Research on Multi-Motor Synchronization Control Based on the Ring Coupling Strategy for Cutterhead Driving System of Shield Machines

Abstract

With the research object of cutterhead rotation electric drive system, influencing factors of the system synchronous coordination and the multi-motor torque synchronization control strategy is studied. The paper analyzes the dynamics of the cutterhead rotary motors-driving system, discusses the interaction mechanism between motors and gear nonlinear transmission unit, and then the mathematical model of the cutterhead rotary driving system with consideration of gear frequency cycle error and backlash is presented. Based on that, the multi-drive synchronization control based on the ring coupling strategy is given. Simulation results using Matlab platform show the effectiveness of the proposed strategy.

Modeling and Dynamic Analysis of Cutterhead Driving System in Tunnel Boring Machine

“…Based on (11), torque ripple is inevitable and influenced by sampling time, motor speed, flux, and voltage vector which are closely related to computing power of digital controller and switching frequency [17]. Therefore, as the external excitation of gear transmission system, torque ripple of electromagnetic torque may be higher in actual motor driving process and influence the dynamic characteristics of gear transmission system.…”

“…Besides, multimotor synchronization control method of CDS also attracts more and more attentions. Liu et al studied load-sharing characteristic of multiple motors and proposed an adaptable control approach to improve the compliance ability of CDS [10][11][12]. All these researches have made fruitful efforts on design of CDS through dynamic analysis and optimization of multimotor control strategy.…”

Speed tracking and synchronization of multiple motors using ring coupling control and adaptive sliding mode control

“…[14] points out that with the increasing number of motor, the complexity of system control structure is also increasing. For reduction of the control complexity, researchers have proposed some new coupling synchronization control strategies for multiple motors in recent years, such as adjacent cross-coupling control [6] and ring coupling control strategy [15]. Considering an n-motor system, 3n-controller needs to be designed in adjacent cross-coupling control system, but 2n-controller needs to be developed in ring coupling control system [16].…”

A multi-motor synchronous control algorithm for artificial potential field with adjacent attractive force

“…The non-coupling control method comprises master-slave control and electronic virtual line shafting control. The coupling control method comprises the cross coupling synchronous control strategy presented by Koren, relative coupling synchronous structure initiated by Perez [1] and the ring coupling strategy-based multimotor synchronization method initiated by Liu Ran [2].…”