Tunnel Driving Device Trajectory Control via Pressing Force Correction
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Solution Overview
Problem
Existing tunnel driving devices face challenges in maintaining a continuous and precise trajectory when placing tubbing segments without radial support, leading to deviations from the predefined setpoint trajectory.
Innovation Solution
A device with compactors attached to a converter module for measuring pressure values, a central unit with a navigation and pressing force correction module, which predicts and adjusts pressing forces to stabilize the trajectory, ensuring continuous tunnel driving along a predefined path by compensating for locally varying forces during tubbing segment installation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If compactors retract to allow tubbing segment installation, then tubbing segment placement is enabled, but trajectory deviation occurs due to loss of radial support
Solution Approach 1:
The system calculates and applies corrected pressing forces in advance before compactor retraction occurs. The pressing force correction module determines new pressing forces based on the expected trajectory deviation, so that when compactors retract and radial support is lost, the trajectory deviation is already compensated for by the pre-calculated force adjustments.
Solution Approach 2:
The system continuously monitors the actual trajectory and compares it with the setpoint trajectory using the navigation measuring module. Based on this feedback, the pressing force correction module adjusts the pressing forces of the compactors to compensate for deviations, creating a closed-loop control system that maintains trajectory accuracy throughout the tubbing segment installation process.
2Manufacturing precision
If pressing forces are adjusted to compensate for trajectory deviation, then trajectory accuracy is maintained, but device complexity increases due to additional control modules
Solution Approach 1:
The central control module integrates multiple functions: it controls the compactors during normal operation, processes data from the navigation measuring module, calculates trajectory deviations, determines corrected pressing forces, and coordinates the entire lining process. By combining these functions into a single multi-functional control unit, the system achieves precise trajectory control without proportionally increasing overall system complexity.
3Manufacturing precision
If new pressing forces are calculated continuously during tubbing segment installation, then trajectory deviation is minimized, but processing time increases
Solution Approach 1:
The system performs trajectory predictions and pressing force calculations in advance, before compactor retraction and during the installation process. The navigation prediction module forecasts future trajectory positions based on current pressing force distributions, allowing the pressing force correction module to pre-determine corrective forces that will be applied when needed, reducing real-time processing delays.
Data Source
AI summary
In a device and a method for continuously driving a tunnel along a desired setpoint trajectory there is provision to influence pressing forces which are applied to installed tubbing segments by compactors using a control circuit, wherein, during the driving and during the installation of tubbing rings, an actual trajectory of the device remains in a region which is permissible for maintaining the desired set point trajectory.