Dynamic characteristics of the over-actuated cutterhead driving system in tunnel machine

Abstract

The cutterhead driving system of tunnel machine is over-actuated by redundant driving chains with inevitable load and parameter deviations. These deviations were rarely considered, and the researches on multi-motors synchronization and gear dynamics were usually isolated. In this paper, a novel electromechanical coupled model of the whole cutterhead driving system is established by connecting the vector-controlled motors via gear meshing system. Force transmissions between all coupled elements are investigated by analyzing rotational and translational dynamics, and the time-varying meshing stiffness and nonlinear backlash of both parallel pinions driving and multi-stage planetary reducer are considered. The phase and frequency features of meshing dynamics are also investigated. Comparative simulations are carried out with load and parameter deviations between multi-chains under two control structures, speed parallel control and torque master-slave control; some practical control principles are also concluded. The simulation results are verified and applied on a Φ2.5-m test rig. The consistent results indicate that, the meshing dynamics have the frequency components of carrier revolution and the meshing frequencies of both current planet and endmost pinion. Torque master-slave control could realize torque synchronization against all the adverse deviations while speed parallel control fails, and the vibration could be significantly reduced with lower rigidity in speed control.

Keywords

Gear dynamics multi-points gear meshing synchronization tunnel machine vibration

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