CN102102522A - Track and posture composite control method in shield tunneling process - Google Patents
Track and posture composite control method in shield tunneling process Download PDFInfo
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- CN102102522A CN102102522A CN 201010613414 CN201010613414A CN102102522A CN 102102522 A CN102102522 A CN 102102522A CN 201010613414 CN201010613414 CN 201010613414 CN 201010613414 A CN201010613414 A CN 201010613414A CN 102102522 A CN102102522 A CN 102102522A
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 239000002131 composite material Substances 0.000 title claims abstract description 16
- 230000005641 tunneling Effects 0.000 title claims abstract description 10
- 238000012937 correction Methods 0.000 claims abstract description 38
- 238000013461 design Methods 0.000 claims abstract description 34
- 238000010276 construction Methods 0.000 claims abstract description 10
- 238000006073 displacement reaction Methods 0.000 claims abstract description 8
- 238000005457 optimization Methods 0.000 claims description 9
- 238000005259 measurement Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
- 150000001875 compounds Chemical class 0.000 description 5
- 239000002689 soil Substances 0.000 description 4
- 238000005192 partition Methods 0.000 description 3
- 230000001141 propulsive effect Effects 0.000 description 3
- 241001061225 Arcos Species 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000007569 slipcasting Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The invention discloses a track and posture composite control method in a shield tunneling process. The method comprises the following steps of: performing control by setting threshold values for a posture and a track; immediately adjusting the posture as long as the posture deviates to exceed the limit even though the track does not reach a deviation correction threshold; solving current positional deviation Si and angular deviation theta I of a shield machine through measurement and calculation when a shield works; continuously propelling the shield machine when the Si is less than or equal to a positional deviation threshold value Scmin of a track and posture composite controller and theta i is less than or equal to an angular deviation threshold value theta cmin of the track and posture composite controller or when the Si is less than or equal to positional allowable deviation Smin of actual tunnel construction and theta i is equal to 0; contrarily, automatically adjusting propelling pressure of a hydraulic cylinder of each sub-region and propelling displacement to simultaneously eliminate the positional deviation and the angular deviation generated in a tunneling process. Thus, an actual tunneling route of the shield machine is controlled within a design axial range of a tunnel, unnecessary overbreak and underbreak are avoided, and the forming quality of the tunnel is improved.
Description
Technical field
The present invention relates to full bore tunnel driving autocontrol method, especially relate to the track attitude composite control method in a kind of shield driving process.
Background technology
The shield structure is a kind of large-scale high-tech integrated construction equipment of construction of tunnel special use, has functions such as the excavation cutting soil body, conveying soil quarrel, assembly unit tunnel lining, the correction of measurement guiding.Propulsion system is being born the jacking task of whole shield machine, requires to finish the turning of shield machine, and curve is advanced, and attitude control is rectified a deviation and is synchronized with the movement, and makes shield machine to advance according to the route that configures in advance, is the critical system of shield machine.
The accurate control of shield driving track attitude can guarantee that the shield structure accurately tunnels along the design axis, avoids backbreaking or owes and dig, and be the key that guarantees programming and construction quality.The correction control method that adopts mainly contains at present: select respective regions PF cylinder pressure, adjust each subregion PF cylinder pressure propelling pressure and fltting speed; Utilizing imitation-shaped knife on the equipment that the soil body of respective regions is carried out excess excavates; Use shield structure articulated mounting to make shield machine this produces the knuckle of certain angle in the middle part; The repeatedly adjustment laying that repeatedly type selecting by the section of jurisdiction is set type, turned and encircle (comprising left and right turning ring); Adopt the slip casting of bilateral symmetry backing, a plurality of injected holes that the shield tail is preset carry out pressure injection.
The problem that existing research exists: course deviation is the direct factor that influences the tunnel axis precision, and pose deviation is the main cause that trajectory generation departs from.If the pose deviation amount is big, certainly will cause track to depart from, and can bring difficulty to the track adjustment, make correction frequent and influence the tunnel axis precision.Main pass fluence is the course deviation amount in the shield driving process, the course deviation amount exceeds standard and just begins correction, and concrete optimized design is not carried out in the correction path, and can not correct the track attitude misalignment fast, the correction process can not be eliminated position deviation and angular deviation simultaneously.
Problem at above-mentioned correction control method existence, a lot of scholars have carried out extensive studies, correction control method based on various intelligent controllers has been proposed, but all clear and definite optimized design is not carried out in the correction path, and can not eliminate position deviation, angular deviation simultaneously in the correction process.Therefore study the complete track attitude Compound Control Technique of the cover of shield machine in bad ground construction to improving full bore tunnel construction automatization level, improve the tunnel Forming Quality, accelerating construction progress has important practical sense.
Summary of the invention
For overcoming the deficiency in the above-mentioned correction control method, the object of the present invention is to provide the track attitude composite control method in a kind of shield driving process.
In order to achieve the above object, the technical solution used in the present invention is:
The present invention adopt attitude and track all setting threshold control, even track does not reach the correction threshold value as yet, as long as pose deviation transfinites and just in time carries out the pose adjustment, in order to avoid cause course deviation to aggravate; When the shield structure is pushed ahead in the process, ask for shield machine current location deviation S by measuring, calculating
i, angular deviation θ
i, if S
i≤ track attitude composite controller position deviation threshold value S
CminAnd θ
i≤ track attitude composite controller angular deviation threshold value θ
CminThe time, or S
i≤ actual tunnel construction location allowable variation S
MinAnd θ
i=0 o'clock, then shield machine continued to advance; When if above-mentioned two inequality of the discontented foot of the current pose of shield machine concern, then by optimization track attitude correction path, automatically adjust the pressure and the forward displacement of each subregion PF cylinder pressure, reach and eliminate position deviation, the angular deviation that produces in the tunneling process simultaneously, the actual driving of shield machine route is controlled in the Tunnel Design axis scope.
Described optimization track attitude correction path is: when the current driving track of shield machine pose deviation setting threshold, following four kinds of situations are arranged:
1) if the current driving pose of shield machine be: position deviation is for just, position deviation is for just when this sets shield machine barycenter and is positioned at actual tunnel design axis right side, position deviation was for negative when the shield machine barycenter was positioned at actual tunnel design axis left side, angular deviation is 0, shield machine wants to finish the attitude correction with the shortest time, and eliminate position deviation, angular deviation simultaneously, need calculate concrete position deviation value S earlier
i, if S
iLess than shield machine min. turning radius S
Min, then shield machine is earlier with R
MinTurning left, is 1/2S until the shield machine barycenter from the Tunnel Design axial line distance
iThe time, then with R
MinTurn right, this moment shield machine can with move in the shortest time Tunnel Design axially on;
2) if the current driving attitude of shield machine be: position deviation is 0, and angular deviation is for just, and drafting with Tunnel Design axis or its parallel lines at this is the center, and angular deviation is for just during shield machine right avertence, and angular deviation is for bearing during left avertence, and then shield machine is first with R
MinTurn left, after turning left to adjust, change into first kind of situation again and rectify a deviation again;
3) as if the current driving attitude of shield machine be: position deviation and angular deviation just are, and then shield machine is earlier with R
MinTurn left, after turning left to adjust, change into first kind of situation again and rectify a deviation again;
4) if the current driving attitude of shield machine be: angular deviation is for negative, and position deviation is for just, and shield machine is first with R
MinTurn right, it is poor constantly to detect left and right sides subregion PF cylinder pressure horizontal movement in the progradation, is 0 until its offset deviation, after adjusting through turning right, changes into first kind of situation again and rectifies a deviation;
When the current driving attitude of shield machine and above-mentioned four kinds of situations were symmetrical with respect to the Tunnel Design axis direction, its track attitude correction path and said process were identical.
The beneficial effect that the present invention has is:
Obviously reduce the course deviation amount, reduce track correction frequency, significantly improve tunnel correction efficient, eliminate the position deviation, the angular deviation that produce in the tunneling process simultaneously, avoid unnecessary backbreaking and owe to dig, improve the tunnel Forming Quality.
Description of drawings
Fig. 1 is the compound control flow chart of track attitude in the shield driving process.
The correction path schematic diagram of Fig. 2 when to be that shield machine is parallel be positioned at Tunnel Design axis right side.
Fig. 3 is that shield machine is positioned on the Tunnel Design axis, but the correction path schematic diagram when having angular deviation.
Fig. 4 is that shield machine is positioned at Tunnel Design axis right side, and position, angular deviation are the correction route schematic diagram of timing.
Fig. 5 is that shield machine is positioned at Tunnel Design axis right side, and position deviation be just, the correction path schematic diagram of angular error when negative.
Fig. 6 is shield machine angular deviation allowed band schematic diagram when normally tunneling.
Fig. 7 is shield machine position deviation allowed band schematic diagram when normally tunneling.
Fig. 8 is subregion each pair of hydraulic cylinders control system block diagram in the left and right sides in the shield driving process.
In Fig. 1 ~ 7: 1, Tunnel Design axis direction, 2, shield machine driving min. turning radius, 3, shield machine barycenter actual motion track, 4, shield machine, 5, the shield machine axis.
Among Fig. 8: controller C
11(s), C
21(s) be used for the nonlinear characteristic of bucking-out system pressure-regulating valve (proportional pressure control valve), realize the accurate control of propulsive force, controller C
21(s), C
22(s) be used to realize the accurate control of each subregion PF cylinder pressure displacement, C
3(s) be used to ask for next ring driving shift value of respective partition PF cylinder pressure, a is proportional pressure control valve and the total dead band value of amplifier, and K is proportional pressure control valve and amplifier overall gain, G(s) is proportional pressure control valve open-loop transfer function denominator multinomial, p
1Be a certain sound zone system output pressure, p
2Be another sound zone system output pressure, Δ p
1, Δ p
2Poor for respective partition pressure given value and system's output pressure.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
The compound control flow chart of track attitude as shown in Figure 1 in the shield driving process, the present invention adopt attitude and track all setting threshold control, even track does not reach the correction threshold value as yet, as long as pose deviation transfinites and just in time carries out the pose adjustment, in order to avoid cause the course deviation aggravation; When the shield structure is pushed ahead in the process, ask for shield machine current location deviation S by measuring, calculating
i, angular deviation θ
i, if S
i≤ track attitude composite controller position deviation threshold value S
CminAnd θ
i≤ track attitude composite controller angular deviation threshold value θ
CminThe time, or S
i≤ actual tunnel construction location allowable variation S
MinAnd θ
i=0 o'clock, then shield machine continued to advance with present propulsive parameter; When if above-mentioned two inequality of the discontented foot of the current pose of shield machine concern, then by optimization track attitude correction path, and the correction of the optimization by drafting path is adjusted the pressure and the forward displacement of each subregion PF cylinder pressure automatically, reach and eliminate position deviation, the angular deviation that produces in the tunneling process simultaneously, the actual driving of shield machine route is strict controlled in the Tunnel Design axis scope.
Optimization track attitude correction control path profile in the shield driving process is shown in accompanying drawing 2 ~ 7.Shield machine correction path is the movement locus of shield machine barycenter among the figure.Here we draft, and are the center with the Tunnel Design axis, and position deviation was negative when being positioned at the left side for just when the shield machine barycenter was positioned at the axis right side; Angular deviation is the center with Tunnel Design axis or its parallel lines, for just, is negative during left avertence during right avertence.Constructing tunnel allows position deviation value S
Min=α S
Cmin(track attitude composite controller position deviation threshold value), scale factor 〉=1.1, controller angular deviation threshold value θ
Cmin=arcos (R
Min-S
Cmin)/R
Min, θ
Min(constructing tunnel allows the angular deviation value)=arcos (R
Min-S
Min)/R
Min, R
MinBe the shield machine min. turning radius.
Described optimization track attitude correction path is: when the current driving track of shield machine pose deviation setting threshold, following four kinds of situations are arranged:
If the current driving attitude of shield machine is as shown in Figure 2: position deviation is for just, position deviation is for just when this sets shield machine barycenter and is positioned at actual tunnel design axis right side, position deviation was for negative when the shield machine barycenter was positioned at actual tunnel design axis left side, angular deviation is 0, shield machine wants to finish the attitude correction with the shortest time, and eliminate position deviation, angular deviation simultaneously, need calculate concrete position deviation value S earlier
i, if S
iLess than shield machine min. turning radius S
Min, then shield machine is earlier with R
MinTurning left, is 1/2S until the shield machine barycenter from the Tunnel Design axial line distance
iThe time, then with R
MinTurn right, this moment shield machine can with move in the shortest time Tunnel Design axially on;
If the current driving attitude of shield machine is as shown in Figure 3: position deviation is 0, and angular deviation is for just, and drafting with Tunnel Design axis or its parallel lines at this is the center, and angular deviation is for just during shield machine right avertence, and angular deviation is for bearing during left avertence, and then shield machine is first with R
MinTurn left, after turning left to adjust, change into first kind of situation again and rectify a deviation again.
If the current driving attitude of shield machine as shown in Figure 4: position deviation and angular deviation just are, then shield machine is earlier with R
MinTurn left, after turning left to adjust, change into first kind of situation again and rectify a deviation again.
If the current driving attitude of shield machine is as shown in Figure 5: angular deviation is for negative, and position deviation is for just, and shield machine is first with R
MinTurn right, it is poor constantly to detect left and right sides subregion PF cylinder pressure horizontal movement in the progradation, is 0 until its offset deviation, after adjusting through turning right, changes into first kind of situation again and rectifies a deviation.
Shield machine normally tunneled track attitude such as Fig. 6 after adjustment finished, and is shown in Figure 7.
Each pair of hydraulic cylinders control system block diagram of left and right sides subregion as shown in Figure 8 in the shield driving process.In corresponding hydraulic propelling system, obtain the displacement signal x of each each ring of subregion PF cylinder pressure in real time by displacement transducer
1, x
2, and compare with the Tunnel Design axis, ask for shield machine current location deviation, angular deviation, and ask for next ring driving shift value x of respective partition PF cylinder pressure according to above-mentioned optimization correction path
D1, x
D2, each district asks for next according to the offset deviation signal magnitude and encircles required propelling pressure p
D1, p
D2Regulated variable pump discharge pressure, and the flow of the operated proportional flow control valve of flowing through simultaneously adapts itself and loading demand, other respectively distinguishes the proportional pressure control valve set pressure and flows through the operated proportional flow control valve flow constant, can realize the compound control of shield machine track attitude.
Here have 4 need specified otherwise be: 1, when the current driving attitude of shield machine and Fig. 2 ~ Fig. 5 are symmetrical with respect to the Tunnel Design axis direction, its track attitude correction control strategy and said process are identical; 2, finish shield machine correction according to above-mentioned control strategy after, its finally tunnel the path not necessarily require with the Tunnel Design axis direction identical, as long as position deviation and angular deviation are in the error allowed band; 3, the track attitude Compound Control Technique of the present invention's proposition is under the prerequisite of strictness control propelling pressure, controls forward displacement by the control propulsive force, can guarantee to excavate the pressure balance of face water and soil, strict control ground settlement amount; 4, for simplifying propulsion hydraulic system controlling party structure of block diagram, only chosen subregion each pair of hydraulic cylinders in the left and right sides among Fig. 8 and described.
Claims (2)
1. the track attitude composite control method in the shield driving process, it is characterized in that: employing attitude and track all setting threshold are controlled, even track does not reach the correction threshold value as yet, as long as pose deviation transfinites and just in time carries out the pose adjustment, in order to avoid cause the course deviation aggravation; When the shield structure is pushed ahead in the process, ask for shield machine current location deviation S by measuring, calculating
i, angular deviation θ
i, if S
i≤ track attitude composite controller position deviation threshold value S
CminAnd θ
i≤ track attitude composite controller angular deviation threshold value θ
CminThe time, or S
i≤ actual tunnel construction location allowable variation S
MinAnd θ
i=0 o'clock, then shield machine continued to advance; When if above-mentioned two inequality of the discontented foot of the current pose of shield machine concern, then by optimization track attitude correction path, automatically adjust the pressure and the forward displacement of each subregion PF cylinder pressure, reach and eliminate position deviation, the angular deviation that produces in the tunneling process simultaneously, the actual driving of shield machine route is controlled in the Tunnel Design axis scope.
2. the track attitude composite control method in a kind of shield driving process according to claim 1, it is characterized in that, described optimization track attitude correction path is: when the current driving track of shield machine pose deviation setting threshold, following four kinds of situations are arranged:
1) if the current driving pose of shield machine be: position deviation is for just, position deviation is for just when this sets shield machine barycenter and is positioned at actual tunnel design axis right side, position deviation was for negative when the shield machine barycenter was positioned at actual tunnel design axis left side, angular deviation is 0, shield machine wants to finish the attitude correction with the shortest time, and eliminate position deviation, angular deviation simultaneously, need calculate concrete position deviation value S earlier
i, if S
iLess than shield machine min. turning radius S
Min, then shield machine is earlier with R
MinTurning left, is 1/2S until the shield machine barycenter from the Tunnel Design axial line distance
iThe time, then with R
MinTurn right, this moment shield machine can with move in the shortest time Tunnel Design axially on;
2) if the current driving attitude of shield machine be: position deviation is 0, and angular deviation is for just, and drafting with Tunnel Design axis or its parallel lines at this is the center, and angular deviation is for just during shield machine right avertence, and angular deviation is for bearing during left avertence, and then shield machine is first with R
MinTurn left, after turning left to adjust, change into first kind of situation again and rectify a deviation again;
3) as if the current driving attitude of shield machine be: position deviation and angular deviation just are, and then shield machine is earlier with R
MinTurn left, after turning left to adjust, change into first kind of situation again and rectify a deviation again;
4) if the current driving attitude of shield machine be: angular deviation is for negative, and position deviation is for just, and shield machine is first with R
MinTurn right, it is poor constantly to detect left and right sides subregion PF cylinder pressure horizontal movement in the progradation, is 0 until its offset deviation, after adjusting through turning right, changes into first kind of situation again and rectifies a deviation;
When the current driving attitude of shield machine and above-mentioned four kinds of situations were symmetrical with respect to the Tunnel Design axis direction, its track attitude correction path and said process were identical.
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|---|---|---|---|
| CN2010106134143A CN102102522B (en) | 2010-12-30 | 2010-12-30 | Track and posture composite control method in shield tunneling process |
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|---|---|---|---|
| CN2010106134143A CN102102522B (en) | 2010-12-30 | 2010-12-30 | Track and posture composite control method in shield tunneling process |
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| Publication Number | Publication Date |
|---|---|
| CN102102522A true CN102102522A (en) | 2011-06-22 |
| CN102102522B CN102102522B (en) | 2012-11-07 |
Family
ID=44155556
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