱5相连。 As shown in Figure 1, the oil outlet of the oil replenishment system 6, the P3 oil inlet of the oil replenishment check valve group 3, and the oil inlet of the oil replenishment relief valve 4 are connected; the oil outlet of the oil replenishment relief valve 4 It is connected with the fuel tank 5, and the T8 oil outlet of the system flushing valve group 8 is connected with the fuel tank 5.
如图1所示，主驱动变频电机11.1与扭矩传感器12的进口相连，扭矩传感器12的出口与传动系统13的进口相连，从驱动变频电机11.2与传动系统13的进口相连；变量马达10的输出端与传动系统13的进口相连；扭矩传感器12的输出信号与控制器14的进口端相连，控制器14的出口端、马达排量增益模块15的进口端和变频电机扭矩模块16的进口端相连，马达排量增益模块15的出口端和变量马达10的控制端口相连，变频电机扭矩模块16的出口端和驱动变频电机1的控制端口相连。 As shown in Figure 1, the main drive variable frequency motor 11.1 is connected to the entrance of the torque sensor 12, the outlet of the torque sensor 12 is connected to the entrance of the transmission system 13, and the slave drive variable frequency motor 11.2 is connected to the entrance of the transmission system 13; the output of the variable motor 10 end is connected with the inlet of the transmission system 13; the output signal of the torque sensor 12 is connected with the inlet of the controller 14, and the outlet of the controller 14, the inlet of the motor displacement gain module 15 is connected with the inlet of the variable frequency motor torque module 16 , the output end of the motor displacement gain module 15 is connected to the control port of the variable frequency motor 10 , and the output end of the variable frequency motor torque module 16 is connected to the control port for driving the variable frequency motor 1 .
本发明的工作过程及其原理如下： Working process of the present invention and principle thereof are as follows:
TBM刀盘混合驱动包括两种工况：正常工况和脱困工况。 TBM cutter head hybrid drive includes two working conditions: normal working condition and escape working condition.
正常工况下，主驱动变频电机11.1和从驱动变频电机11.2提供的扭矩能满足传动系统13所需要的扭矩，驱动变频电机1不工作，变量马达开关阀9失电连通，变量马达10的排量调至最小，变量马达10空转，以变量马达10正转(B10油口出高压油，A10油口进低压油)为例，冲洗阀组8的B侧的控制油口压力高于A侧的控制油口压力，冲洗阀组8中的换向阀下位工作，变量马达10的B10油口流出的高压油从变量马达开关阀9的B9油口流入，由马达开关阀9的A9油口流出；补油系统6提供的油液部分通过补油溢流阀4流入油箱5，剩余的油液从补油单向阀组3的A3出油口流出，从A3出油口流出的油液部分从冲洗阀组8的A8油口进入，由冲洗阀组8的T8油口流回油箱5，其余的油液与变量马达开关阀9的A9油口流出的高压油汇合，共同流入变量马达10的A10油口。 Under normal working conditions, the torque provided by the main drive variable frequency motor 11.1 and the slave drive variable frequency motor 11.2 can meet the torque required by the transmission system 13, the drive variable frequency motor 1 does not work, the variable motor switch valve 9 is de-energized and connected, and the discharge of the variable motor 10 The volume is adjusted to the minimum, and the variable motor 10 is idling. Taking the variable motor 10 in forward rotation (high pressure oil is output from B10 oil port, and low pressure oil is input from A10 oil port) as an example, the pressure of the control oil port on the B side of the flushing valve group 8 is higher than that on the A side The pressure of the control oil port, the reversing valve in the flushing valve group 8 works at the lower position, the high-pressure oil flowing out of the B10 oil port of the variable motor 10 flows in from the B9 oil port of the variable motor switch valve 9, and the A9 oil port of the motor switch valve 9 outflow; part of the oil provided by the oil replenishment system 6 flows into the oil tank 5 through the oil replenishment overflow valve 4, and the remaining oil flows out from the A3 oil outlet of the oil replenishment check valve group 3, and the oil flowing out from the A3 oil outlet Part of it enters from the A8 oil port of the flushing valve group 8, and flows back to the oil tank 5 through the T8 oil port of the flushing valve group 8, and the rest of the oil merges with the high-pressure oil flowing out of the A9 oil port of the variable motor switching valve 9, and flows into the variable motor together. 10 A10 oil port.
脱困工况下，主驱动变频电机11.1和从驱动变频电机11.2提供的扭矩不满足传动系统13所需要的扭矩，驱动变频电机1启动，马达开关阀9得电不连通，以驱动变频电机1正转为例，定量泵2的A2油口进油，B2油口出高压油，冲洗阀组8的B侧的控制油口压力高于A侧的控制油口压力，冲洗阀组8中的换向阀下位工作，补油系统6提供的油液部分通过补油溢流阀4流入油箱5，剩余的油液从补油单向阀组3的A3出油口流出；由B2油口流出的高压油经变量马达10的B10油口进入，A10油口流出，从A10油口流出的回油部分从冲洗阀组8的A8油口进入，由冲洗阀组8的T8油口流回油箱5，剩余的回油与补油阀组3的A3出油口的油液汇合，共同流入定量泵2的A2油口；扭矩传感器12将扭矩信号传给控制器14的输入端，信号经过控制器14计算处理后，由控制器14输出端输出，处理后的信号经过马达排量增益模块15传给变量马达10的控制端口，调节变量马达10的排量；处理后的信号同时经过扭矩增益模块16传给功率更大的驱动变频电机1的控制端口，作为驱动变频电机1的参考扭矩。当 刀盘开始脱困时，设定驱动变频电机1的参考扭矩为主电机扭矩*马达数量/液压系统效率，设定马达排量使得系统压力在中高压力附近，并使得变量马达10的输出扭矩与电机扭矩基本一致；当仍不能脱困时，增大变量马达10的排量的同时增大驱动变频电机1的参考扭矩，驱动变频电机1为达到参考扭矩将自动达到需要的转速，为变量马达10提供足够的工作流量和压力，通过对变量马达10的排量和驱动变频电机1的参考扭矩的同步协调，可实现系统工作压力的基本一致。 Under the condition of getting out of trouble, the torque provided by the main drive variable frequency motor 11.1 and the slave drive variable frequency motor 11.2 does not meet the torque required by the transmission system 13, the driving variable frequency motor 1 is started, and the motor switch valve 9 is energized and disconnected to drive the variable frequency motor 1 forward. Take the example as an example, the A2 oil port of quantitative pump 2 enters the oil, and the B2 oil port outputs high-pressure oil. The valve works at the lower position, the oil supplied by the oil supply system 6 flows into the oil tank 5 through the oil supply overflow valve 4, and the remaining oil flows out from the A3 oil outlet of the oil supply check valve group 3; the oil flow out from the B2 oil port The high-pressure oil enters through the B10 oil port of the variable variable motor 10, and flows out of the A10 oil port. The return oil part flowing out of the A10 oil port enters through the A8 oil port of the flushing valve group 8, and flows back to the oil tank 5 through the T8 oil port of the flushing valve group 8. , the remaining return oil merges with the oil at the A3 oil outlet of the replenishment valve group 3, and flows into the A2 oil port of the quantitative pump 2 together; the torque sensor 12 transmits the torque signal to the input end of the controller 14, and the signal passes through the controller 14 After calculation and processing, it is output by the output terminal of the controller 14, and the processed signal is transmitted to the control port of the variable motor 10 through the motor displacement gain module 15 to adjust the displacement of the variable motor 10; the processed signal passes through the torque gain module at the same time 16 is transmitted to the control port for driving the variable frequency motor 1 with higher power, as the reference torque for driving the variable frequency motor 1 . When the cutter head starts to get out of trouble, set the reference torque for driving the variable frequency motor 1 as the main motor torque * number of motors/hydraulic system efficiency, set the motor displacement so that the system pressure is near the medium-high pressure, and make the output torque of the variable motor 10 equal to that of the hydraulic system The motor torque is basically the same; when still unable to get out of trouble, increase the displacement of the variable motor 10 while increasing the reference torque for driving the variable frequency motor 1, and drive the variable frequency motor 1 to automatically reach the required speed for reaching the reference torque, which is the variable motor 10 Sufficient working flow and pressure are provided, and by synchronously coordinating the displacement of the variable motor 10 and the reference torque driving the variable frequency motor 1, the basic consistency of the working pressure of the system can be achieved.
本发明能实现驱动变频电机的转速与变量马达的排量互适应，协同刀盘主变频电机使刀盘脱困，相比现有驱动系统，本发明系统压力更稳定，具有高效、可控性强的特点和突出技术效果。 The invention can realize mutual adaption between the rotating speed of the driving variable frequency motor and the displacement of the variable motor, and cooperates with the main frequency conversion motor of the cutter head to make the cutter head out of trouble. Compared with the existing drive system, the system pressure of the present invention is more stable, with high efficiency and strong controllability characteristics and outstanding technical effects.
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