JP3928212B2 - Double circular shield machine and control method thereof - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a double circular shield machine and a control method thereof .
[0002]
[Prior art]
Conventionally, a plurality of rotary cutters are arranged on substantially the same plane so that the distance between the center of the cutters is larger than the excavation radius of each rotary cutter and smaller than the excavation diameter, that is, the excavation locus wraps. A double-circular shield machine having a driving device for independently driving the two is known. In such a double circular shield machine, it is necessary to rotate the rotating cutters synchronously without causing interference.
[0003]
As a conventional technique for synchronously controlling a cutter of a double circular shield machine, there is one disclosed in, for example, Japanese Patent Laid-Open No. 1-315589 (hereinafter referred to as a first conventional example). The first conventional example is a first speed that adjusts supply power so that a difference between a given speed setting value and a speed detection value becomes zero with respect to a parent motor of a motor group that drives a main rotary cutter. A control means is provided, and the difference between the given speed setting value and the detected speed value and the detected angle of deviation of the main rotating cutter and the following rotating cutter are compared with the parent motor in the motor group that drives the following rotating cutter. Second speed control means for adjusting the power supply so as to be both zero is provided, and the main rotation cutter and the subordinate rotation cutter are synchronously controlled by each speed control means.
[0004]
Another conventional technique for synchronously controlling the cutter of a double circular shield machine is disclosed in Japanese Patent Application Laid-Open No. 3-76996 (hereinafter referred to as a second conventional example). In the second conventional example, the control method of the speed control means of the main rotary cutter and the speed control means of the subordinate rotary cutter is the same as that of the first conventional example, but the subordinate rotary cutter includes In addition to providing a switch that can select which of the speed control means of each rotary cutter to input the speed correction signal based on the deviation angle between the rotary cutters, and according to the designation of the master-slave relationship of each rotary cutter to be synchronized, Command processing means for selectively turning on only one of the switches is provided so that the master-slave relationship of the rotary cutters operated in synchronization can be switched.
[0005]
[Problems to be solved by the invention]
As described above, the conventional synchronous control apparatus for a double circular shield machine has a deviation between the rotary cutters because the rotational speed fluctuates due to the fluctuation of the load of the rotary cutter in both the first and second conventional examples. When an angle is generated, the deviation angle signal is fed back to the subordinate rotary cutter speed controller to perform synchronous control of the subordinate rotary cutter rotational speed.
[0006]
The cutter load of the shield machine is greatly affected by the nature of the ground to be excavated. For this reason, the load may differ greatly between the rotary cutters.
[0007]
When the load of the main rotary cutter is large, the synchronized state can be maintained by reducing the speed of the secondary rotary cutter according to the deviation angle between the rotary cutters due to the decrease in the speed. However, if the load on the main rotary cutter is small and the load on the secondary rotary cutter is large, the main rotary cutter rotates according to the given speed setting value. Depending on the deviation angle, speed feedback must be performed so as to increase the speed of the subordinate rotating cutter. However, if the load of the subordinate rotating cutter is large, it becomes difficult to increase the speed, and the speed of the main rotating cutter Will not be able to follow, and will deviate from the synchronization state.
[0008]
In the above-described second conventional example, the above-described second conventional example is provided with the switching means for the master-slave relationship of the rotary cutter so that the rotary cutter with the larger load is the main rotary cutter, and the rotary cutter with the relatively smaller load is used. As a subordinate rotating cutter, the synchronization state is maintained. However, in order to switch the master-slave relationship in this way, it is necessary to detect the load of each rotary cutter, compare the magnitude of the load, determine which cutter is to be used, and then switch the master-slave relationship It becomes. Therefore, for sudden load fluctuations, the master-slave relationship cannot be immediately switched due to a delay in judgment and operation, and it is easy for the rotating cutters to interfere with each other because they deviate from the synchronized state. is expected.
[0009]
In addition, the load of each rotary cutter is different to some extent, but is always different. In order to avoid the deviation of the synchronization state, it is conceivable that the frequency of the switching operation of the master-slave relationship increases. Furthermore, since the switching operation of the master-slave relationship is generally performed after the rotary cutter is temporarily stopped, the excavation work is temporarily interrupted by stopping the rotary cutter for the switching operation, leading to a delay in the excavation work.
[0010]
The technical problem of the present invention is to prevent the interference between the rotary cutters without setting the master-slave relationship regardless of the fluctuation of the load, and to ensure synchronous control.
[0011]
[Means for Solving the Problems]
In the multi-circular shield machine according to claim 1 of the present invention, the plurality of rotating cutters are arranged in substantially the same plane so that the distance between the cutter centers is larger than the digging radius of each rotating cutter and smaller than the digging diameter, A multi-circular shield machine equipped with a plurality of drive control devices that independently drive each rotary cutter based on a speed command signal and an auxiliary speed command signal from a speed setter, and an angular deviation between adjacent rotary cutters is calculated. Detect and reduce the speed of the one rotary cutter to the drive control device of the one rotary cutter when one of the adjacent rotary cutters is moving forward with respect to the other rotary cutter As an auxiliary speed command signal, and when one of the adjacent rotary cutters is delayed with respect to the other rotary cutter during reverse rotation, the one rotary cutter As an auxiliary speed command signal for increasing the speed of the motor, polarity reversal and deviation angle detecting means for output the one polarity angular deviation signal to the drive control device of the one rotating cutter, the output signal of the deviation angle detecting means A signal having a polarity different from that of the angular deviation signal is used as an auxiliary speed command signal for increasing the speed of the other rotary cutter during the forward rotation, and for reducing the speed of the other rotary cutter during the reverse rotation. as an auxiliary speed command signal is obtained by a reverse converter for output the said one polarity angular deviation signal is polarity inversion signal to the drive control device of the other rotary cutters.
In the double circular shield machine according to claim 2 of the present invention, the plurality of rotary cutters are arranged in substantially the same plane so that the distance between the cutter centers is larger than the excavation radius of each rotary cutter and smaller than the excavation diameter, A multi-circular shield machine equipped with a plurality of drive control devices that independently drive each rotary cutter based on a speed command signal and an auxiliary speed command signal from a speed setter, and an angular deviation between adjacent rotary cutters is calculated. A deviation angle detection means for outputting a unipolar angle deviation signal when one of the adjacent rotary cutters is moving forward or backward relative to the other rotary cutter. Then, adjust the magnitude of the unipolar angle deviation signal output from the deviation angle detection means to the magnitude to be corrected, and send it as an auxiliary speed command signal to the drive control device of the one rotary cutter. Reverse conversion that reverses the polarity of the output signal of the correction rate adjuster, and outputs a signal having a polarity different from the angle deviation signal to the drive controller of the other rotary cutter as an auxiliary speed command signal It is equipped with a vessel.
According to a third aspect of the present invention, there is provided a control method for a multi-circular shield machine, wherein a plurality of rotary cutters are arranged in substantially the same plane so that the distance between the cutter centers is larger than the excavation radius of each rotary cutter and smaller than the excavation diameter. A method for controlling a double circular shield machine, in which each rotary cutter is driven independently based on a speed command and an auxiliary speed command from a speed setter, and the angle between adjacent rotary cutters. When a deviation is detected and one of the adjacent rotary cutters is moving forward or backward with respect to the other rotary cutter, a unipolar angular deviation signal is sent to the one rotary cutter. Output as an auxiliary speed command signal to the drive control device, and at the same time, a signal having a polarity different from the angle deviation signal is sent to the drive control device of the other rotary cutter as an auxiliary speed command signal. By outputting Te, it is characterized by causing willing simultaneously decreasing the speed of the rotating cutter towards and, increasing the speed of the rotating cutter who delayed.
In the present invention, the speed of the forward rotating cutter detected by the deviation angle detecting means is decreased, and at the same time, the speed of the delayed rotating cutter is increased. Master-detail relationship disappears. For this reason, when a deviation angle occurs, control is performed such that the speeds of the rotating cutters are both changed based on the deviation angle. Therefore, even if the load on one of the rotating cutters increases and the speed decreases, the speed of the other rotating cutter is immediately adjusted to the speed of the one rotating cutter without setting the master-slave relationship. It can be controlled and a stable synchronized state can be maintained.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment in which the present invention is applied to a two-round shield machine will be described. Figure 1 is a system configuration diagram of a second round shield machine according to the present embodiment, FIG. 2 is a longitudinal sectional view showing one of the rotating cutter of the two circular shield machine, FIG. 3 of the second round shield machine It is a front view.
[0013]
As shown in FIGS. 2 and 3, the two-round shield machine 1 according to the present embodiment has a skin plate in which two rotary cutters 3A and 3B are arranged on the same plane so that their excavation trajectories wrap in front. The drive device 4 (only one is shown in FIG. 2) which drives each rotary cutter 3A, 3B independently is accommodated in 2 inside. In FIG. 3, θ represents an allowable deviation angle from the synchronous neutral state of the rotary cutter, and the minimum value of θ obtained at each rotational position during each rotation of the rotary cutters 3A and 3B is defined as an allowable deviation angle. To do. Each of the rotary cutters 3A and 3B is synchronously rotated below this allowable deviation angle.
[0014]
A chamber 5 for taking in excavated earth and sand is formed at the rear part of the rotary cutter, and a bulkhead 7 is provided between the chamber 5 and a shield machine internal space 6 behind the chamber 5 and attached to the bulkhead 7. Further, the excavated earth and sand are carried out behind the shield machine by the screw conveyor 8.
[0015]
At the rear side of the shield machine, the segment 11 is assembled by the erector 9, the shield jack 12 is extended, and the reaction force is applied to the segment 11, thereby obtaining the propulsive force of the shield machine 1.
[0016]
The entire system of the apparatus according to the present embodiment has a configuration as shown in FIG. That is, the gear 13A for rotating the shaft of the rotary cutter 3A (hereinafter referred to as A-axis) is driven by the pinions 16A and 16B attached to the electric motors 14A and 14B via the speed reducers 15A and 15B. It has become. Similarly, the gear 13B for rotating the shaft (hereinafter referred to as the B-axis) of the rotary cutter 3B is also driven by pinions 16C and 16D attached to the electric motors 14C and 14D via the speed reducers 15C and 15D. It has become.
[0017]
Next, a case where the vector inverter control having excellent dynamic control characteristics is used for controlling each electric motor will be described with reference to FIG. 2 and FIG. .
[0018]
That is, one of the motor groups 14A to 14D for driving the rotary cutters 3A and 3B is set as a parent motor. Here, the electric motor 14A is an A-axis parent motor, and the electric motor 14C is a B-axis parent motor. The remaining electric motors 14B and 14D are child motors subordinate to the parent motors 14A and 14C, respectively. The control device includes inverter units 17A and 17C that perform speed control of the parent motors 14A and 14C, and inverter units 17B and 17D that perform torque control of the child motors 14B and 14D.
[0019]
The same speed command is given from the speed setter 18 to the inverter units 17A and 17C. The inverter unit 17A takes the deviation between the speed command signal from the speed setter 18 and the speed detection signal of the speed generator (PG) 19A connected to the parent motor 14A, performs speed control of the parent motor 14A, and inputs The rotation direction is discriminated based on the polarity of the speed command signal, and the parent motor 14A is rotated forward and backward. Similarly, the inverter unit 17C takes the deviation between the speed command signal from the speed setter 18 and the speed detection signal of the speed generator (PG) 19C connected to the parent motor 14C, and controls the speed of the parent motor 14C. The rotation direction is discriminated based on the polarity of the input speed command signal, and the parent motor 14C is rotated forward and backward. The determination of the rotational direction based on the polarity of the speed command signal can be made based on whether the speed command signal from the speed setter 18 is a + speed command or a −speed command. That is, in the case of this system, even if the same speed command is input from the speed setter 18, the electric motors 14A and 14B on the rotary cutter 3A side and the electric motors 14C and 14D on the rotary cutter 3B side rotate in reverse to each other. Therefore, the rotation direction can be determined by the polarity as described above. In addition, the electric motors 14A and 14B on the rotary cutter 3A side and the electric motors 14C and 14C on the rotary cutter 3B side can also be obtained by, for example, combinations of gears in the reduction gears of one drive system of the rotary cutters 3A and 3B. 14D can be set so as to rotate reversely to each other. In this case, all the electric motors 14A to 14D may be driven in the same rotation direction.
[0020]
Torque detection values are output from the inverter units 17A and 17C, the torque detection values from the inverter unit 17A are input to the inverter unit 17B, and the torque detection values from the inverter unit 17C are input to the inverter unit 17D as torque command values, respectively. It is like that. The inverter units 17B and 17D have the same configuration as the inverter units 17A and 17C, except that a torque command value is input.
[0021]
The deviation angle is detected by a known deviation angle detection means 24 comprising a synchro transmitter 21, a synchro control transformer 22 and a signal converter 23. That is, the deviation angle detection means 24 connects the synchro transmitter 21 to the A axis and the synchro control transformer 22 to the B axis, and connects the synchro transmitter 21 and the synchro control transformer 22 to each other. A signal corresponding to is obtained.
[0022]
The deviation angle signal obtained by the deviation angle detection means 24 is in a state where the A-axis is advanced with respect to the B-axis during forward rotation (or the A-axis is delayed with respect to the B-axis during reverse rotation) compared with the synchronous neutral position. The zero point is set so that it becomes + polarity in the forward rotation) and -polarity in the state where the A-axis is delayed with respect to the B-axis during forward rotation (or the state where the A-axis is advanced relative to the B-axis during reverse rotation) It has been done.
[0023]
The present invention is characterized in that auxiliary speed commands having different polarities are simultaneously input to the inverter units 17A and 17C by the deviation angle signal output from the deviation angle detecting means 24. That is, first, the deviation angle detection signal is adjusted by the correction factor adjuster 25 to the magnitude of the signal to be corrected, and then the polarity of the output signal from the correction factor adjuster 25 is inverted by the inverse converter 26 and then the inverter. Input as an auxiliary speed command to the unit 17A. At the same time, it receives the output signal from the correction factor adjuster 25 as an auxiliary speed command to Lee down inverter unit 17C. For this reason, for example, when the A-axis is moving forward with respect to the B-axis during forward rotation, the deviation angle detection signal has a positive polarity, and a negative polarity auxiliary speed command is sent to the inverter unit 17A and a positive polarity to the inverter unit 17C. Will be entered. Therefore, the speed is controlled so that the A-axis decreases the speed and the B-axis increases the speed. Thus, when the deviation angle becomes small, the magnitude of the auxiliary speed command signal also becomes small. When the deviation angle finally becomes zero, the auxiliary speed command signal also becomes zero. The units 17A and 17C perform speed control of the electric motors 14A and 14C only by the speed command value of the speed setter 18.
[0024]
【The invention's effect】
As described above, according to the present invention, the speed of the rotating cutter detected by the deviation angle detection signal is decreased, and at the same time, the speed of the delayed rotating cutter is increased. Therefore, there is no master-slave relationship between the rotating cutters. For this reason, when a deviation angle occurs, control is performed such that the speeds of the rotating cutters are both changed based on the deviation angle. Therefore, even if the load on one of the rotating cutters increases and the speed decreases, the speed of the other rotating cutter is immediately adjusted to the speed of the one rotating cutter without setting the master-slave relationship. It can be controlled and a stable synchronized state can be maintained.
[Brief description of the drawings]
1 is a system configuration diagram of a double circular shield machine according to an exemplary embodiment.
FIG. 2 is a longitudinal sectional view showing one rotating cutter of the double circular shield machine according to the present embodiment.
FIG. 3 is a front view of the double circular shield machine according to the present embodiment.
[Explanation of symbols]
1 Double circle shield machine 3A, 3B Rotating cutter 17A, 17B, 17C, 17D Inverter unit (drive control device)
18 Speed setter 24 Deviation angle detection means 26 Inverse converter

Claims (3)

Multiple rotary cutters are arranged on the same plane so that the distance between the cutter centers is larger than the drilling radius of each rotary cutter and smaller than the drilling diameter, and each rotary cutter has a speed command signal from the speed setter and auxiliary speed. A multi-circular shield machine equipped with a plurality of drive control devices that are independently driven based on a command signal,
An angular deviation between adjacent rotating cutters is detected, and when one of the adjacent rotating cutters is moving forward with respect to the other rotating cutter, the drive control device for the one rotating cutter is As an auxiliary speed command signal for reducing the speed of one rotary cutter, and when one of the adjacent rotary cutters is behind the other rotary cutter during reverse rotation, the speed of the one rotary cutter is as an auxiliary speed command signal for increasing and a deviation angle detecting means for output the one polarity angular deviation signal to the drive control device of the one rotating cutter,
The polarity of the output signal of the deviation angle detection means is reversed, and a signal having a polarity different from that of the angle deviation signal is used as an auxiliary speed command signal for increasing the speed of the other rotary cutter during the forward rotation. as an auxiliary speed command signal for reducing the speed of the other rotary cutters, and an inverse converter for output the said one polarity angular deviation signal is polarity inversion signal to the drive control device of the other rotary cutters A double circular shield machine. Multiple rotary cutters are arranged on the same plane so that the distance between the cutter centers is larger than the drilling radius of each rotary cutter and smaller than the drilling diameter, and each rotary cutter has a speed command signal from the speed setter and auxiliary speed. A multi-circular shield machine equipped with a plurality of drive control devices that are independently driven based on a command signal,
An angular deviation between adjacent rotating cutters is detected, and when one of the adjacent rotating cutters is moving forward or backward with respect to the other rotating cutter, it is a unipolar angular deviation. Deviation angle detection means for outputting a signal;
A correction rate adjuster that adjusts the magnitude of the unipolar angle deviation signal output from the deviation angle detection means to a magnitude that is desired to be corrected, and that outputs the auxiliary speed command signal to the drive control device of the one rotary cutter;
An inverter that reverses the polarity of the output signal of the correction factor adjuster and outputs a signal having a polarity different from that of the angle deviation signal to the drive controller of the other rotary cutter as an auxiliary speed command signal. A double circular shield machine. Multiple rotary cutters are arranged on the same plane so that the distance between the cutter centers is larger than the excavation radius of each rotary cutter and smaller than the excavation diameter, and each rotary cutter has a speed command and an auxiliary speed command from the speed setter. A control method of a double circular shield machine that independently drives a plurality of drive control devices based on
An angular deviation between adjacent rotating cutters is detected, and when one of the adjacent rotating cutters is moving forward or backward with respect to the other rotating cutter, it is a unipolar angular deviation. By outputting a signal as an auxiliary speed command signal to the drive control device of the one rotary cutter, and simultaneously outputting a signal having a polarity different from the angle deviation signal to the drive control device of the other rotary cutter as an auxiliary speed command signal. A control method for a double-circular shield machine, characterized in that the speed of the rotating cutter that is moving forward is decreased and the speed of the rotating cutter that is delayed is increased simultaneously.

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