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非完整掘进系统位姿控制模型

发表时间:2010-02-28  浏览量:1559  下载量:663
全部作者: 杨霞,邵诚
作者单位: 大连理工大学电子与信息工程学院,辽宁省工业装备先进控制系统重点实验室
摘 要: 研究盾构机位姿控制建模系统中的关键技术。通过对盾构施工技术的研究,明确建模工作的主要任务。研究盾构机推进系统,确定了盾构机推进的非完整性和欠驱动特性,并且分析了盾构机位姿变化的主要影响因素,建立了盾构机在掘进过程中的动态载荷模型,在其基础上还建立了盾构机掘进过程中的动力学和运动学方程,并进行了相应的仿真分析(包括土壤扰动对盾构位姿影响及其比较的仿真分析)。该模型的建立对于实现盾构机位姿的自动控制有一定的参考价值。
关 键 词: 机械电子;盾构机;非完整;运动学;动力学;位姿控制
Title: Behavior control model of nonholonomic tunneling systems
Author: YANG Xia, SHAO Cheng
Organization: Liaoning Key Laboratory of Advanced Control Systems for Industry Equipments, School of Electronic and Information Engineering
Abstract: This paper researched some of the main technology about the behavior control modeling system of the shield machine. The main task of modeling was researched after the actuality of tunnel excavation was discussed. In this paper, shield propulsion systems were studied, and its underactuated and nonholonomic features were proved at first. Second, the influencing factors of shield behavior were provided by the numbers, the load model acting on shield and kinematics and dynamics equations were established respectively, and then the corresponding simulation analysis (including the impact of pedoturbation on shield position and posture and the simulation analysis of its comparison) was carried out.The model can provide reference for the improving of automatic control of shield behavior.
Key words: mechatronics; shield machine; nonholonomic; kinematics; dynamics; behavior control
发表期数: 2010年2月第4期
引用格式: 杨霞,邵诚. 非完整掘进系统位姿控制模型[J]. 中国科技论文在线精品论文,2010,3(4):344-349.
 
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