隧道圆弧段TBM轨迹纠偏规划与局部姿态调控方法

By constructing a correction trajectory using third-order Bézier curves, the problem of precise control of TBMs in small-radius tunnel arc sections was solved, achieving efficient and precise automated correction control and improving the quality and efficiency of mine roadway construction.

CN120196121BActive Publication Date: 2026-07-17GUIZHOU UNIV +2
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
GUIZHOU UNIV
Filing Date
2025-04-01
Publication Date
2026-07-17

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Abstract

本发明涉及矿山岩巷全断面硬岩掘进机施工技术领域，具体涉及了隧道圆弧段TBM轨迹纠偏规划与局部姿态调控方法。包括以下步骤：S1、获取TBM盾构的实际轨迹ATA，计算TBM实际轨迹ATA与设计轨迹DTA之间的偏移量e；S2、当偏移量e超过预设的允许值，则将当前实际位置作为纠偏轨迹起始点，获取纠偏轨迹CTA起始点位置信息，包括位置、曲率、极角、偏向角；S3、根据几何关系，计算纠偏轨迹CTA的终点信息以及另外两个控制点位置信息，确定最终纠偏轨迹CTA的三阶贝塞尔曲线数学方程；S4、根据纠偏轨迹路线和掘进步长，将纠偏轨迹CTA离散成若干段；S5、根据每个离散段的几何信息，确定当前段TBM油缸行程控制参数；S6、根据每个离散段的几何信息，确定当前段TBM姿态参数。
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