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
CN1877080AInactive Publication Date: 2006-12-13SHANGHAI TUNNEL ENGINEERING CO. LTD.
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Patent Information

Authority / Receiving Office
CN ยท China
Patent Type
Applications(China)
Current Assignee / Owner
SHANGHAI TUNNEL ENGINEERING CO. LTD.
Publication Date
2006-12-13
Estimated Expiration
Not applicable ยท inactive patent

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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.
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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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