Electromechanical coupling model for cutterhead driving system of shield machines

Abstract

The synchronization of the cutterhead driving system of shield machines is affected by not only the nonlinearity of mechanical transmission mechanism and the characteristics of driving motors, but also their interaction. In this paper, dynamics of the motor-driving system of the cutterhead is analyzed, and the interaction mechanism between motors and gear transmission unit is studied. Then the mathematical model of the cutterhead driving system with consideration of gear frequency cycle error and backlash, and the parameter difference of driving motors is presented. Simulations show that the proposed model provides a useful guidance for improving the control strategy of the cutterhead driving system. © 2010 Springer-Verlag.