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Novel Dual Parallel-Connected-Pump Hydraulic System and Error Allocation Strategy for Segment Assembly

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Publicado en:Machines vol. 12, no. 12 (2024), p. 913
Autor principal: Jiang, Lijie
Otros Autores: Zheng, Zhe, Zhu, Kaihao, Gong, Guofang, Yang, Huayong, Han, Dong
Publicado:
MDPI AG
Materias:
Assembly
Pumps
Accuracy
Boring machines
Flow velocity
Robot arms
Experiments
Startups
Valves
Motion control
Design
Synchronism
Hydraulic equipment
Errors
Attitudes
Segments
Parallel connected
Tunnel construction
Hydraulics
Drilling & boring machinery
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Resumen:Segment assembly is one of the principal processes during tunnel construction using a tunnel boring machine (TBM). The segment erector is a robotic manipulator powered by a hydraulic system that assembles prefabricated concrete segments onto the excavated tunnel surface. In the case of a larger diameter, while the segment assembly has a more extensive range of motion, it also demands more control accuracy. However, the single-pump-based hydraulic system fails to meet the dual requirements. Therefore, this paper proposes a novel dual parallel-connected-pump hydraulic system consisting of a small displacement pump and a large displacement pump. On this basis, taking advantage of both the quick response and low dead zone of the small pump and the high flow range of the large pump, a two-level error allocation strategy is constructed to coordinate the two pumps and keep the motion error of segment assembly within a small range. Finally, comparative experiments were conducted, and the results show that the proposed scheme achieves the simultaneous high-level synchronization of the two pumps and high-precision and high-speed motion-tracking performance.
ISSN:2075-1702
DOI:10.3390/machines12120913
Fuente:Engineering Database