CN203769794U - Tunneling posture adjustment control system of micro shield tunneling machine - Google Patents
Tunneling posture adjustment control system of micro shield tunneling machine Download PDFInfo
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- CN203769794U CN203769794U CN201320800287.7U CN201320800287U CN203769794U CN 203769794 U CN203769794 U CN 203769794U CN 201320800287 U CN201320800287 U CN 201320800287U CN 203769794 U CN203769794 U CN 203769794U
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- shield machine
- control system
- lifting ram
- controller
- adjustment control
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Abstract
The utility model discloses a tunneling posture adjustment control system of a micro shield tunneling machine. The tunneling posture adjustment control system of the micro shield tunneling machine comprises an adjustment mechanism. The adjustment mechanism comprises a datum plate. A plurality of lifting rams are fixed to one side of the datum plate. Each lifting ram is internally provided with a displacement sensor used for measuring the displacement of a piston rod of the lifting ram, wherein the piston rod of the lifting ram is connected with an adjusting block making contact with an oil cylinder of the micro shield tunneling machine; the displacement sensor is connected with a controller through an A/D switching circuit; the controller adjusts the tunneling path of the micro shield tunneling machine by controlling an accelerator of the lifting ram; the A/D switching circuit and the controller are connected with a switch power source. The tunneling posture adjustment control system of the micro shield tunneling machine is simple in structure and reliable in control.
Description
Technical field
The utility model relates to miniature shield machine, particularly a kind of miniature shield machine driving attitude adjustment control system.
Background technology
Generally adopt at present shield excavation machine to build subterranean tunnel engineering, shield excavation machine is called for short shield machine, is a kind of special-purpose machinery that excavates subterranean tunnel in weak geology.In order to ensure the quality of construction, shield machine is in shield structure process, and the route of advancing forward must be according to predefined correct track.But advancing in process of reality, inevitably can there is the situation that track departs from shield machine.In the time that shield machine generation shield structure track departs from the situation of subscribing track, just need deviation-rectifying system to implement correction to shield machine.Miniature shield machine, the tunnel radius that particularly the superminiature shield machine of diameter≤1.5m excavates is little, space structures is limited, is not easy to adopt annular pipe sheet assembling, thereby the propelling cylinder pressure that can not withstand on annular section of jurisdiction by adjusting as general shield machine carries out attitude adjustment.Miniature shield machine generally adopts the operating type of push pipe driving at present, cannot effectively adjust attitude shield machine driving attitude.
Situation about departing from for shield machine generation track in practice of construction, the conventional method correction modes that adopt are manual operations more, first need to locate shield machine, then carry out count measurement, finally again shield machine are carried out to level, the correction of vertical direction.Not only complex operation of this correction mode, correction speed is slow, and precision is not high, and can strengthen construction volume, reduces efficiency of construction.Because shield machine is to tunnel in tunnel, working environment very severe, as adopted manual operation to rectify a deviation, exists larger potential safety hazard simultaneously.The problems such as barrier, surface subsidence, have had a strong impact on control efficiency and precision, even cause safety problem; There is no at present miniature shield machine device for adjusting posture, cannot effectively adjust the driving attitude of miniature shield machine yet.
Utility model content
Technical problem to be solved in the utility model is, for prior art deficiency, to provide a kind of miniature shield machine simple in structure, that be easy to control to tunnel attitude adjustment control system.
For solving the problems of the technologies described above, the technical scheme that the utility model adopts is: a kind of miniature shield machine driving attitude adjustment control system, comprises governor motion; Described governor motion comprises datum plate, and described datum plate one side is fixed with multiple lifting rams, and the displacement transducer for measuring the displacement of described lifting ram piston rod is installed in described lifting ram; The piston rod of described lifting ram is connected with the regulating block contacting with miniature shield machine oil cylinder; Described displacement transducer is connected with controller by A/D convertor circuit; Described controller is adjusted the driving route of described miniature shield machine by controlling the throttle size of described lifting ram; Described A/D convertor circuit, controller are all connected with Switching Power Supply.
Described controller is also connected with the liquid crystal display for showing the real-time monitor data of miniature shield machine.
Described datum plate is fixed with support bar away from a side of described lifting ram, makes governor motion structure more firm.
The method of utilizing above-mentioned control system to adjust miniature shield machine driving attitude is:
1) build following fuzzy control rule table:
Wherein, PB, PM, PS, ZO, NS, NM, NB represent respectively honest, center, just little, zero, negative little, negative in, negative large; Δ kp, Δ ki, Δ kd are respectively the gain of PID controller factor of proportionality, integral coefficient gain, differential coefficient gain;
2) factor of proportionality kp, integral coefficient ki and the differential coefficient kd of initialization PID controller, obtains the factor of proportionality kp after initializing
0, integral coefficient ki
0with differential coefficient kd
0;
3) gather the shift value that displacement transducer detects, adopt FEM (finite element) model or granular model, described shift value is carried out to numerical simulation, obtain the shift value of expecting, the shift value of the shift value of expectation and setting is compared, obtain the deviation e of shift value, utilize deviation e calculation deviation rate of change ec; Ec obtains by deviation e time differential;
4) fuzzy subset's domain of setting e, ec is e ［ 3,3 ］, and ec ［ 3,3 ］, according to the value of e, ec, judges the fuzzy subset under e, ec by maximum membership degree method;
5), according to the fuzzy subset of e, ec, from described fuzzy control rule table, choose an inference rule;
6) obtain factor of proportionality gain, integral coefficient gain, the differential coefficient gain of PID controller by mamdani inference method, and factor of proportionality kp by factor of proportionality gain, integral coefficient gain, differential coefficient gain and after initializing
0, integral coefficient ki
0with differential coefficient kd
0be added, obtain the PID controller parameter after reasoning;
7) adopt the PID controller parameter after the reasoning of maximum membership degree method defuzzification, obtain factor of proportionality kp, integral coefficient ki and the differential coefficient kd of the PID controller of current iteration;
8) by the factor of proportionality kp of the PID controller of current iteration, integral coefficient ki and differential coefficient kd substitution PID controller;
9) by modulating in the output input sine pulse width modulator of PID controller, generate the conditioning signal of lifting ram throttle size, by regulating lifting ram oil inlet quantity control lifting ram piston rod displacement;
10) use factor of proportionality kp, integral coefficient ki and the differential coefficient kd of the PID controller of current iteration to substitute the factor of proportionality kp after initializing
0, integral coefficient ki
0with differential coefficient kd
0, repeating step 3)～9), until deviation e is less than threshold value, described threshold value is 0.01～0.05.
In described step 4) and step 7), the membership function of maximum membership degree method is Triangleshape grade of membership function, and Triangleshape grade of membership function mathematical expression and simple operation, occupy memory headroom little, can reach control requirement.
In shield machine tunneling process, attitude of shield machine may be offset, and by the displacement of PID controller control lifting ram piston rod of the present utility model, can tunnel attitude to shield machine and finely tune.In the utility model, one has four lifting rams, is divided into upper and lower two groups, is evenly distributed on datum plate one side, can adjust from four positions shield machine driving attitude.
Compared with prior art, the beneficial effect that the utility model has is: the utility model miniature shield machine driving attitude adjustment control system is simple in structure, is easy to control, for the attitude adjustment of miniature shield machine provides instrument.
Brief description of the drawings
Fig. 1 is the utility model one embodiment control system structured flowchart;
Fig. 2 is the utility model one embodiment governor motion structural representation;
Fig. 3 is the utility model one embodiment A D conversion single channel schematic diagram;
Fig. 4 is the utility model one embodiment method of adjustment flow chart.
Detailed description of the invention
As depicted in figs. 1 and 2, the utility model one embodiment comprises governor motion; Described governor motion comprises datum plate 2, and described datum plate 2 one sides are fixed with multiple lifting rams 3, and the displacement transducer for measuring described lifting ram 3 piston rod displacements is installed in described lifting ram 3; The piston rod of described lifting ram 3 is connected with the regulating block 4 contacting with miniature shield machine oil cylinder; Described displacement transducer is connected with controller by A/D convertor circuit; Described controller is adjusted the driving route of described miniature shield machine by controlling the throttle size of described lifting ram 3; Described A/D convertor circuit, controller are all connected with Switching Power Supply; Described controller is also connected with the liquid crystal display for showing the real-time monitor data of miniature shield machine; Described datum plate 2 is fixed with support bar 1 away from a side of described lifting ram 3.
Controller of the present utility model is selected MC9S12XS series monolithic, MC9S12XS128 is 16 single-chip microcomputers that Freescale company releases, and forms on-chip memory by 16 CPU (CPU12X), 128KB program Flash (P-lash), 8KB RAM, 8KB data Flash (D-lash).Major function comprises: inner PLL phase-locked loop module, 2 asynchronous serial port communication SCI, 1 serial peripheral equipment interface SPI, MSCAN module, 1 relatively timer module TIM of 8 passage I/O, cycle interruption timer module PIT, 16 passage A/D modular converter ADC, 18 channel pulse width modulated module PWM, I/O numeral I/O mouth.External crystal-controlled oscillation is selected 16MHZ.
Single-chip microcomputer can only processing digital signal, and the voltage signal of real system is simulation letter amount, therefore must carry out AD conversion.Select the TLC3543 of TI company to realize AD conversion, this position is a 12 Bits Serial, 11 passages, ultra high speed A/D conversion chip.In the time that physical circuit connects, select the input of passage 0 as voltage signal, passage 1 is as the input of current signal.The serial line interface line of TLC3543 chip mainly contains four, concrete connection is that clock signal C LOCK meets single-chip microcomputer XTAL and EXTAL, serial data input DIN meets single-chip microcomputer PP0, only has four lines to be connected between TLC3543 and single-chip microcomputer, and that reference voltage is selected is Power of SCM System+5V.Physical circuit as shown in Figure 3.
As shown in Figure 4, the method for adjustment miniature shield machine driving attitude of the present utility model is:
1) build following fuzzy control rule table:
Wherein, PB, PM, PS, ZO, NS, NM, NB represent respectively honest, center, just little, zero, negative little, negative in, negative large; Δ kp, Δ ki, Δ kd are respectively the gain of PID controller factor of proportionality, integral coefficient gain, differential coefficient gain;
2) factor of proportionality kp, integral coefficient ki and the differential coefficient kd of initialization PID controller, obtains the factor of proportionality kp after initializing
0, integral coefficient ki
0with differential coefficient kd
0; Be kp=3 for the initial pid parameter of this model experiment value, ki=0.01, kd=0.3;
3) gather the shift value that displacement transducer detects, adopt FEM (finite element) model or granular model, described shift value is carried out to numerical simulation, obtain the shift value of expecting, the shift value of the shift value of expectation and setting is compared, obtain the deviation e of shift value, utilize deviation e calculation deviation rate of change ec;
4) fuzzy subset's domain of setting e, ec is e ［ 3,3 ］, and ec ［ 3,3 ］, according to the value of e, ec, judges the fuzzy subset under e, ec by maximum membership degree method;
NB[-3,-2]；NM[-2.5,-1]；NS[-1.5,0]；Z0[-1,1]；
PB[2,3]；PM[1,2.5]PS[0,1.5]；
5), according to the fuzzy subset of e, ec, from described fuzzy control rule table, choose an inference rule;
6) obtain factor of proportionality gain, integral coefficient gain, the differential coefficient gain of PID controller by mamdani inference method, and factor of proportionality kp by factor of proportionality gain, integral coefficient gain, differential coefficient gain and after initializing
0, integral coefficient ki
0with differential coefficient kd
0be added, obtain the PID controller parameter after reasoning;
7) adopt the PID controller parameter after the reasoning of maximum membership degree method defuzzification, obtain factor of proportionality kp, integral coefficient ki and the differential coefficient kd of the PID controller of current iteration;
8) by the factor of proportionality kp of the PID controller of current iteration, integral coefficient ki and differential coefficient kd substitution PID controller;
9) by modulating in the output input sine pulse width modulator of PID controller, generate the conditioning signal of lifting ram throttle size, by regulating lifting ram oil inlet quantity control lifting ram piston rod displacement;
10) use factor of proportionality kp, integral coefficient ki and the differential coefficient kd of the PID controller of current iteration to substitute the factor of proportionality kp after initializing
0, integral coefficient ki
0with differential coefficient kd
0, repeating step 3)～9), until deviation e < 0.01.
In the present embodiment, the membership function of maximum membership degree method is Triangleshape grade of membership function, and Triangleshape grade of membership function mathematical expression and simple operation, occupy memory headroom little, can reach control requirement.
Claims (3)
1. a miniature shield machine driving attitude adjustment control system, is characterized in that, comprises governor motion; Described governor motion comprises datum plate (2), and described datum plate (2) one sides are fixed with multiple lifting rams (3), and the displacement transducer for measuring described lifting ram (3) piston rod displacement is installed in described lifting ram (3); The piston rod of described lifting ram (3) is connected with the regulating block (4) contacting with miniature shield machine oil cylinder; Described displacement transducer is connected with controller by A/D convertor circuit; Described controller is adjusted the driving route of described miniature shield machine by controlling the throttle size of described lifting ram (3); Described A/D convertor circuit, controller are all connected with Switching Power Supply.
2. miniature shield machine driving attitude adjustment control system according to claim 1, is characterized in that, described controller is also connected with the liquid crystal display for showing the real-time monitor data of miniature shield machine.
3. miniature shield machine driving attitude adjustment control system according to claim 1 and 2, is characterized in that, described datum plate (2) is fixed with support bar (1) away from a side of described lifting ram (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320800287.7U CN203769794U (en) | 2013-12-06 | 2013-12-06 | Tunneling posture adjustment control system of micro shield tunneling machine |
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|---|---|---|---|
| CN201320800287.7U CN203769794U (en) | 2013-12-06 | 2013-12-06 | Tunneling posture adjustment control system of micro shield tunneling machine |
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|---|---|---|---|
| CN201320800287.7U Expired - Fee Related CN203769794U (en) | 2013-12-06 | 2013-12-06 | Tunneling posture adjustment control system of micro shield tunneling machine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103603671A (en) * | 2013-12-06 | 2014-02-26 | 湖南大学 | Tunneling posture adjustment control system of miniature shield tunneling machine and adjustment method thereof |
| CN109578000A (en) * | 2019-01-24 | 2019-04-05 | 湖南科技大学 | A kind of geometric progression layout method for shield propelling system |
-
2013
- 2013-12-06 CN CN201320800287.7U patent/CN203769794U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103603671A (en) * | 2013-12-06 | 2014-02-26 | 湖南大学 | Tunneling posture adjustment control system of miniature shield tunneling machine and adjustment method thereof |
| CN109578000A (en) * | 2019-01-24 | 2019-04-05 | 湖南科技大学 | A kind of geometric progression layout method for shield propelling system |
| CN109578000B (en) * | 2019-01-24 | 2020-09-15 | 湖南科技大学 | Geometric progression layout method for shield propulsion system |
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|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140813 Termination date: 20141206 |
|
| EXPY | Termination of patent right or utility model |