Track and posture composite control method in shield tunneling process

Abstract

The invention discloses a track and posture composite control method in a shield tunneling process. The method comprises the following steps of: performing control by setting threshold values for a posture and a track; immediately adjusting the posture as long as the posture deviates to exceed the limit even though the track does not reach a deviation correction threshold; solving current positional deviation Si and angular deviation theta I of a shield machine through measurement and calculation when a shield works; continuously propelling the shield machine when the Si is less than or equal to a positional deviation threshold value Scmin of a track and posture composite controller and theta i is less than or equal to an angular deviation threshold value theta cmin of the track and posture composite controller or when the Si is less than or equal to positional allowable deviation Smin of actual tunnel construction and theta i is equal to 0; contrarily, automatically adjusting propelling pressure of a hydraulic cylinder of each sub-region and propelling displacement to simultaneously eliminate the positional deviation and the angular deviation generated in a tunneling process. Thus, an actual tunneling route of the shield machine is controlled within a design axial range of a tunnel, unnecessary overbreak and underbreak are avoided, and the forming quality of the tunnel is improved.

Description

technical field [0001] The invention relates to an automatic control method for excavation of a full-face tunnel, in particular to a compound control method for trajectory and posture during the excavation process of a shield machine. Background technique [0002] Shield tunneling is a large-scale high-tech comprehensive construction equipment dedicated to tunnel engineering. It has the functions of excavating and cutting soil, conveying soil, assembling tunnel lining, measuring, guiding and correcting deviations. The propulsion system is responsible for the jacking task of the entire shield machine, and it is required to complete the turning, curve travel, attitude control, deviation correction and synchronous movement of the shield machine, so that the shield machine can move forward according to the pre-set route. key system. [0003] Accurate control of the attitude of the shield tunneling trajectory can ensure that the shield tunnels accurately along the design axis an...

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Problems solved by technology

[0004] Existing research problems: trajectory deviation is the most direct factor affecting the accuracy of the tunnel axis, and attitude deviation is the main cause of trajectory deviation

If the attitude deviation is large, it will inevitably lead to trajectory deviation, which will bring difficulties to trajectory adjustment, make frequent deviation correction and affect the tunnel axis accuracy

The main concern in the process of shield tunneling is the trajectory offset. The deviation correction is started only when the trajectory deviation exceeds the standard, and there is no specific optimization design for the deviation correction path, and the trajectory attitude deviation cannot be corrected quickly. The deviation correction process cannot eliminate both position deviation and Angle deviation

[0005] Aiming at the problems existing in the above-mentioned deviation correction control methods, many scholars have carried out extensive research and proposed deviation correction control methods based on various intelligent controllers, but none of them have made a clear optimal design for the deviation correction path, and the deviation cannot be eliminated at the same time during the deviation correction process. Position deviation, angle deviation

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