CN113404499B - Real-time control method for attitude of shield type heading machine in complex stratum - Google Patents
Real-time control method for attitude of shield type heading machine in complex stratum Download PDFInfo
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
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- E—FIXED CONSTRUCTIONS
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- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
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Abstract
A method for controlling the posture of a shield-type tunneling machine in a complex stratum in real time belongs to the technical field of tunnel shield-type tunneling machine construction, and the specific scheme comprises the following steps: measuring the posture and the position of a shield type tunneling machine, and judging whether the shaft line offset s of the shield type tunneling machine reaches an allowable offset [ s ], namely judging whether posture correction is needed; secondly, when deviation correction is needed, planning a deviation correction path according to the offset s and the posture of the shaft line of the shield type tunneling machine at the current position, determining single-ring deviation correction amount and single-ring deviation correction angle, and calculating needed deviation correction torque; and step three, correspondingly adjusting the hydraulic propulsion system, and performing deviation correction work on the shield type tunneling machine. The invention adopts the shield-type heading machine posture real-time control method with theoretical basis to correct the deviation of the shield-type heading machine, can quantitatively determine the deviation correcting path and the deviation correcting moment, and effectively avoids the problems of under-correction and over-correction, thereby reducing the problems of segment damage, path deviation and potential operation.
Description
Technical Field
The invention belongs to the technical field of tunnel shield type tunneling machine construction, and particularly relates to a method for controlling the posture of a shield type tunneling machine in a complex stratum in real time.
Background
In the tunneling process of the shield type tunneling machine, the moment of the shield type tunneling machine is easy to be unbalanced due to reasons such as stratum change and the like, so that the axis of the shield type tunneling machine deviates. In the prior art, according to attitude information of a shield-type tunneling machine obtained by an automatic measuring device, a driver of the shield-type tunneling machine corrects the deviation of the shield-type tunneling machine by virtue of personal operation experience, and the deviation correcting effect depends on the experience and decision level of an operator. Different technicians have different knowledge and understanding of the deviation correcting target value and the deviation correcting load of the shield type tunneling machine. An operator qualitatively predicts a deviation correcting target corner based on personal experience and determines the problems of under-correction and over-correction possibly caused by deviation correcting load: deviation quality problems can lead to segment damage, route drift, and potential operational problems. Therefore, it is necessary to provide a method for real-time quantitative control of the attitude of the shield-type heading machine based on the mechanical balance theory.
Disclosure of Invention
The invention aims to solve the problem that the existing shield-type tunneling machine posture adjustment is carried out by depending on manual experience, and provides a real-time control method for the posture of a shield-type tunneling machine in a complex stratum.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a method for controlling the posture of a shield-type heading machine in a complex stratum in real time comprises the following steps:
measuring the posture and the position of a shield type tunneling machine, and judging whether the shaft line offset s of the shield type tunneling machine reaches an allowable offset [ s ], namely judging whether posture correction is needed;
secondly, when deviation correction is needed, planning a deviation correction path according to the offset s and the posture of the shaft line of the shield type tunneling machine at the current position, determining single-ring deviation correction amount and single-ring deviation correction angle, and calculating needed deviation correction torque;
and step three, correspondingly adjusting the hydraulic propulsion system, and performing deviation correction work on the shield type tunneling machine.
Further, in the first step, the distance s of the central point of the shield type tunneling machine deviating from the design axis on the vertical plane and the horizontal plane of the current position is obtained by utilizing the automatic attitude measuring device of the shield type tunneling machine i And an included angle eta between the axis of the shield type tunneling machine and the designed axis, wherein the vertical plane i is equal to v, and the horizontal plane i is equal to h.
Further, in the second step, a double-circular-arc interpolation method is adopted to determine the deviation rectifying path, and the deviation rectifying path is determined according to the formula (1)Fixed deviation-correcting radius R rec (ii) a Calculating the deviation-correcting mileage L and the central angle theta of the double arcs according to the equation set (2) 1 And theta 2 (ii) a Determining the number k of segment rings required by rectification according to a formula (3); determining a curve equation of the double-arc deviation rectifying path according to a formula (4), so as to obtain the coordinates of the shield type tunneling machine at each ring position on the deviation rectifying path, wherein the difference of longitudinal coordinates at two adjacent ring positions is the deviation of each ring, and the included angle between the connecting line at the two adjacent ring positions and the design axis is the deviation rectifying angle of each ring;
k＝[L/g]+1 (3)
in the formula, l is the length of the shield type tunneling machine, and d is the wedge-shaped amount of the duct piece; eta is the included angle between the axis of the shield type tunneling machine and the design axis, and g is the width of the single-ring duct piece; s i For the shaft line offset of the shield type tunneling machine, a vertical plane i is equal to v, and a horizontal plane i is equal to h; (x) 1 ,z 1 )
And (y) 1 ,z 1 ) Is the center O of a first section of circular arc on the horizontal and vertical surfaces 1 And determining a deviation rectifying path consisting of two sections of circular arcs by a double circular arc interpolation method, wherein the deviation rectifying path is respectively represented by AQ and QB.
Further, in the second step, the calculation method of the correction torque is as follows:
1) calculating the section displacement of the shield-type tunneling machine and the load around the shield shell according to the single-ring deviation correction angle beta of the shield-type tunneling machine in the vertical plane, the single-ring deviation correction angle alpha in the horizontal plane and the initial single-ring deviation correction quantity delta, substituting the formula (6), and judging whether the force balance condition is met;
2) if so, determining the correction torque according to the formula (7);
3) if not, after correcting the deviation correction angle of the shield type tunneling machine, repeating the steps 1) and 2) until the deviation correction torque is calculated
In the formula (I), the compound is shown in the specification,
a vertical adjusting moment for controlling the vertical pitch angle generated by the jack thrust difference,
a horizontal adjusting moment for controlling a horizontal swinging angle generated by the difference of jack thrust; f 1v Is the gravity of a shield type tunneling machine; f 5v Vertical load resultant force around the shield shell is caused by attitude change; f 5h The resultant force of horizontal load around the shield shell is caused by the change of the posture; m 1v The moment is caused by the eccentric distance between the gravity center and the centroid of the shield type tunneling machine; m 4v The moment is a vertical moment caused by the front load of a cutter head of the shield type tunneling machine; m 5v Vertical resultant moment generated by load around the shield shell due to attitude change; m 5h The horizontal resultant moment generated by the load around the shield shell is caused by the change of the posture.
Further, solve for F 5v 、F 5h 、M 1v 、M 4v 、M 5h And M 5v The calculation steps are as follows:
shield shell section centroid displacement delta s caused by attitude change v And Δ s h Calculated according to equation (8):
in the formula,. DELTA.s v Is the vertical displacement of the centroid of the section of the shield shell, and delta s is the vertical displacement of the centroid caused by the gravity action of the shield-type tunneling machine v Adding vertical displacement to the centroid caused by the action of attitude adjusting moment, wherein z is a coordinate along the length direction of the shield type tunneling machine, L is the length of the shield type tunneling machine, and delta s h Is the horizontal displacement of the centroid of the shield shell section, delta h Adding horizontal displacement to a centroid caused by the action of the attitude adjusting moment, wherein beta is a single-ring deviation rectifying angle of the shield type tunneling machine in a vertical plane, and alpha is a single-ring deviation rectifying angle of the shield type tunneling machine in a horizontal plane;
the curve equation of any point on the section of the shield shell is shown as the formula (9):
converting equation (9) to polar equation (10):
in the formula, R c The mean radius of the shield shell is shown, and theta is an included angle between a connecting line of a point on the shield shell and the circle center and a polar axis;
displacement of any point on the shield section
Can be determined by equations (11) and (12):
wherein r is the coordinate of the polar axis;
determining the full-line stratum distribution according to the geological survey report, and obtainingDetermining the parameters a and K in the foundation reaction force curve (5) of each layer of soil according to the engineering mechanical characteristics of each geotechnical layer 0 ，K min And K max ；
Wherein K is the soil pressure coefficient, i is v or h, which respectively represent the vertical direction and the horizontal direction, K i0 Is the coefficient of static soil pressure, K imin Is the coefficient of active earth pressure, a i Is a foundation reaction coefficient, U i For displacement of the soil mass in the direction i, K imax Is the passive soil pressure coefficient;
and (3) loading around the shield shell: dispersing the shield shell, wherein the shield shell respectively comprises m units and n units along the length direction and the circumferential direction,
the earth pressure at any point on the shield section can be determined by equation (13):
wherein p represents the p-th cell in the longitudinal direction, q represents the q-th cell in the circumferential direction, σ v,pq To node vertical pressure, K v,pq Is the vertical soil pressure coefficient, sigma v0,pq To initial vertical pressure, K h,pq Is the horizontal soil pressure coefficient, sigma h,pq To node horizontal pressure, σ h0,pq Is an initial horizontal pressure;
solving the attitude adjusting moment: the gravity of the shield type tunneling machine is G, and the eccentricity is l s And then:
M 1v ＝G·l s (14)
the formation reaction force and the moment thereof are as follows:
the cutter head load moment is as follows:
M 4v ＝FM 1 +FM 2 (17)
in the formula FM 1 Moment caused by the penetration resistance of the cutter head; FM 2 Moment caused by stratum lateral soil pressure on a cutter head panel; d is the average diameter of the shield shell.
Compared with the prior art, the invention has the beneficial effects that: the method can effectively avoid the problems of under-correction and over-correction compared with the traditional correction strategy of the shield-type tunneling machine based on manual experience, thereby reducing the damage of the duct piece, the deviation of the route and the potential operation problem.
Drawings
FIG. 1 is a flow chart of the operation of a method for controlling the attitude of a shield-type heading machine in real time;
FIG. 2 is a schematic diagram of a target deviation rectifying path;
FIG. 3 is a schematic diagram of a reaction force curve of a stratum foundation;
FIG. 4 is a schematic diagram of the displacement of the shield shell section caused by the attitude change;
FIG. 5 is a flow chart of the attitude deviation rectifying moment solution.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The first embodiment is as follows:
a real-time control method for the attitude of a shield-type heading machine in a complex stratum is shown in the general route of figure 1. And obtaining the attitude and the position of the shield-type tunneling machine according to the automatic attitude measuring device of the shield-type tunneling machine, and judging whether the shaft line offset s of the shield-type tunneling machine reaches the allowable offset [ s ], namely judging whether attitude correction is needed. When the correction is needed, planning a correction path according to the offset s and the posture of the shaft line of the shield type tunneling machine at the current position, determining the single-ring correction amount and the single-ring correction angle, and calculating the needed correction torque; and the hydraulic propulsion system makes corresponding adjustment to perform deviation correction work of the shield type tunneling machine.
The method comprises the following specific steps:
(1) automatic measurement device of the posture of the shield-type heading machine: the existing automatic total station and gyroscope combined guide system or other more advanced and accurate shield type heading machine attitude information measuring devices can be adopted. The automatic attitude measuring device of the shield type tunneling machine can acquire the distance s of the center point of the shield type tunneling machine deviating from the design axis on the vertical plane and the horizontal plane of the current position i And an included angle eta between the axis of the shield type heading machine and the designed axis, wherein the vertical plane i is equal to v, and the horizontal plane i is equal to h.
(2) Deviation rectifying path planning system: determining the deviation rectifying path by adopting a double-arc interpolation method, as shown in figure 2, determining the deviation rectifying radius R according to the formula (1) rec (ii) a Calculating the deviation-correcting mileage L and the central angle theta of the double arcs according to the equation set (2) 1 And theta 2 (ii) a Determining according to a formula (3) to obtain the number k of the segment rings required by rectification; and (4) determining a curve equation of the double arcs according to the formula (4) so as to obtain the coordinates of the shield type tunneling machine at each ring position on the deviation rectifying path, wherein the difference of longitudinal coordinates at the positions of two adjacent rings is the deviation of each ring, and the included angle between the connecting line at the positions of two adjacent rings and the design axis is the deviation rectifying angle of each ring.
k＝[L/g]+1 (3)
In the formula, l is the length of the shield type tunneling machine, and d is the wedge-shaped amount of the duct piece; g is the width of the single-ring pipe piece; s i For the shaft line offset of the shield type tunneling machine, a vertical plane i is equal to v, and a horizontal plane i is equal to h; (x) 1 ,z 1 ) And (y) 1 ,z 1 ) And determining a deviation rectifying path consisting of two sections of circular arcs by adopting a double circular arc interpolation method for the circle center coordinates of the first section of circular arc on the horizontal and vertical surfaces, wherein the deviation rectifying path is respectively represented by AQ and QB. (3) A stratum model: determining the all-line stratum distribution according to the geological survey report, acquiring the engineering mechanical characteristics of each geotechnical layer, and determining
Parameters a, K in the foundation reaction force curve (5) of the layers of soil in FIG. 3 0 ，K min And K max 。
Wherein K is the soil pressure coefficient; i is v or h, which respectively represent the vertical direction and the horizontal direction; k i0 Is the coefficient of static soil pressure; k imin Is the active soil pressure coefficient; a is i Is the foundation reaction coefficient; u shape i The displacement of the soil body in the direction i; k imax Is the passive soil pressure coefficient.
(4) Deviation rectifying moment model
The shield type heading machine satisfies the force balance condition and the moment balance condition shown in the formulas (6) and (7):
in the formula F 1v Is the gravity of a shield type tunneling machine; f 5v Vertical load resultant force around the shield shell is caused by attitude change; f 5h The resultant force of horizontal load around the shield shell is caused by the change of the posture; m 1v The moment is caused by the eccentric distance between the gravity center and the centroid of the shield type tunneling machine; m 4v The moment is a vertical moment caused by the front load of a cutter head of the shield type tunneling machine; m 5v Vertical resultant moment generated by load around the shield shell due to attitude change;
a vertical adjusting moment for controlling a vertical pitch angle generated by the difference of jack thrust; m 5h The horizontal resultant moment generated by the load around the shield shell caused by the attitude change;
the horizontal adjusting moment for controlling the horizontal swing angle generated by the jack thrust difference.
Shield shell section displacement caused by attitude change
As shown in fig. 4, the centroid displacement of the shield shell section caused by the attitude change is calculated according to equation (8):
in the formula,. DELTA.s v Vertical displacement of the section centroid of the shield type tunneling machine; delta s is the vertical displacement of the centroid caused by the gravity action of the shield type tunneling machine; delta v Adding vertical displacement to the centroid caused by the action of the attitude adjusting moment; z is a coordinate along the length direction of the shield type tunneling machine; l is the length of the shield type tunneling machine; Δ s h The horizontal displacement of the section centroid of the shield type tunneling machine is adopted; delta h Adding horizontal displacement to the centroid caused by the action of the attitude adjusting moment; beta is a single-ring deviation rectifying angle of the shield type tunneling machine in a vertical plane; alpha is a single-ring deviation rectifying angle of the shield type tunneling machine in the horizontal plane.
The curve equation of any point on the section of the shield shell is shown as the formula (9):
conversion to polar equation (10):
in the formula, R c Is a shield shellThe radius is uniform, and theta is an included angle between a connecting line of a point on the shield shell and the circle center and the polar axis;
displacement of any point on the shield section
Can be determined by equations (11) and (12):
wherein r is the coordinate of the polar axis;
② load around shield shell
Dispersing the shield shell, wherein the shield shell comprises m units and n units along the length direction and the circumferential direction respectively, and the soil pressure applied to any point on the cross section of the shield shell can be determined by the formula (13):
wherein p represents the p-th cell in the longitudinal direction, q represents the q-th cell in the circumferential direction, σ v,pq To node vertical pressure, K v,pq Is the vertical soil pressure coefficient, sigma v0,pq To initial vertical pressure, K h,pq Is the horizontal soil pressure coefficient, sigma h,pq To node horizontal pressure, σ h0,pq Is an initial horizontal pressure;
solving for attitude adjusting moment
The gravity of the shield type tunneling machine is G, and the eccentricity is l s And then:
M 1v ＝G·l s (14)
the formation reaction force and the moment thereof are as follows:
the cutter head load moment is as follows:
M 4v ＝FM 1 +FM 2 (17)
in the formula FM 1 Moment caused by the penetration resistance of the cutter head; FM 2 The moment caused by the stratum lateral soil pressure on the cutter head panel is shown as D, and the average diameter of the shield shell is shown as D.
The corrective moment solving process is shown in FIG. 5. And obtaining a deviation correcting angle according to the planned deviation correcting path, calculating the displacement of each point on the shield type tunneling machine according to a formula (12), calculating the load around the shield shell according to a formula (13), and judging whether the load meets a force balance equation (6). If the correction torque is satisfied, determining the correction torque according to the torque balance equation (7). If not, correcting the deviation correcting angle of the shield type tunneling machine, and then carrying out the process again until the deviation correcting moment is calculated.
(5) A hydraulic propulsion system of a shield type heading machine.
And setting the hydraulic propulsion system according to the deviation correcting moment to finish the propulsion and deviation correction of the shield type tunneling machine.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A method for controlling the posture of a shield-type heading machine in a complex stratum in real time is characterized by comprising the following steps:
measuring the posture and the position of a shield type tunneling machine, and judging whether the shaft line offset s of the shield type tunneling machine reaches an allowable offset [ s ], namely judging whether posture correction is needed;
step two, when deviation correction is needed, according to the current position protectionPlanning a deviation rectifying path by using the shaft line offset s and the posture of the shield type tunneling machine, determining single-ring deviation rectifying amount and single-ring deviation rectifying angle, and calculating required deviation rectifying torque; determining a deviation rectifying path by adopting a double-arc interpolation method, and determining a deviation rectifying radius R according to a formula (1) rec (ii) a Calculating the deviation-correcting mileage L and the central angle theta of the double arcs according to the equation set (2) 1 And theta 2 (ii) a Determining the number k of segment rings required by rectification according to a formula (3); determining a curve equation of the double-arc deviation rectifying path according to a formula (4), so as to obtain the coordinates of the shield type tunneling machine at each ring position on the deviation rectifying path, wherein the difference of longitudinal coordinates at two adjacent ring positions is the deviation of each ring, and the included angle between the connecting line at the two adjacent ring positions and the design axis is the deviation rectifying angle of each ring;
k＝[L/g]+1 (3)
in the formula, l is the length of the shield type tunneling machine, and d is the wedge-shaped amount of the duct piece; eta is the included angle between the axis of the shield type tunneling machine and the design axis, and g is the width of the single-ring duct piece; s i For the shaft line offset of the shield type tunneling machine, a vertical plane i is equal to v, and a horizontal plane i is equal to h; (x) 1 ,z 1 ) And (y) 1 ,z 1 ) Is the center O of a first section of circular arc on the horizontal and vertical surfaces 1 Determining a deviation rectifying path consisting of two sections of circular arcs by adopting a double circular arc interpolation method, and respectively representing the deviation rectifying path by AQ and QB;
and step three, correspondingly adjusting the hydraulic propulsion system, and performing deviation correction work on the shield type tunneling machine.
2. The method for controlling the attitude of the shield-type heading machine for the complex stratum according to claim 1, which is characterized in that:
in the first step, the distance s of the central point of the shield type tunneling machine deviating from the design axis on the vertical plane and the horizontal plane of the current position is obtained by utilizing the automatic attitude measuring device of the shield type tunneling machine i And an included angle eta between the axis of the shield type tunneling machine and the designed axis, wherein the vertical plane i is equal to v, and the horizontal plane i is equal to h.
3. The method for controlling the attitude of the shield-type heading machine for the complex stratum according to claim 1, which is characterized in that:
in the second step, the calculation method of the deviation rectifying moment comprises the following steps:
1) calculating the section displacement of the shield-type tunneling machine and the load around the shield shell according to the single-ring deviation correction angle beta of the shield-type tunneling machine in the vertical plane, the single-ring deviation correction angle alpha in the horizontal plane and the initial single-ring deviation correction quantity delta, substituting the formula (6), and judging whether the force balance condition is met;
2) if so, determining the correction torque according to the formula (7);
3) if not, after correcting the deviation correction angle of the shield type tunneling machine, repeating the steps 1) and 2) until the deviation correction torque is calculated
In the formula (I), the compound is shown in the specification,
a vertical adjusting moment for controlling the vertical pitch angle generated by the jack thrust difference,
is a lifting jackA horizontal adjusting moment generated by the difference of the pushing force and used for controlling the horizontal swinging angle; f 1v Is the gravity of a shield type tunneling machine; f 5v Vertical load resultant force around the shield shell is caused by attitude change; f 5h The resultant force of horizontal load around the shield shell is caused by the change of the posture; m 1v The moment is caused by the eccentric distance between the gravity center and the centroid of the shield type tunneling machine; m 4v The moment is a vertical moment caused by the front load of a cutter head of the shield type tunneling machine; m 5v Vertical resultant moment generated by load around the shield shell due to attitude change; m 5h The horizontal resultant moment generated by the load around the shield shell is caused by the change of the posture.
4. The method for controlling the attitude of the shield-type heading machine for the complex stratum according to claim 3, which is characterized in that:
solving for F 5v 、F 5h 、M 1v 、M 4v 、M 5h And M 5v The calculation steps are as follows:
shield shell section centroid displacement delta s caused by attitude change v And Δ s h Calculated according to equation (8):
in the formula,. DELTA.s v Is the vertical displacement of the centroid of the section of the shield shell, and delta s is the vertical displacement of the centroid caused by the gravity action of the shield-type tunneling machine v Adding vertical displacement to the centroid caused by the action of attitude adjusting moment, wherein z is a coordinate along the length direction of the shield type tunneling machine, L is the length of the shield type tunneling machine, and delta s h Is the horizontal displacement of the centroid of the shield shell section, delta h Adding horizontal displacement to a centroid caused by the action of the attitude adjusting moment, wherein beta is a single-ring deviation rectifying angle of the shield type tunneling machine in a vertical plane, and alpha is a single-ring deviation rectifying angle of the shield type tunneling machine in a horizontal plane;
the curve equation of any point on the section of the shield shell is shown as the formula (9):
converting equation (9) to polar equation (10):
in the formula, R c The mean radius of the shield shell is shown, and theta is an included angle between a connecting line of a point on the shield shell and the circle center and a polar axis;
displacement of any point on the shield section
Can be determined by equations (11) and (12):
wherein r is the coordinate of the polar axis;
determining all-line stratum distribution according to the geological survey report, acquiring engineering mechanical characteristics of each geotechnical layer, and determining parameters a and K in a foundation reaction force curve (5) of each layer of soil 0 ，K min And K max ；
Wherein K is the soil pressure coefficient, i is v or h, which respectively represent the vertical direction and the horizontal direction, K i0 Is the coefficient of static soil pressure, K imin Is the coefficient of active earth pressure, a i Is a foundation reaction coefficient, U i For displacement of the soil mass in the direction i, K imax Is the passive soil pressure coefficient;
and (3) loading around the shield shell: dispersing the shield shell, wherein the shield shell respectively comprises m units and n units along the length direction and the circumferential direction,
the earth pressure at any point on the shield section can be determined by equation (13):
wherein p represents the p-th cell in the longitudinal direction, q represents the q-th cell in the circumferential direction, σ v,pq To node vertical pressure, K v,pq Is the vertical soil pressure coefficient, sigma v0,pq To initial vertical pressure, K h,pq Is the horizontal soil pressure coefficient, sigma h,pq To node horizontal pressure, σ h0,pq Is an initial horizontal pressure;
solving the attitude adjusting moment: the gravity of the shield type tunneling machine is G, and the eccentricity is l s And then:
M 1v ＝G·l s (14)
the formation reaction force and the moment thereof are as follows:
the cutter head load moment is as follows:
M 4v ＝FM 1 +FM 2 (17)
in the formula FM 1 Moment caused by the penetration resistance of the cutter head; FM 2 Moment caused by stratum lateral soil pressure on a cutter head panel; d is the average diameter of the shield shell.
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| JP6316493B1 (en) * | 2017-09-26 | 2018-04-25 | 大成建設株式会社 | Simultaneous drilling assembly control device for shield tunneling machine, simultaneous drilling assembly control system, and simultaneous drilling assembly control method |
| CN108868807B (en) * | 2018-09-07 | 2019-11-08 | 上海隧道工程有限公司 | The intelligent control method of shield driving correction |
| CN110067566B (en) * | 2019-05-30 | 2020-06-05 | 上海隧道工程有限公司 | Method and system for predicting shield deviation rectifying moment |
| CN111271071A (en) * | 2020-01-19 | 2020-06-12 | 浙江中创天成科技有限公司 | Shield tunneling machine attitude control method based on fuzzy adaptive neural network |
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