The invention discloses an online high-precision
pose measurement and control method and
system for a vertical shaft heading
machine, relates to the technical field of vertical shaft construction, and solves the problems that factors considered by an existing
pose measurement and control method are not comprehensive enough, the deviation correction amplitude cannot be flexibly adjusted according to the deviation, and the
pose change of the heading
machine after adjustment cannot be predicted. According to the technical scheme, the method is characterized in that displacement deviation, displacement deviation variable quantity, angle deviation and angle deviation variable quantity of a heading
machine pose and a target pose are obtained through a pose measuring
system, the deviations are decomposed into XOZ and YOZ planes and input into a combined fuzzy controller of the corresponding planes, and the
pressure difference of a supporting oil cylinder and a
hydraulic cylinder is obtained; constructing an input feature sequence based on the
pressure difference of the supporting oil cylinder and the
hydraulic cylinder, inputting the input feature sequence into a pose prediction model based on a neural network, and predicting the displacement deviation and the angle deviation of the heading machine in a future time period, so as to predict the pose change of the heading machine after the
pressure difference of the supporting oil cylinder and the
hydraulic cylinder is adjusted; the problems are solved.