Method for autocontrolling excavation direction of underground excavator using virtual track

A technology of virtual trajectory and roadheader, which is applied in earth-moving drilling, mining equipment, tunnels, etc., can solve the problems of slow deviation correction process, difficulty in integrating manual control experience, and inability to achieve linear asymptotic performance of deviation correction. The effect of avoiding engineering quality problems

Inactive Publication Date: 2006-12-13
SHANGHAI TUNNEL ENGINEERING CO. LTD.
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AI Technical Summary

Problems solved by technology

More importantly, the direction control of the roadheader is not only related to the axis error and the change of the axis error, but also related to various working conditions such as the equipment performance of the roadheader, the state of the soil environment, and the conditions of the lining assembly process. The fuzzy strategy composed of dimension tables cannot comprehensively reflect these engineering process conditions, and it is also difficult to integrate the experience of manual control.
[0010] Therefore, the fuzzy deviation correction control of the existing roadheader's driving direction cannot adapt to various working conditions, cannot meet the requirements of the deviation correction line asymptotically and the slowness of the deviation correction process, and it is difficult to ensure the approximation effect of the construction axis to the design axis and Engineering construction quality

Method used

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  • Method for autocontrolling excavation direction of underground excavator using virtual track
  • Method for autocontrolling excavation direction of underground excavator using virtual track
  • Method for autocontrolling excavation direction of underground excavator using virtual track

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Experimental program
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Effect test

Embodiment

[0065] 1. Calculate the error e of the current control cycle from the parameters of the position and attitude of the roadheader detected by the detection system and the design axis i =23, the error e of the previous control cycle i-1 =25, the error of the first two control cycles: e i-2 = 28.5.

[0066] 2. Set the working condition constant k=1, the axis tolerance value a=50 of the project quality standard, and the control step size dl=20, and the set value t of the control target of the current control cycle can be obtained i+1 = 19.4.

[0067] 3. Calculated: directional error E=-1.6, directional error change: EC=1.5; and E and EC are subjected to fuzzy quantization processing, and the decimals are rounded to obtain e=-2 and ec=2.

[0068] 4. Take e and ec as input for fuzzy control processing, and query the fuzzy membership table:

[0069]

[0070] Finally, the deviation correction signal is output, that is, the deviation correction vector increment u=-2.

[0071] 5. T...

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Abstract

The invention relates to a method for automatically controlling the moving direction of underground tunneller via virtual track. Wherein, the correct controller gives the virtual track, based on error between present position and state of tunneller, and the designed axis, and the working condition; said correct controller calculates out the direction error via the virtual track and the axis error, and the variable of direction error, as the input, to obtain the output correct signal via fuzzy control. The invention can gradually correct the underground tunnel, to confirm the construction quality and reduce the axis error. The invention can be used in the underground tunneller with cut pressure balance function.

Description

Technical field: [0001] The invention relates to the control of a tunnel construction boring machine, in particular to a method for automatically controlling the tunneling direction of an underground boring machine. Background technique: [0002] Underground boring machine (including shield machine and pipe jacking machine) is a non-excavation underground construction equipment integrating mechanical, electrical, civil engineering, measurement, control and other technologies. It is mainly used in urban underground railways, underground highways, waterways, sewers, electric Construction of tunnels such as cables. [0003] During the underground operation of the roadheader, the trajectory of the roadheader will basically form the construction axis of the underground tunnel, and the actual tunnel construction axis is often a randomly fluctuating curve. In actual engineering, it is necessary to use various control methods to make the construction axis of the tunnel as close as ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): E21D9/093
Inventor 杨宏燕
Owner SHANGHAI TUNNEL ENGINEERING CO. LTD.
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