Automatic shield machine posture correcting system and correcting method

Abstract

The invention discloses an automatic shield machine posture correcting system and a correcting method. The automatic shield machine posture correcting method comprises the following steps that a propulsion system of a shield machine is provided, and the propulsion system comprises a propulsion cylinder and a first proportional valve used for controlling the propulsion system to stretch out and draw back; a first stroke sensor mounted in the propulsion cylinder is provided; a central controller connected with the first stroke sensor and the first proportional valve is provided, the propulsion cylinder stretches out and draws back to push the shield machine, the first stroke sensor is used for obtaining stroke of the propulsion cylinder, and the stroke is fed back to the central controller;the stroke of the propulsion cylinder obtained by the central controller is compared with the preset track of the shield machine, and stroke correction deviation of the propulsion cylinder is calculated by a PID algorithm; the central controller controls the first proportional valve to make adjustment for stretching out and drawing back of the propulsion cylinder based on the stroke correction deviation of the propulsion cylinder. According to the automatic shield machine posture correcting method, real time shield machine posture correcting can be carried out, and correcting accuracy is highand correcting period is short.

Description

technical field [0001] The invention relates to the field of shield tunneling construction, in particular to an automatic posture correction system and correction method of a shield tunneling machine. Background technique [0002] The attitude control of the shield machine is a very important link in the construction process of the shield tunnel. Whether a good shield attitude can be maintained during the advancing process is the key to the smooth assembly of segments and the improvement of the quality of the ring tunnel. As far as the current shield construction is concerned, the correction of the shield attitude is mostly done by adjusting the propulsion system or / and the articulation system to complete the correction of the shield attitude, but due to the adjustment process of the propulsion system or / and articulation system , there is no dynamic control target, so it is impossible to precisely control the expansion and contraction (stroke and speed) of the cylinders of t...

AI Technical Summary

Problems solved by technology

As far as the current shield construction is concerned, the correction of the shield attitude is mostly done by adjusting the propulsion system or / and the articulation system to complete the correction of the shield attitude, but due to the adjustment process of the propulsion system or / and articulation system , there is no dynamic control target, so it is impossible to precisely control the expansion and contraction (stroke and speed) of the cylinders of the propulsion system or the articulation system, the attitude correction accuracy is poor, and because the propulsion system or / and the articulation system are not synchronously controlled, multiple propulsion cylinders or / and the stroke and speed of the articulated cylinder are difficult to accurately reflect the attitude adjustment on a large system

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