Design and Simulation of Electro-hydraulic Servo System of Shield Cutter-changing Robot for Shield Machine

摘要

In the construction process of shield machine, a large number of cutters need to be replaced, and the traditional method of manual cutter replacement has a complicated replacement process, the cutter changing time is long, the risk is high, and the cost is high. Therefore, more and more scholars at home and abroad have begun to study the “machine cutter changing”. In view of the large load, high terminal positioning accuracy and small activity space of the cutter-changing robot, the electro-hydraulic servo control system of the cutter-changing robot was designed to realize the tool change function of the robot, the mathematical model of the electro-hydraulic servo system was established, the working principle of the fuzzy PID controller was analyzed, the traditional PID controller and the fuzzy PID controller were built for MATLAB simulation, and the simulation effects of the traditional PID controller and the fuzzy PID controller were compared. The simulation results show that both traditional PID control and fuzzy PID control can improve the system performance, and the effect of fuzzy PID control is better than that of traditional PID control.