Design of motor control system on cutterhead  of EPB  shield machine

WANG Jun，GUO Shimin
（Chengdu CSR Tunnelling Equipments Co.， Ltd.， Chengdu 610100， China）

Abstract： In order to solve the problems of testing and maintenance difficulties resulted from the logical complexity and too many control points on the  cutterhead motor control system of earth pressure balance shield machine，modular programming technology was investigated After the analysis of the motor control system structure， the relationship between the cutterhead′s running status and the auxiliary system was established A method was presented to divide the cutterhead motor’ running into many parts of the  state and set the conditional collection process of the auxiliary systems as a state machine programming The subroutines were responsible for collecting system information which was needed by the state machine′s decisionmaking All kinds of states were precisely indicated on the state machine The motions due to the states were also settled by the state machine The technology was applied in the experimental earth pressure balance(EPB)， and a large number of tests were done The experimental results show that，the system is able to fully meet the needs for cutterhead motor control， and the sate machine programming makes the whole program structure clearer and easier to test and maintain
Key words： earth pressure balance（EPB）; shield machine;cutterhead motor; state machine; control system