Research on Multi-motor Synchronization Control for Cutter Head of Shield Machine Based on the Ring Coupled Control Strategy

摘要

Multi-motor synchronization control for cutter head of shield machine is studied in this paper. Firstly, a ring coupled control strategy for multi-motor synchronization control based on the idea of parallel control with compensation is proposed, and sliding mode variable structure control algorithm is used in the design of the controllers to ensure high robustness of the control system. Furthermore, synchronization control of a four-motor driving system with the proposed control strategy is simulated with MATLAB, and its effectiveness is verified by comparing its control performance with that of the traditional master-slave strategy. Finally, the ring coupled control strategy is applied to the cutter head driving of a prototype shield machine. The simulation results show that the proposed ring coupled control strategy has good dynamic performance and synchronization performance.