Synchronization Control of Torque Cylinders for Hard Rock Tunnel Boring Machine

摘要

A synchronization control system(SCS) is proposed to reduce synchronization deviation of left and right torque cylinders in vertical steering of hard rock tunnel boring machine(TBM). Hydraulic system based on proportional valves is designed after the introduction of attitude mechanism. Establishing the load model of torque cylinders, this paper carried out simulation comparison between SCS and traditional displacement control system(DCS). The results show that the deviation in SCS is 1.5 mm and 6 mm in DCS. Synchronization control system has a significant effect on reducing displacement deviation of left and right torque cylinders.