CN102996137B - S-shaped curve based method for control track of shield tunneling machine - Google Patents

S-shaped curve based method for control track of shield tunneling machine Download PDF

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CN102996137B
CN102996137B CN201210592559.9A CN201210592559A CN102996137B CN 102996137 B CN102996137 B CN 102996137B CN 201210592559 A CN201210592559 A CN 201210592559A CN 102996137 B CN102996137 B CN 102996137B
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curve
shield machine
type
coordinate
mileage
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CN102996137A (en
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彭丹
刘新根
齐磊
周德成
张�杰
刘学增
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SHANGHAI TONGYAN CIVIL ENGINEERING TECHNOLOGY Co.,Ltd.
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Shanghai Tongyan Civil Engineering Technology Co Ltd
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Abstract

The invention relates to an S-shaped curve based method for control a track of a shield tunneling machine. The method comprises the steps of obtaining horizontal and vertical curve elements of a tunnel design axis; obtaining mileages of terminal points of S-shaped curves, which are set initially; calculating coordinates and azimuth angles at positions of mileages of terminal points of S-shaped curves; obtaining real-time attitude data of the shield tunneling machine; establishing the horizontal S-shaped curve; correcting mileages of terminal points of S-shaped curves; establishing the vertical S-shaped curve; judging whether the minimum curvature radiuses of S-shaped curves are less than the minimum turning radius of the shield tunneling machine or not, and obtaining mileages of terminal points of S-shaped curves again if the minimum curvature radiuses of S-shaped curves are less than the minimum turning radius of the shield tunneling machine; calculating an ideal stroke of a jack after the shield tunneling machine tunnels one ring along S-shaped curves; converting data of the ideal stroke into the required oil cylinder hydraulic pressure; and transmitting calculation results to the shield tunneling machine by a computer, controlling the shield tunneling machine to tunnel forward, and judging in real time whether S-shaped curves are required to be reconstructed or not. Compared with the prior art, the method has the advantages of being capable of finishing deviation rectification once, high in generality, capable of reducing the fluctuation of the track of the shield tunneling machine and the like.

Description

A kind of shield machine method for controlling trajectory based on S type curve
Technical field
The present invention relates to a kind of tunnel piercing control method, especially relate to a kind of shield machine method for controlling trajectory based on S type curve.
Background technology
In shield-tunneling construction, the deviation of actual tunnel axis and Tunnel Design axis passes judgment on the important indicator of construction quality.Section of jurisdiction is assembled along the movement locus of shield machine, and its type selecting pays the utmost attention to the degrees of coordination with shield machine, and therefore the track of shield machine is by the actual axis in the rear tunnel that substantially determines to have constructed.Generally speaking, shield machine tunnels to design axis for fit object, but in progradation, due to the impact by factors such as soil pressure lacks of uniformity in soil layer geology, the distribution of jack top power, excavation face, shield attitude is inevitably made to change, produce skew or pitching, seem be even more important so carry out real-time controlling and adjustment to the driving attitude of shield machine.
2004, Central China University of Science and Technology Gao Chunxiang refer to the method for shield machine correction in its master thesis, straightway is rectified a deviation by she, easement curve is rectified a deviation and circular curve correction is separately discussed, adopt straight line, easement curve and circular curve substantially linear as correction, utilize correction curve to rectify a deviation.Employ fuzzy control for the control of shield machine driving attitude in the software of Liu Feng Hua Qi in 2007 independent development, its principle is by snakelike amount vertical for shield machine level and direction deflection angle input fuzzy controller, draws the trend adjustment value of shield structure main frame.Zhejiang University in 2010 thank the human hairs such as hypo, section Xiao Ming, Liu Zhibin understand attitude track composite control method in shield machine tunneling process, its way be various for shield machine deviation form is changed into angular deviation be 0 situation rectify a deviation.
More than study the correction all achieving shield machine by respective method, but still come with some shortcomings.In shield-tunneling construction, shield machine track is with design misalignment of axe is less, curve is more level and smooth, construction quality is higher, but above research all needs shield machine deviation attitude to change into another kind of form from a kind of form, add the fluctuation of shield machine track, and the position that shield machine turns back to design axis can not be controlled well.Straight line, circular curve, easement curve correction are separated discussion, adopts easement curve as correction line style, make to need in calculating to use iteration, design formulas is complicated, realizes difficulty large, and result of calculation is difficult to guarantee; Introduce fuzzy control method, its fuzzy control table is usually by experience value, and sensitivity is low, can not correct position deviation and the angular deviation of shield machine simultaneously; Attitude track composite algorithm, assume that Tunnel Design axis can regard straight line as, therefore can not ensure when curved section that attitude of shield machine fits like a glove with design axis.
Therefore, work out directly a kind of, the shield machine method for controlling trajectory of highly versatile can improve the shaping quality in tunnel further, has important practical significance.
Summary of the invention
Object of the present invention is exactly provide that a kind of correction once completes, the shield machine method for controlling trajectory based on S type curve of highly versatile, reduction shield structure track fluctuation to overcome defect that above-mentioned prior art exists.
Object of the present invention can be achieved through the following technical solutions:
Based on a shield machine method for controlling trajectory for S type curve, the method comprises the following steps:
1) computer obtains the flat vertical curve key element of Tunnel Design axis, and is separated into end to end line element;
2) computer obtains the S type End of Curve mileage of initial setting;
3) coordinate and the azimuth at S type End of Curve mileage place on Tunnel Design axis is calculated;
4) the real-time attitude data of computer automatic acquisition shield machine;
5) utilize step 3) and step 4) data, the radius of curvature of calculated level S type curve, two central coordinate of circle and circular arc intersecting point coordinate, build horizontal S type curve;
6) total length of calculated level S type curve, and utilize total length correction S type End of Curve mileage;
7) according to step 6) starting point, the endpoint data of revised S type End of Curve mileage, adopt step 5) in method build vertical S type curve;
8) judge whether the minimum profile curvature radius of S type curve is less than the min. turning radius of shield machine, if so, then returns step 2), if not, then perform step 9);
9) suppose that shield machine tunnels a ring along S type curve, the desirable stroke of shield machine jack after calculating driving;
10) by step 9) the desirable run-length data that calculates converts required oil cylinder hydraulic to;
11) computer is by step 10) result of calculation be transferred to shield machine, adjustment shield machine oil cylinder hydraulic, control shield machine tunnel forward;
12) in shield machine tunneling process, real-time judge, the need of reconstruct S type curve, if so, then returns step 2), if not, then return step 9);
13) step 2 is repeated) to step 12) step is until shield-tunneling construction terminates.
Described step 1) in be separated into the mileage that end to end line element refers to basic parameter and each line element starting point and the terminal obtaining each line element; Starting point coordinate and terminal point coordinate are comprised for its basic parameter of straight line line element; Starting point coordinate, starting point azimuth, convolute line parameters, length of curve and type are comprised for its basic parameter of easement curve line element; Central coordinate of circle, start angle, terminal angle and arc radius are comprised for its basic parameter of circular curve.
Described S type curve is a curve be made up of the reverse circular arc that two radiuses are identical, the circle at two reverse circular arc places is tangent, the starting point S of S type curve is shield machine current location, direction SS ' is shield machine axis direction, terminal E is the specified point on Tunnel Design axis, and direction EE ' is the tangential direction of this point.
Described step 3) concrete steps be: first find out S type End of Curve place line element according to terminal mileage; Coordinate (the x at S type End of Curve mileage place on Tunnel Design axis is calculated according to line element line style e, y e, z e), horizontal azimuth α ewith angle of pitch α ' e:
If line element line style is straight line, then calculate according to rectilinear coordinates solution formula; If line element line style is easement curve, then according to clothoid calculating coordinate formulae discovery; If line element line style is circular curve, then according to circular curve calculating coordinate formulae discovery.
The real-time attitude data of described shield machine comprises the mileage L of shield machine current location s, coordinate (x s, y s, z s), horizontal azimuth α swith angle of pitch α ' s.
The concrete steps of described structure horizontal S type curve are:
Calculate the coordinate (x of two center of circle O and O ' of S type curve o, y o), (x o ', y o '):
x o＝x s+Rcosβ s,y o＝y s+Rsinβ s
x o′＝x e+Rcosβ e,y o′＝y e+Rsinβ e
Wherein, β sfor the azimuth of line segment SO, if center of circle O is at the left side of SS ', then β s=α s-π, otherwise, β s=α s+ π; R is the radius of curvature of S type curve:
Because two circles are tangent, two distance of center circle are from the twice equaling radius:
( x o ′ - x o ) 2 + ( y o ′ - y o ) 2 = 2 R
Calculate
R = - B ± B 2 - 4 AC 2 A
Get on the occasion of, in formula:
A＝4-(cosβ e-cosβ s) 2-(sinβ e-sinβ s) 2
B＝-2×((x e-x s)·(cosβ e-cosβ s)+(y e-y s)·(sinβ e-sinβ s))
C＝-(x e-x s) 2-(y e-y s) 2
The coordinate following formula of two circular arc intersection point M calculates:
x m = 1 2 ( x o + x o ′ ) , y m = 1 2 ( y o + y o ′ )
Horizontal S type curve can be built according to the coordinate value of above-mentioned calculating.
Step 6) in revise S type End of Curve mileage formula be:
L e′＝L s+l c-(L e-L s)
Wherein, L e' be revised S type End of Curve mileage, L sfor the mileage of shield machine current location, L efor the S type End of Curve mileage before correction, l cfor the total length of horizontal S type curve,
l c = R · [ arcsin ( ( x m - x s ) 2 + ( y m - y s ) 2 2 R ) + arcsin ( ( x e - x m ) 2 + ( y e - y m ) 2 2 R ) ] ,
(x e, y e) be the coordinate of horizontal S type End of Curve E.
The computational methods of the desirable stroke of described shield machine jack are according to the type decided of shield machine.
Described need the basis for estimation reconstructing S type curve to comprise shield machine driving to deviate to S type End of Curve or shield machine track the S type curve constructed.
Compared with prior art, the present invention has the following advantages:
(1) S type curve can be tangent with shield machine, ensures that shield machine driving is level and smooth; Simultaneously tangent with tunnel axis, ensure that attitude of shield machine fits like a glove with design axis, correction once completes, and effective;
(2) calculate S type curve only relevant with azimuth with the coordinate at attitude of shield machine, terminal mileage place, be applicable to any attitude and any axis line style, calculate simple, highly versatile;
(3) when shield machine off-design axis, can by specify terminal mileage control speed and position that shield machine get back to design axis, guiding shield machine important references of having appeared is worth;
(4) consider the plane of axis and vertical both direction and interact relation therebetween simultaneously, make result of calculation more accurate;
(5) in control shield machine driving, at hypothesis shield machine along on the basis that S type curve tunnels, according to the jack stroke of dissimilar shield machine and the relation of attitude of shield machine, calculate the desirable stroke of cylinder jack and convert required oil cylinder hydraulic to and control shield machine driving, guarantee that shield machine is along the S type curve driving calculated.
The shield structure method for controlling trajectory that the present invention proposes, any deviation attitude is all once rectified a deviation, reduce the fluctuation of shield structure track, and can ensure that shield machine gets back to design axis at specified point, not only further increase tunnel Forming Quality, also meet such as assigned address simultaneously and the particular/special requirement such as to appear.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the inventive method;
Fig. 2 is the schematic diagram of S type curve of the present invention.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Embodiment
As shown in Figure 1, a kind of shield machine method for controlling trajectory based on S type curve, the method comprises the following steps:
1) computer obtains the flat vertical curve key element of Tunnel Design axis, and is separated into end to end line element, and described line element comprises straight line, easement curve and circular curve.Described is separated into the mileage that end to end line element refers to basic parameter and each line element starting point and the terminal obtaining each line element; Starting point coordinate and terminal point coordinate are comprised for its basic parameter of straight line line element; Starting point coordinate, starting point azimuth, convolute line parameters, length of curve and type are comprised for its basic parameter of easement curve line element; Central coordinate of circle, start angle, terminal angle and arc radius are comprised for its basic parameter of circular curve.
2) computer obtains the S type End of Curve mileage L of initial setting e, this terminal mileage considers that shield machine returns the speed, home position etc. of design axis because usually determining simultaneously.
3) calculate coordinate and the azimuth at S type End of Curve mileage place on Tunnel Design axis, first find out S type End of Curve place line element according to terminal mileage; Coordinate (the x at S type End of Curve mileage place on Tunnel Design axis is calculated according to line element line style e, y e, z e), horizontal azimuth α ewith angle of pitch α ' e:
If line element line style is straight line, then calculate according to rectilinear coordinates solution formula; If line element line style is easement curve, then according to clothoid calculating coordinate formulae discovery; If line element line style is circular curve, then according to circular curve calculating coordinate formulae discovery.
4) the real-time attitude data of computer automatic acquisition shield machine, comprises the mileage L of shield machine current location s, coordinate (x s, y s, z s), horizontal azimuth α swith angle of pitch α ' s.
5) utilize step 3) and step 4) data, the radius of curvature of calculated level S type curve, two central coordinate of circle and circular arc intersecting point coordinate, build horizontal S type curve, concrete steps are as follows:
As shown in Figure 2, S type curve is a curve be made up of the reverse circular arc that two radiuses are identical, the circle at two reverse circular arc places is tangent, the starting point S of S type curve is shield machine current location, direction SS ' is shield machine axis direction, terminal E is the specified point on Tunnel Design axis, and direction EE ' is the tangential direction of this point.For active hinge shield machine, the reference point of starting point is selected on backing body axis, is then selected on anterior shield body axis for passive hinge shield machine; When building S type curve, first calculated level S type curve, rear calculating vertical S type curve, and consider that horizontal S type curve inserts the impact on terminal mileage.
The center of circle of the two circular arc place circles that O and O ' is S type curve, SO and SE should in the same side of SS ', and ES and EO ' should in the same side of EE '.First coordinate (the x of two center of circle O and O ' of S type curve is calculated o, y o), (x o ', y o '):
x o＝x s+Rcosβ s,y o＝y s+Rsinβ s
x o′＝x e+Rcosβ e,y o′＝y e+Rsinβ e
Wherein, β sfor the azimuth of line segment SO, if center of circle O is at the left side of SS ', then β s=α s-π, otherwise, β s=α s+ π; R is the radius of curvature of S type curve:
Because two circles are tangent, two distance of center circle are from the twice equaling radius:
( x o ′ - x o ) 2 + ( y o ′ - y o ) 2 = 2 R
Calculate
R = - B ± B 2 - 4 AC 2 A
Get on the occasion of, in formula:
A＝4-(cosβ e-cosβ s) 2-(sinβ e-sinβ s) 2
B＝-2×((x e-x s)·(cosβ e-cosβ s)+(y e-y s)·(sinβ e-sinβ s))
C＝-(x e-x s) 2-(y e-y s) 2
The coordinate following formula of two circular arc intersection point M calculates:
x m = 1 2 ( x o + x o ′ ) , y m = 1 2 ( y o + y o ′ )
Horizontal S type curve can be built according to the coordinate value of above-mentioned calculating.
6) total length of calculated level S type curve, and utilize total length correction S type End of Curve mileage, concrete formula is:
L e′＝L s+l c-(L e-L s)
Wherein, L e' be revised S type End of Curve mileage, L sfor the mileage of shield machine current location, L efor the S type End of Curve mileage before correction, l cfor the total length of horizontal S type curve,
l c = R · [ arcsin ( ( x m - x s ) 2 + ( y m - y s ) 2 2 R ) + arcsin ( ( x e - x m ) 2 + ( y e - y m ) 2 2 R ) ] ,
(x e, y e) be the coordinate of horizontal S type End of Curve E.
7) according to step 6) starting point, the endpoint data of revised S type End of Curve mileage, adopt step 5) in method build vertical S type curve.
8) judge whether the minimum profile curvature radius of S type curve is less than the min. turning radius of shield machine, if so, then returns step 2), if not, then perform step 9).
9) suppose that shield machine tunnels a ring along S type curve, the desirable stroke of shield machine jack after calculating driving.Due to the jack stroke of different shield machine (initiatively hinged, passive hinged and without hinged) and attitude of shield machine relation inconsistent, the computational methods of the desirable stroke of shield machine jack are also different.Such as shield machine is along needing rotation angle when S type curve; Realized by propelling cylinder progressive error without hinge shield machine; Initiatively hinge shield machine is then stretched by the active of hinged jack the front and rear part of shield machine is bent; Passive hinge shield machine is then rely on to advance the strength of jack that hinged jack is stretched, thus the front and rear part of shield machine is bent.
10) by step 9) the desirable run-length data that calculates converts required oil cylinder hydraulic to.
11) computer is by step 10) result of calculation be transferred to shield machine, adjustment shield machine oil cylinder hydraulic, control shield machine tunnel forward.
12) in shield machine tunneling process, real-time judge is the need of reconstruct S type curve, if, then return step 2), if not, then return step 9), described need the basis for estimation reconstructing S type curve to comprise shield machine driving to deviate to S type End of Curve or shield machine track the S type curve constructed.
13) step 2 is repeated) to step 12) step is until shield-tunneling construction terminates.
The shield structure method for controlling trajectory of the present embodiment, any deviation attitude is all once rectified a deviation, reduce the fluctuation of shield structure track, and can ensure that shield machine gets back to design axis at specified point, not only further increase tunnel Forming Quality, also meet such as assigned address simultaneously and the particular/special requirement such as to appear.

Claims (8)

1., based on a shield machine method for controlling trajectory for S type curve, it is characterized in that, the method comprises the following steps:
1) computer obtains the flat vertical curve key element of Tunnel Design axis, and is separated into end to end line element;
2) computer obtains the S type End of Curve mileage of initial setting;
3) coordinate and the azimuth at S type End of Curve mileage place on Tunnel Design axis is calculated;
4) the real-time attitude data of computer automatic acquisition shield machine;
5) utilize step 3) and step 4) data, the radius of curvature of calculated level S type curve, two central coordinate of circle and circular arc intersecting point coordinate, build horizontal S type curve;
6) total length of calculated level S type curve, and utilize total length correction S type End of Curve mileage;
7) according to step 6) starting point, the endpoint data of revised S type End of Curve mileage, adopt step 5) in method build vertical S type curve;
8) judge whether the minimum profile curvature radius of S type curve is less than the min. turning radius of shield machine, if so, then returns step 2), if not, then perform step 9);
9) suppose that shield machine tunnels the distance of a ring width along S type curve, the desirable stroke of shield machine jack after calculating driving;
10) by step 9) the desirable run-length data that calculates converts required oil cylinder hydraulic to;
11) computer is by step 10) result of calculation be transferred to shield machine, adjustment shield machine oil cylinder hydraulic, control shield machine tunnel forward;
12) in shield machine tunneling process, real-time judge, the need of reconstruct S type curve, if so, then returns step 2), if not, then return step 9);
13) step 2 is repeated) to step 12) step is until shield-tunneling construction terminates.
2. a kind of shield machine method for controlling trajectory based on S type curve according to claim 1, it is characterized in that, described step 1) in be separated into the mileage that end to end line element refers to basic parameter and each line element starting point and the terminal obtaining each line element; Starting point coordinate and terminal point coordinate are comprised for its basic parameter of straight line line element; Starting point coordinate, starting point azimuth, convolute line parameters, length of curve and type are comprised for its basic parameter of easement curve line element; Central coordinate of circle, start angle, terminal angle and arc radius are comprised for its basic parameter of circular curve.
3. a kind of shield machine method for controlling trajectory based on S type curve according to claim 1, it is characterized in that, described S type curve is a curve be made up of the reverse circular arc that two radiuses are identical, the circle at two reverse circular arc places is tangent, the starting point S of S type curve is shield machine current location, direction SS ' is shield machine axis direction, and terminal E is the specified point on Tunnel Design axis, and direction EE ' is the tangential direction of this point.
4. a kind of shield machine method for controlling trajectory based on S type curve according to claim 2, is characterized in that, described step 3) concrete steps be: first find out S type End of Curve place line element according to terminal mileage; Coordinate (the x at S type End of Curve mileage place on Tunnel Design axis is calculated according to line element line style e, y e, z e), horizontal azimuth α ewith angle of pitch α ' e:
If line element line style is straight line, then calculate according to rectilinear coordinates solution formula; If line element line style is easement curve, then according to clothoid calculating coordinate formulae discovery; If line element line style is circular curve, then according to circular curve calculating coordinate formulae discovery.
5. a kind of shield machine method for controlling trajectory based on S type curve according to claim 3, is characterized in that, the real-time attitude data of described shield machine comprises the mileage L of shield machine current location s, coordinate (x s, y s, z s), horizontal azimuth α swith angle of pitch α ' s.
6. a kind of shield machine method for controlling trajectory based on S type curve according to claim 5, is characterized in that, the concrete steps of described structure horizontal S type curve are:
Calculate the coordinate (x of two center of circle O and O ' of S type curve o, y o), (x o ', y o '):
x o＝x s+Rcosβ s,y o＝y s+Rsinβ s
x o′＝x e+Rcosβ e,y o′＝y e+Rsinβ e
Wherein, β sfor the azimuth of line segment SO, if center of circle O is at the left side of SS ', then β s=α s-π, otherwise, β s=α s+ π; R is the radius of curvature of S type curve:
Because two circles are tangent, two distance of center circle are from the twice equaling radius:
( x o ′ - x o ) 2 + ( y o ′ - y o ) 2 = 2 R
Calculate
R = - B ± B 2 - 4 AC 2 A
Get on the occasion of, in formula:
A＝4-(cosβ e-cosβ s) 2-(sinβ e-sinβ s) 2
B＝-2×((x e-x s)·(cosβ e-cosβ s)+(y e-y s)·(sinβ e-sinβ s))
C＝-(x e-x s) 2-(y e-y s) 2
The coordinate following formula of two circular arc intersection point M calculates:
x m = 1 2 ( x o + x o ′ ) , y m = 1 2 ( y o + y o ′ )
Horizontal S type curve can be built according to the coordinate value of above-mentioned calculating.
7. a kind of shield machine method for controlling trajectory based on S type curve according to claim 6, is characterized in that, step 6) in revise S type End of Curve mileage formula be:
L e′＝L s+l c-(L e-L s)
Wherein, L e' be revised S type End of Curve mileage, L sfor the mileage of shield machine current location, L efor the S type End of Curve mileage before correction, l cfor the total length of horizontal S type curve,
l c = R · [ arcsin ( ( x m - x s ) 2 + ( y m - y s ) 2 2 R ) + arcsin ( ( x e - x m ) 2 + ( y e - y m ) 2 2 R ) ] ,
(x e, y e) be the coordinate of horizontal S type End of Curve E.
8. a kind of shield machine method for controlling trajectory based on S type curve according to claim 1, it is characterized in that, described need the basis for estimation reconstructing S type curve to comprise shield machine driving to deviate to S type End of Curve or shield machine track the S type curve constructed.
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