基于PSO-PID的盾构机纠偏控制研究

Study on Deviation Correction Control of Shield Machine based on PSO-PID

摘要:

针对盾构机在掘进过程中容易受到复杂地质条件以及负载多变的影响,从而导致前进方向发生偏离,难以控制的情况。提出一种基于粒子群算法(Particle Swarm Optimization)优化PID控制器参数的纠偏控制策略。首先,研究盾构机液压推进系统机理,建立液压缸推力、盾构机所受阻力、阻力矩、液压缸位移之间的关系模型,得到盾构机液压推进系统模型,然后结合PSO和PID控制理论,设计了以液压推进系统的纠偏控制器。仿真结果显示,所设计的PSO-PID控制器能够满足纠偏控制的需要,具有更小的超调性能,可以实现纠偏控制的快速响应。

Abstract:

In the process of shield tunneling, it is easy to be affected by complex geological conditions and variable loads, which leads to the deviation of the direction of advance and is difficult to control. In this study, a kind of control strategy based on particle swarm optimization to optimize PID controller parameters is proposed. Firstly, the mechanism of the hydraulic propulsion system of the shield machine is studied, the relationship model between the hydraulic cylinder thrust, the resistance, the resistance moment and the displacement of the hydraulic cylinder is established, and the model of the hydraulic propulsion system of the shield machine is obtained. Then, combining with the PSO and PID control theory, the deviation correction controller of the hydraulic propulsion system is designed. The simulation results show that the designed PSO-PID controller can meet the needs of the rectification control, has smaller overshoot performance, and can realize the quick response of the rectification control.