Research on Multi-Motor Synchronization Control Based on the Ring Coupling Strategy for Cutterhead Driving System of Shield Machines
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.
R. Liu et al., "Research on Multi-Motor Synchronization Control Based on the Ring Coupling Strategy for Cutterhead Driving System of Shield Machines", Applied Mechanics and Materials, Vols. 52-54, pp. 65-72, 2011