Fuzzy control system for posture of tube push bench based on MEMS gyroscope and method

Abstract

The invention discloses a fuzzy control system for a posture of a tube push bench based on a MEMS gyroscope and a method. The system comprises a posture detection unit and a controller, wherein the MEMS gyroscope is adopted for detecting real-time posture change of a machine head of the tube push bench: acquiring the practical direction angle information of the machine head along three vertical axes which are mutually vertical in pairs; a target axis of the machine head is stored; the controller is used for respectively comparing the three pieces of practical direction angle information with three pieces of target direction angle information of the target axis, calculating and controlling the expansion volume of a correcting cylinder of the tube push bench to correct the tube push bench. In the comparison and calculation process, (1) the input volume and the output volume of the controller are defined; (2) an input / output discourse domain of the controller is defined; (3) an input / output fuzzy set of the controller is defined; (4) a fuzzy control rule is established; (5) a fuzzy control query table is established. According to the invention, a fuzzy control technology is adopted for correcting a fuzzy value of the expansion volume of the correcting cylinder, the fuzzy value is corresponding to the expansion volume of the correcting cylinder and the error is minimized.

Description

technical field [0001] The present invention relates to a control system and a control method thereof, in particular to a MEMS gyroscope-based fuzzy control system for the attitude of a pipe jacking machine and a control method thereof. The pipe jacking machine using the control system stores the information of the control method A storage device and an electronic terminal for several instructions. Background technique [0002] Trenchless technology is a new construction technology that utilizes geotechnical drilling techniques to lay, replace or repair various underground pipelines on the surface with the least amount of excavation or without excavation. Pipe jacking is a construction technique used in the trenchless technique for laying new pipelines. With the continuous advancement and development of my country's urbanization construction, pipe jacking construction has the advantages of no need to excavate the ground, small footprint, small traffic impact, fast excavatio...

AI Technical Summary

Problems solved by technology

[0003] However, due to factors such as changes in stratum soil quality, uneven jack thrust, uneven backfill grouting, uneven tail shield clearance, and inaccurate axes of pipe joints, the pipe jacking machine is prone to lateral deflection, resulting in attitude deviation

The existing control system for pipe jacking machines is manually operated through the console panel. The position difference is displayed through the detection system, and it is completely dependent on the staff to manually adjust the hydraulic system according to the position change. The deviation correction effect is poor, and it is easy to cause serpentine deviation, such as figure 1 shown

Images