JP3445118B2 - Automatic direction control method for tunnel machine and recording medium recording automatic direction control program for tunnel machine - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic direction control method for an underground tunnel excavator in a press-fit small-diameter propulsion method using a tunnel excavator having a direction correcting function by tilting a pilot head, and a tunnel excavator. The present invention relates to a recording medium on which an automatic direction control program is recorded.

[0002]

2. Description of the Related Art Conventionally, for example, various methods shown below have been proposed as automatic direction control methods for this type of tunnel machine.

(1) The position deviation and the pitching angle deviation of the tunnel machine with respect to the target track are multiplied by arbitrary proportional gains, and the sum of the two is used as the next input head angle for feedback control. (2) The tunnel for the target track Using the operator's experience and knowledge of excavator position deviation, pitching angle deviation and the corresponding input head angle,
Fuzzy control that expresses control rules with membership functions and controls them. (3) The relationship between the position deviation and pitching angle deviation of the tunnel machine and the input head angle for them, which is obtained from the predetermined direction control law, is used as learning data. A neural network control law for learning the neural network to obtain an optimum feedback gain that does not depend on the initial position deviation and the initial pitching angle, (4) the pilot head angle of the tunnel machine and the tip position in the pitching direction,
The dynamics of the attitude angle is expressed by an n-dimensional linear discrete-time stochastic model, and the optimal feedback control that configures the state observer and the optimal regulator based on this model,
(5) A method for finding the next optimum input head angle by fuzzy inference from the current position and posture angle measured using a laser target without using a dynamic model,
(6) A dynamic model obtained by measuring a position and an attitude angle using a laser target and learning-determining the input / output relationship between the position and the attitude angle and the tilt angle of the pilot head, which is an operation amount, that is, a neural network by learning. A method to determine the next operation amount based on.

[0004]

Among the conventional methods described above, the automatic control methods (1) to (4) perform modeling only in the pitching direction, and the planning line is complicated when the operation amount is calculated. Control of direction is sacrificed. Further, since it is a time-series model, it is necessary to provide a section for each site and identify many undetermined coefficients from measured values. Further, since the obtained coefficient is fixed after identification, the response will be delayed if the ground changes suddenly thereafter.

In the above methods (5) and (6), since the laser target is used to measure the state of the machine, the control is limited to the case where the planned line is a straight line, or the laser receiving section emits light. There is a problem with the measurement method in that it becomes impossible to measure when it disappears from the department.

Further, in the method (5), since the control system does not have a model inside, the calculation amount of the next operation amount by the fuzzy rule is not always optimum.

In the method (6), the accuracy of the dynamics indicated by the model is good in the section learned by the neural network, but there is a problem in the accuracy of the dynamics model in the unlearned section. Even if the operation amount is determined next time, optimum control may not always be performed. Also, since it takes time to learn, it is difficult to reflect the measured values in the model one after another, and it is not possible to immediately respond to changes in the ground.

Each of the above methods has a common problem in that the physical meaning of the dynamic model, which is the basis of the control system configuration, is not clear.

The present invention has been made in view of the above,
The purpose is to provide an automatic direction control method for a tunnel machine and a recording medium that records an automatic direction control program for a tunnel machine that can respond to changes in the ground and improve construction accuracy and work efficiency. is there.

[0010]

In order to achieve the above object, the present invention as set forth in claim 1 is a first operation for tilting a pilot head in a correction direction, for creating a space in the propulsion direction in the soil. A second operation of press-fitting the pilot head by extending the jack, and a third operation of retracting the pilot jack and propelling the tunnel excavator and the entire buried pipe following the tunnel excavator by the push jack in the starting shaft. A method for automatically controlling the direction of a press-fit tunnel excavator in which the front propulsion cylinder and the rear propulsion cylinder are connected to each other through the middle bending portion to perform the direction control by the three operations described above. The tunnel excavator in the ground and the subsequent buried pipe are modeled as beams on an elastic floor, and the rotation angle due to the recoil when the pilot head is pressed Assuming a linear function of the tilting angle of de,
All model parameters other than the internal parameters can be analytically determined. A dynamic model is used in which the operation amount of the pilot head angle is input and the tip position of the pilot head is output, and the dynamic model is the set pilot head angle. Based on the magnitude of the angle and the angle changed from the previous time, the change in the posture angle for each operation is obtained, and these are linearly combined to obtain the posture change angle per stroke. The posture angle of the tunnel machine after an arbitrary stroke has been obtained by accumulating the initial value of the posture angle based on this and the posture change angle for each stroke obtained by the first process, and using this, the length of each part of the machine and the above The change in the distance from the reference line at the end of each operation step is calculated from the change in the posture angle at each operation step calculated in the first process. By linearly combining these values, the second step of obtaining the change distance from the reference line of the middle bending portion of the tunnel machine after the next one stroke, and the middle bending portion of each stroke obtained by the second step Accumulation of change in distance from the reference line, distance from the reference line of the middle bent portion obtained from the initial value of this distance, attitude angle of the tunnel machine obtained in the second step, pilot head angle and tunnel machine A third step of calculating the position from the length of each part, and when the pilot head is press-fitted in the first step.
Let ξ ₂ be the attitude change angle of the tunnel machine due to the recoil of
As a pilot head angle eta, the attitude change angle xi] ₂ equivalents
As a linear function ξ ₂ of the pilot head angle η at that time,
Assuming ξ ₂ =-(αη + γ) as in the equation, other horizontal position measurement values from the ground and vertical position
And the attitude angle measurement value
Estimate the dynamic model of the tunnel machine
The main point is to construct a control system in and.

According to the first aspect of the present invention, the dynamic model obtains the change of the posture angle for each operation, and linearly combines these to obtain the posture change angle per stroke. After obtaining the attitude angle of the tunnel machine, the change in the attitude angle at each operation step is used to find the change in the distance from the reference line at the end of each operation step, and the values are linearly combined, and the next one stroke elapses. Second step of obtaining the change distance from the reference line of the middle bent portion, the third step of calculating the position from the distance of the middle bent portion from the reference line, the attitude angle, the pilot head angle and the length of each part of the tunnel machine With the pilot head press-fitting operation in the first process
Let ξ ₂ be the posture change angle of the tunnel machine due to the recoil , and
With the pilot head angle being η, the posture change angle ξ ₂ is
As a linear function ξ ₂ of the pilot head angle η at time,
The way xi] ₂ = - assuming (αη + γ) and the other horizontal position measurement value from the ground, your vertical position
And the attitude angle measurement value
Estimate and configure the control system based on this.

[0012]

[0013]

Furthermore, the present invention according to claim 2 provides the invention according to claim 1.
In the invention described above, the posture change angle of the tunnel machine during the tilting operation of the pilot head in the first step is represented by ξ
_{1. When} the head angle operation amount is Δη, ξ ₁ = -β Δη is analytically calculated from the soil value of the surrounding ground, the shape of the pipe, the elastic coefficient, the length of each part of the tunnel machine and the number of subsequent pipes. The gist is to determine and configure a control system based on the dynamic model of the tunnel machine.

According to the second aspect of the present invention, when the attitude change angle of the tunnel excavator during tilting operation of the pilot head in the first process is ξ ₁ , and the operation amount of the head angle is Δη, ξ ₁ =- β which is βΔη is analytically determined from the soil soil value of the surrounding ground, the shape of the pipe, the elastic modulus, the length of each part of the tunnel machine and the number of subsequent pipes, and the control system is determined based on the dynamic model of the tunnel machine. Constitute.

[0016]

[0017]

[0018] According to a third aspect of the invention, claim 1
Alternatively, in the second aspect of the invention, the attitude change angle ξ ₃ of the tunnel machine from the completion of the pilot head press-fitting operation at the end of the entire propulsion operation by the original pushing in the first process is set to a constant multiple of the pilot head angle, From the ratio of the amount of extension and the sum of the length of the front propulsion cylinder of the tunnel machine and the length of the pilot head, the pilot head length is L _h , the stroke length is L _s , and the front propulsion cylinder length is L.
_f and the pilot head angle are η, ξ ₃ = {L _s / (L _h + L _f )} η and the control system is constructed based on the dynamic model of the tunnel machine.

According to the third aspect of the present invention, the attitude change angle ξ ₃ of the tunnel machine from the completion of the pilot head press-fitting operation at the end of the entire propulsion operation by the original pushing in the first process is defined as the pilot head angle. As a constant multiple, the pilot head length is L _h , the stroke length is L _s , and the front propulsion cylinder is based on the ratio of the extension amount of the pilot jack and the ratio of the sum of the length of the front propulsion cylinder of the tunnel machine and the length of the pilot head. Is L _f and the pilot head angle is η, and ξ ₃ = {L _s / (L _h + L _f )} η is obtained, and the control system is configured based on the dynamic model of the tunnel machine.

Furthermore, the present invention according to claim 4 is the following:
In the invention described in any one of 1, 2, or 3, the position at which the attitude change of the tunnel machine is tilted during the tilting operation of the pilot head in the second step, is the soil value of the surrounding ground, the shape of the pipe, and the elastic coefficient. The gist of the invention is to analytically obtain from the length of each part of the tunnel machine and the number of subsequent tubes, and to configure a control system based on the dynamic model of the tunnel machine.

According to the present invention as defined in claim 4 , the position at which the attitude change of the tunnel machine during tilting operation of the pilot head in the second step is the center is the soil value of the surrounding ground, the shape of the pipe, and the elastic coefficient. , The length of each part of the tunnel machine and the number of succeeding pipes are analytically obtained, and the control system is constructed based on the dynamic model of the tunnel machine.

The present invention according to claim 5 relates to claims 1, 2 and
In the invention described in either 3 or 4,
The position that is the center of the posture change of the tunnel machine during the pilot head press-fitting operation in the process is analytically obtained from the soil soil value of the surrounding ground, the shape of the pipe, the elastic modulus, the length of each part of the tunnel machine and the number of subsequent pipes. The gist is to configure a control system based on the dynamic model of the tunnel machine.

According to the fifth aspect of the present invention, the position, which is the center of the posture change of the tunnel excavator during the pilot head press-fitting operation in the second step, is the soil value of the surrounding ground, the shape of the pipe, and the elastic coefficient. , The length of each part of the tunnel machine and the number of succeeding pipes are analytically obtained, and the control system is constructed based on the dynamic model of the tunnel machine.

[0024]

[0025]

[0026]

[0027]

According to the sixth aspect of the present invention, the first operation for tilting the pilot head in the correction direction, and the second operation for press-fitting the pilot head by extending the pilot jack in order to create a space in the soil in the propulsion direction. , While the pilot jack is contracted, the direction control is performed by the three operations of the third operation of propelling the tunnel excavator and the entire buried pipe following the tunnel excavator by the push jack in the starting shaft. A recording medium that records a program that completes propulsion and implements an automatic direction control method for a press-fit tunnel excavator in which a front propulsion cylinder and a rear propulsion cylinder are connected via a middle bent portion. The tunnel machine and the subsequent buried pipe are modeled as a beam on an elastic floor, and the rotation angle due to the recoil when the pilot head is press-fitted is calculated. The dynamic model is assumed to be a linear function of the tilt angle, and all the parameters other than its internal parameters can be analytically determined, and the operation amount of the pilot head angle is input and the tip position of the pilot head is output. Is a change in the posture angle for each operation based on the set pilot head angle and the angle changed from the previous time, and these are linearly combined to obtain the posture change angle per stroke. The posture angle of the tunnel machine after an arbitrary stroke has been obtained by accumulating one process, the initial value of the posture angle based on the measured value, and the posture change angle for each stroke obtained by the first process,
Using this, the change in the distance from the reference line at the end of each operation step is obtained by the change in the length of each part of the excavator and the change in the posture angle at each operation step at this time calculated in the first process, and these values are calculated. From the second step of linearly combining to obtain the change distance from the reference line of the middle broken part of the tunnel machine after the next one stroke, and from the reference line of the middle broken part for each stroke obtained by the second process. Accumulation of change in distance and distance from the reference line of the middle bent portion obtained from the initial value of this distance, attitude angle of the tunnel excavator obtained in the second step, pilot head angle, and length of each portion of the tunnel excavator in a third and a process, the first step of calculating the position from the
Tunnel excavation due to recoil during pilot head press-fitting operation
Let the aircraft attitude change angle be ξ ₂ and the pilot head angle be η.
The attitude change angle ξ ₂ to the pilot head at that time.
Assuming that the linear function ξ ₂ of the angle η is ξ ₂ =-(αη + γ) as shown in the following equation , other horizontal position measurement values from the ground and vertical position
And the attitude angle measurement value
Estimate the dynamic model of the tunnel machine
The main point is to construct a control system in and.

In a sixth aspect of the present invention, the dynamic model obtains a change in posture angle for each operation, and linearly combines the changes to obtain a posture change angle per stroke, a first step, an arbitrary stroke. After obtaining the attitude angle of the tunnel machine, the change in the attitude angle at each operation step is used to find the change in the distance from the reference line at the end of each operation step, and the values are linearly combined, and the next one stroke elapses. Second step of obtaining the change distance from the reference line of the middle bent portion, the third step of calculating the position from the distance of the middle bent portion from the reference line, the attitude angle, the pilot head angle and the length of each part of the tunnel machine And a pilot head press-fitting operation in the first step
Let ξ ₂ be the attitude change angle of the tunnel machine due to the recoil of time.
Then, assuming that the pilot head angle is η, the attitude change angle ξ ₂
Was a linear function xi] ₂ pilot head angle η of the time
Assuming that ξ ₂ =-(αη + γ),
Other horizontal position measurement values, vertical position and attitude angle measurement values
By estimating α and γ for each of the vertical and horizontal directions, the program constituting the control system is recorded as a recording medium on the basis of the estimated α and γ, thereby improving the distribution.

[0030]

[0031]

Furthermore, the present invention according to claim 7, claim 6
In the invention described above, the posture change angle of the tunnel machine during the tilting operation of the pilot head in the first step is represented by ξ
_{1. When} the head angle operation amount is Δη, ξ ₁ = -β Δη is analytically calculated from the soil value of the surrounding ground, the shape of the pipe, the elastic coefficient, the length of each part of the tunnel machine and the number of subsequent pipes. The gist is to determine and configure a control system based on the dynamic model of the tunnel machine.

According to the present invention of claim 7, when the attitude change angle of the tunnel machine during the pilot head tilting operation in the first process is ξ ₁ , and the operation amount of the head angle is Δη, ξ ₁ =- β which is βΔη is analytically determined from the soil soil value of the surrounding ground, the shape of the pipe, the elastic modulus, the length of each part of the tunnel machine and the number of subsequent pipes, and the control system is determined based on the dynamic model of the tunnel machine. The constituent programs are recorded on a recording medium to improve the distribution.

[0034]

[0035]

Further, the present invention according to claim 8 is directed to claim 6
Or the attitude change angle ξ ₃ of the tunnel machine from the completion of the pilot head press-fitting operation at the end of the entire propulsion operation by the original push in the first process is set to a constant multiple of the pilot head angle. From the ratio of the amount of extension and the sum of the length of the front propulsion cylinder of the tunnel machine and the length of the pilot head, the pilot head length is L _h , the stroke length is L _s , and the front propulsion cylinder length is L.
_f and the pilot head angle are η, ξ ₃ = {L _s / (L _h + L _f )} η and the control system is constructed based on the dynamic model of the tunnel machine.

According to the present invention of claim 8 , the attitude change angle ξ ₃ of the tunnel machine from the completion of the pilot head press-fitting operation at the end of the entire propulsion operation by the original pushing in the first step is defined as the pilot head angle. As a constant multiple, the pilot head length is L _h , the stroke length is L _s , and the front propulsion cylinder is based on the ratio of the extension amount of the pilot jack and the ratio of the sum of the length of the front propulsion cylinder of the tunnel machine and the length of the pilot head. Is L _f and the pilot head angle is η, and ξ ₃ = {L _s / (L _h + L _f )} η is obtained, and a program that constitutes a control system based on the dynamic model of the tunnel machine is recorded as a recording medium. Recorded in
Its distribution is enhanced.

Furthermore, the present invention according to claim 9 is the following:
In the invention described in any one of 6, 7, and 8, the position which becomes the center of the posture change of the tunnel excavator during the tilting operation of the pilot head in the second step is defined as the soil value of the surrounding ground, the shape of the pipe, and the elastic coefficient. The gist of the invention is to analytically obtain from the length of each part of the tunnel machine and the number of subsequent tubes, and to configure a control system based on the dynamic model of the tunnel machine.

In a ninth aspect of the present invention, the position at which the attitude change of the tunnel machine when the pilot head is tilted in the second step is the center of change is the soil value of the surrounding ground, the shape of the pipe, and the elastic coefficient. , The length of each part of the tunnel machine and the number of succeeding pipes are analytically obtained, and the program that configures the control system is recorded on the recording medium based on the dynamic model of the tunnel machine to improve its distribution.

The present invention according to claim 10 provides the sixth and sixth aspects .
In the invention described in any one of 7, 8 and 9, the position which becomes the center of the posture change of the tunnel excavator during the pilot head press-fitting operation in the second step is defined as the soil value of the surrounding ground, the shape of the pipe, and the elastic coefficient. The gist of the invention is to analytically obtain from the length of each part of the tunnel machine and the number of subsequent tubes, and to configure a control system based on the dynamic model of the tunnel machine.

According to the tenth aspect of the present invention, the second aspect
The position that is the center of the posture change of the tunnel machine during the pilot head press-fitting operation in the process is analytically obtained from the soil soil value of the surrounding ground, the shape of the pipe, the elastic modulus, the length of each part of the tunnel machine and the number of subsequent pipes. Based on the dynamic model of the tunnel excavator, the program that constitutes the control system is recorded on the recording medium to improve its distribution.

[0042]

[0043]

[0044]

[0045]

[0046]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of a control system for carrying out an automatic direction control method for a tunnel machine according to an embodiment of the present invention. In the figure, 11 is a tunnel machine, 12 is an observer, 13 is a state feedback gain, 14 is an I operation gain, and 15 and 16 are adders.

The procedure of the present invention using the control system shown in FIG. 1 will be described with reference to the flow chart shown in FIG.

The tunnel machine 11 tilts the pilot head provided at the head toward the target position as described in detail with reference to FIGS. 3 to 6 described later, and then extends the pilot jack to extend the pilot head. The head is press-fitted into the ground to form a space in the direction of propulsion, and then the pilot jack is compressed while the pilot jack in the starting shaft propels the tunnel machine and the entire buried pipe following the tunnel machine. The head operation is performed to move forward in the ground (step S11).

In this way, the horizontal position, depth and tilt angle of the pilot head when the tunnel excavator 11 moves forward in the ground are measured (step S13). Then, the measured information is input to the observer 12 using the Kalman filter. Based on these pieces of information, the observer 12 estimates an internal parameter indicating a state quantity of the tunnel machine and a reaction when the pilot head is press-fitted (step S1).
5). The estimation of the internal parameter is a process corresponding to the first step of claim 1.

Then, as described above, the difference between the current state and the target position which is the target state is calculated based on the estimated value (step S17), and the dynamics is calculated from the known parameter and the estimated internal parameter. Is estimated, and the feedback gain 13 is calculated by the optimum regulator (step S19). This step S
The process of 19 is a process corresponding to the second step of claim 1.

Next, the next pilot head operation amount is calculated by the scalar product of the gain vector and the error vector of the state quantity, the input restriction processing is performed on this operation quantity, and the operation amount is input to the tunnel machine (step S21). Step S17,
The process of S21 is a process corresponding to the third step of claim 1.

FIG. 3 is a perspective view showing the structure of the tunnel machine used in the embodiment of FIG. The tunnel machine shown in the figure uses the press fit type small diameter propulsion method. This tunnel excavator includes a tunnel excavator main body 31 having a pilot head angle correction function and a center bending function, a buried pipe 32 forming a tunnel, a main pusher device 33 for pushing the tunnel excavator main body 31 and the buried pipe 32, and a starting shaft 38.
It is composed of a hydraulic device 34 for supplying hydraulic pressure to the original pushing device 33, an operation panel 35 for controlling propulsion force, monitoring the posture of the excavator, and correcting the pilot head angle.

Using the tunnel machine constructed as described above, the tunnel is buried by sequentially inserting only the pilot head at the tip of the tunnel machine body 31 with the pilot jack, and then sequentially adding to the machine and the rear end of the machine. Tube 3
It is formed by hydraulically pushing in the whole 2 by the original push device 33 installed in the starting shaft 38. The operator 36 sequentially sets the pilot head angle by the operation panel 35 based on the position measurement value, and controls the direction so as to follow the designed trajectory.
In addition, 37 is a ground surface.

Next, the details of the tunnel machine main body 31 and the horizontal position measuring method by the electromagnetic method will be described with reference to FIG. The excavator main body 31 is a pilot head 401.
It is composed of a front propulsion cylinder 402 and a rear propulsion cylinder 403 with the center folding mechanism 404 as a boundary. Pilot head 4
A transmission coil 405 is mounted inside 01, and a bending angle sensor 406 is mounted on the rear propulsion cylinder 403. Horizontal position measurement by the electromagnetic method is performed by two receiving coils 40 attached to the receiver 410 at 60 cm intervals on the ground surface 37.
Magnetic field lines 40 emitted from the transmission coil 405 at 9
The induced voltage due to No. 7 is measured by the measuring device 411, and the deviation amount from the design trajectory 412 of the pilot head 401 is specified from the voltage values on the left and right.

A method of measuring the vertical position and the attitude angle of the tunnel machine will be described with reference to FIG. The vertical position of the tunnel machine is the pressure sensor 53 in which the hydraulic pressure of the silicone oil supplied from the silicon tank 51 on the ground to the silicon hose 52 at both ends of the hose is mounted in the front propulsion cylinder.
And the ground reference pressure sensor 54, and from the difference,
The vertical distance from the measurement reference plane 55 is obtained, and the depth is calculated relative to the known position. The attitude angle is measured with an inclinometer.

Next, a method of correcting the direction of the tunnel machine main body 31 will be described with reference to FIG. First, FIG.
From the initial state of FIG. 6A, as shown in FIG. 6B, the direction correction jack 601R on the right part is contracted, the direction correction jack 601L on the left part is extended, and the pilot head 401 is tilted to the left. Next, as shown in FIG. 6C, the pilot jack 602 is extended, and the pilot head 401 is pressed into the soil in the correction direction. Then, as shown in FIG. 6D, the pilot jack 602 is contracted, and at the same time, the original push jack is extended to push in the embedded pipe 32. Furthermore,
At the same time as retracting the source push jack, the jack moving screw is rotated to move the source push jack forward. In this procedure, propel 45 cm in one cycle, and complete propulsion for one tube in 6 cycles. Then, the buried pipe 32 is connected and this cycle is repeated. Hereinafter, this one cycle is referred to as one stroke.

Next, the execution procedure of the automatic direction control method for the tunnel machine will be described.

First, the method of calculating the dynamic model will be described. The following modeling is based on Japanese Patent Application No. 8-29.
It is an extension of the method described in the position estimation method for the tunnel machine of No. 0542.

The modeling is performed in the same way as vertical and horizontal. If the head angle of a rolling machine is converted from the horizontal and vertical coordinates of the machine to absolute horizontal and vertical coordinates, they are orthogonal and therefore independent. is there. Therefore,
A two-dimensional model is shown for simplicity.

Let k be an arbitrary number of strokes, and let the rolling-corrected head angles at k and k + 1 strokes be η (k) and η (k + 1), and set the front propulsion cylinder for each operation from k to k + 1 strokes. The following three assumptions are made about the change of the posture angle and the position of the rotation center thereof. At this time, all corners are considered to be minute

[Equation 1] Shall hold.

Assumption 1: As shown in FIG. 6 (b), the posture of the front propulsion cylinder changes when the pilot head angle is changed from the end of the previous entire propulsion for direction correction. FIG. 7 schematically shows this. In the figure, L _f is the length of the front propulsion cylinder, f _β is the ratio of the distance from the center bending portion at the center of the posture change of the front propulsion cylinder to the length of the front propulsion cylinder, and L _h Is the length of the pilot head, f _h is the ratio of the distance from the tip of the front propulsion cylinder to the position at the center of the attitude change of the pilot head and the length of the pilot head, ξ
₁ is the attitude change angle of the front propulsion cylinder, O is the tip position of the front propulsion cylinder, C is the middle bent portion, and Δη (k) is the change amount η (k + 1) −η (k) of the head angle. The change in the attitude angle of the tunnel machine at this time is assumed to be proportional to the amount of change in the pilot head angle, and the parameter β is introduced and ξ ₁ = −β (η (k + 1) −η (K)).

Assumption 2: As shown in FIG. 6 (c), when the pilot head is press-fitted into the front ground (underground), it receives a reaction and the posture of the front propulsion cylinder changes. FIG. 8 schematically shows this. In the figure, αη + γ
(= Ξ ₂ ) is the posture change angle at this time, L _s is the pilot head press-fit length, f _α is the distance from the center bending part and the front position at the center of the posture change of the front propulsion cylinder when the pilot head is press-fit. It is the ratio of the length of the partial propulsion cylinder. What the other symbols indicate is
It is the same as FIG. 7. The change in the attitude angle of the tunnel machine at this time can be expressed by a linear function of the tilt angle of the head,
The parameters α and γ are introduced, and ξ ₂ = −αη (k + 1) −γ. Further, at this time, the middle bent portion C is assumed to move rearward by R.

Assumption 3: As shown in FIG. 6 (d), after the entire propulsion by the original push, the position of the head tip does not move at the press-fitted position as shown in FIG. 9, and the middle bent part is before the head press-fitting operation. It shall move so as to follow the position of the local propulsion cylinder. In FIG. 9, D _c is the moving distance of the middle bent portion due to the entire propulsion, F
Is the position of the front propulsion cylinder tip when the head press-fitting is completed, H is the position of the head rear end when the head press-fitting is completed, P is the position of the head tip, C'is the position of the middle bent part after the completion of the total propulsion, and H ' Is the position of the rear end of the head when the entire propulsion is completed, O is FH and C'H '
Where x is the length of OH, y is the length of OH ', and ξ ₃ is the attitude change angle of the front propulsion cylinder during full propulsion.

Under the above assumptions, the attitude change angle for each operation procedure is calculated, and these are linearly combined to form the attitude change angle of the front propulsion cylinder per stroke Δθ _f (k) (= θ _f ( Calculate k + 1) −θ _f (K)). However, θ _f (k) is a relative angle from the reference line of the front propulsion cylinder at the time of k strokes. In preparation,
The underground pipe is modeled as a beam on an elastic floor, and the influence of the surrounding ground and the number of subsequent pipes is considered mechanically.

Assuming that a beam of unit width (bending rigidity EI, E is elastic modulus, I is second moment of area) is on the elastic floor, and a uniform condition is assumed in the width direction, the equation of deflection is as follows. Given.

[0067]

[Equation 2] Here, k _s represents a spring of an elastic floor and has a unit of kgf / cm ² . w is the load per unit length.

[0068]

[Equation 3] The shape of the solution without boundary conditions is written by Nanashi Uehara, supervised by Yasuo Inose, "Computational Vibration Analysis of Bridges and Structures", Morikita Publishing (1970), pp. 31, according to equation (2.14):

[0069]

[Equation 4] Here, A, B, C, and D are constants that should be determined from the boundary conditions.

In this tunnel excavator capable of performing curved construction, the buried pipes are not welded to each other and are of a plug type. For this reason, the buried pipes are considered to be pin-coupled to each other. Therefore, the moments at both ends are zero.
Under this boundary condition, when an arbitrary pipe and its excavator side pipe are taken out as free objects, the relationship between the magnitude and displacement of the concentrated load to be applied to each left end (vertical shaft side) is obtained. The ground spring value is k _s , the respective concentrated loads are P _n and P _{n + 1} , the displacements are y _n and y _{n + 1} , the length of the buried pipe is L _c, and the shearing is performed at the left and right ends of any pipe. If the definition of the sign of force is reversed and the matching condition of the junction point is noted,

[Equation 5] To get However, φ = μL _c ψ ₀ = sinhφ cosφ− coshφ sinφ ψ ₁ = sinhφ cosφφ−sinφ cosφ ψ ₂ = sinh ² φ−sin ² φψ ₃ = cosh ² φ−cos ² φ. here,

[Equation 6] It can be expressed as. P ₀ and y ₀ are values of joints on the vertical shaft side of the buried pipe immediately after being buried in the ground. At this point, since the next pipe is connected, the moment is 0, and since the next pipe is constrained in the left-right direction by the former pushing device, when the displacement is also regarded as approximately 0, it becomes a rotation fulcrum y. The boundary condition of ₀ = 0 is obtained. Therefore,

[Equation 7] Is expressed as

Here, in order to make this a general formula, the relationship of (A−a ₁₁ ⁽¹⁾ I) ² = a ₁₂ ⁽¹⁾ a ₂₁ ⁽¹⁾ I is used. I is a 2 × 2 identity matrix.
Put values in this relationship and expand and organize

[Equation 8] Then, if a ₁₁ ⁽¹⁾ is simply a, then

Equation 9] ^{A 2 = 2aA-I ... (} 1) A 3 = (4a 2 -1) A-2aI ... (2) A 4 = (8a 3 -4a) A- (4a 2 -1) I ... ( 3) Can be calculated as ... Here, if A ⁿ = γ _n A + δ _n I (n = 1,2,3, ...) And a ₂₁ ⁽¹⁾ is also simply b, K _n is

[Equation 10] It can be seen that However, γ ₁ = 1 and δ ₁ =
0. From the above relation, the δ _n / γ _n part of equation (4) is

[Equation 11] And a continuous fraction using only the two elements in the first column of the elements of A.

Next, the change in K _n with respect to increase in n will be considered. Now

[Equation 12] Is. In addition, H ⁿ = HH ^n-1 is calculated in the same manner as above, and referring to the equation (5), h ₂₁ ⁽ⁿ⁾ = −h ₁₂ ⁽ⁿ⁾ is obtained. Further, since | H | = 1, | H ⁿ | = | H || H | ... | H | = 1. With the above preparations, when 1-ω _n / ω _{n + 1} is calculated

[Equation 13] Becomes (H ₁₂ ⁽ⁿ⁾ ) ² obviously increases monotonically when the absolute value of a is larger than 1. The absolute value of a takes a minimum value of 2 when the pipe is a rigid body. Therefore

[Equation 14] Can be Since (h ₁₂ ⁽ⁿ⁾ ) ⁻² is reduced at an accelerating rate as n is increased, n does not have to be so large in consideration of the influence of this value on the position in this model. In other words, the analysis range of the beam model on the elastic floor should be within this range, and it is not necessary to set the boundary condition on the vertical mirror section.

Next, since the front propulsion cylinder and the pilot head are taken out as a free object by the cutting method and analyzed only by the balance condition expression, the equivalent concentrated load applied to the middle bent portion and its The ratio K / k _s between the displacement ratio K and the ground spring value k _s is obtained. The calculation of the ground reaction force coefficient may be based on the Road Bridge Specification and Commentary of the Japan Road Association, the same as the IV substructure, but the ground reaction force coefficient changes depending on the loading width of the member to be loaded and the second moment of area. Furthermore, the ground spring value is obtained by multiplying this by the loading width. Therefore,
The ground spring values of the pipe and tunnel excavator are all different.
However, it is difficult to accurately evaluate the second moment of area of each part of the tunnel machine due to the complicated mechanism inside. Therefore,
Approximately the ground spring value is the same in each part. Also, cross section 2
Although the value of the secondary moment is unknown, the rigidity of each part of the tunnel machine is obviously higher than that of the buried pipe, so the machine body is treated as a rigid body. Assuming that the shearing force of the middle bent portion is P, the displacement is y, and the length of the rear propulsion cylinder is L _r , both ends when the rear propulsion cylinder is taken out as a free object in a state where the n pipe is laid in the ground. The relationship between shear force and displacement of

[Equation 15] Becomes Since this value has a dimension of length, it is expressed as K / k _s = L _eq for convenience. Now the preparation for obtaining the posture change angle for each procedure is completed.

First, β and f _β are calculated using L _eq according to Assumption 1 based on FIG. When the head is tilted, the head and the front propulsion cylinder receive the ground reaction force as shown in FIG. First, f is calculated from the balance condition equation of force and moment.
_{Find h} and f _β . When the joint between the head and the front part of the front conductor is a point O, and the displacement at this point is the unit length, the displacement at the head tip is (1-f _n ) / f _h , and the displacement at the middle bent portion is f _β.
/ (1- _fβ ). Therefore, when taking out the center-folding unit previously as a free body, the center-folding unit exerts the equivalent force _{Kf β / (1-f β} ) received from the succeeding tube. Further, the force received by the excavator from the surrounding ground is a value obtained by multiplying the displaced area by the ground spring value k _s . In consideration of the above, each term of the force / moment balance conditional expression is divided by k _s to be arranged as follows. Than balance of power

[Equation 16] Becomes Next, letting ξ _β be the attitude change angle only when the head is tilted, f _h L _h (Δη−ξ _β ) = (1−f _β ) L _f ξ _β is obtained from the geometrical relationship, so the attitude change angle is The ratio β of ξ _β and head angle change Δη is

[Equation 17] Is asked.

Next, based on FIG. 8, f _α is calculated using L _eq according to Assumption 2. When the head is pressed into the front ground, a reaction force from the ground acts on the tip of the head. However, in the press-fitting type propulsion, the soil in front of the soil is compacted, and the soil cannot be treated as an elastic body. Therefore, f _α is approximately calculated as follows. Head in front of the ground (underground)
When the front propulsion cylinder rotates by -αη-γ due to the reaction when it is pressed into, the ground reaction force received by the front propulsion cylinder and the head is shown in FIG.
It becomes like this and the whole shall be stationary. Here, it is assumed that the rotation angle of the lead conductor is proportional to the extension amount of the head. Also, it is approximated as cos (αη + γ) = 1.

Let l = (1-f _α ) L _f, and take the moment at point O using polar coordinates with the distance from the center of rotation as r and the angle as θ.

[Equation 18] Finally, based on FIG. 9, the posture change angle ξ ₃ only when the original push is performed is calculated according to Assumption 3. In FIG. 9, ΔOFC ′ and Δ
OH'P is clearly similar. OH = x, OH '= y
From the sine theorem for ΔOH′P,

[Formula 19] The attitude change angle Δθ _f (k) per propulsion is obtained by linearly combining the attitude change angles for each operation.

[Equation 20] Can be calculated.

Next, based on FIG. 7, the change Δy _ck (= y _c (k + 1) −y _c (K)) in the distance from the reference line of the middle bent portion is calculated.

As preparation for this, the calculation of R under Assumption 2 will be described. Here, the value obtained by simply dividing the one-stroke length L _s by the propulsion pipe length L _c by the number of strokes required for one-pipe propulsion (6 in principle) is subtracted. Ie

[Equation 21] Give in.

Next, the change Δy _c (k) in the distance from the reference line of the middle bent portion per stroke is obtained. In FIG. 10, it is assumed that the middle bent portion C ₀ at the time of k strokes moves to C ₁ due to head tilt, to C ₂ due to head press-fitting, and to C ₃ after original pushing. However, O _β and O _α are respectively the center of rotation when the head is tilted and the center of rotation due to the reaction when the head is pressed. _Let θ _f (k) be the angle between the front propulsion cylinder and the reference line during k strokes.

[Equation 22] With the above, the distance y (k) from the reference line at the tip of the front conductor at the time of k stroke is

[Equation 23] And it became a dynamic model.

Next, in order to configure a control system, the above model is displayed in a state space, as follows.

X (k + 1) = Px (k) + qu (k) + ey (k) = cx (k) where the state quantity _xk is

[Equation 24] In addition, y (k) in the output equation is the distance from the reference line of the head tip, and c shows the planar modeling now, so the system has 1 input / output and the lateral vector c = [1 L _f + L _h L _h ].

The control system block diagram of this system shown in FIG. 1 constitutes an LQI control system including an observer. In the present system, the vector e by the parameter γ is included in the state equation, and if this is regarded as a steady disturbance, the control system becomes a servo system. Therefore, it is necessary to introduce the I operation and remove the offset that occurs in the response to the target value. According to Tsutomu Mita, Tatsuji Hara, and Ryo Kondo, "Basic Digital Control", Corona Publishing Co., Ltd. (1988), pp.101, eq. 5.10) is established. The establishment of this formula

[Equation 25] Is equivalent to the establishment of. This formula is satisfied by the length of the excavator and α
It depends on the value of, but as long as it is verified by many construction data, it always holds.

Next, the method of calculating the feedback gain will be described. The following method was based on "Digital control" by Yasuhito Takahashi, Iwanami Publishing (1985), pp.116-pp.117.

Here, the LQ control will be briefly described. It should be noted that ^T in the following equations represents transposed values of matrices and vectors.

LQ control is x (k + 1) = Px (k) + qu (k) y (k) = cx (k) when a system is given by the following state equation and output equation.

[Equation 26] This is to find u (k) that minimizes. W _x and w in the equation are non-negative weighting factors. Here ^{y 2 (k + 1) =} x T c T cx So W _x = c ^T c first, determines the control gain by solving Rikachi expression. Rikachi type

(27) H (k + 1) = P ^T H (k) P−P ^T H (k) q
^{T (w + q T H (} K)) -1 q T H (k) P + W x H (0) = W x, k = 0,1,2, are represented by .... H in the formula is defined as follows, where n is the number of state variables.
An n × n symmetric matrix that converges to a stable solution as the iterative calculation progresses. Its steady-state solution of the optimal When H gain vector G is ^{G = (w + q T Hq} ) -1 q T HP next, n next horizontal vector. Optimal control u (k) is G
And the scalar product of the state vector x (k) is used as follows.

U (k) =-Gx (k) In order to include the I operation in the LQ control, the input u (k) is changed by one step d (k) = u (k) -u (k instead of the input u (k). −1) is used to define the following evaluation function.

[0087]

[Equation 28] Here, the step difference of the state vector x (k) is s (k).

S (k) = x (k) -x (k-1) The output y (k) and this s (k) are combined into one vector, which is considered as a new state vector. This state equation is determined as follows.

First, if the output step difference is taken:

Y (k + 1) -y (k) = c (x (k + 1) -x (K)) Here () on the right side

[Equation 30]       x (k + 1) -x (k) = s (k + 1)                       = P (x (k) -x (K-1)) + qd (k)                       = Ps (k) + qd (k) (16) If you keep in mind that

[Mathematical formula-see original document] y (k + 1) -y (k) = cPs (k) + cqd (k) (17) The required state equation is found by summing equations (16) and (17). Ie

[Equation 32]

[Expression 33]

[Equation 34] Be q ₁ and applied to the matrix Riccati equation. The weight matrix W at that time has a size of (n + 1) × (n + 1), and in this system,

[Equation 35] Is. The optimum gain vector G determined by solving the Riccati equation is

[Equation 36] Becomes

In practice, when the above method is applied to this system, the control law may be the same as above if the planning line is a straight line, but if the curve or the slope changes, the target value Multiply the gain vector by the error between and.

The above method shows the modeling to the control law in a plane. As described in the previous section of the modeling method, if you convert the head angle to an absolute horizontal and vertical coordinate system,
The same model and control law can be applied to both horizontal and vertical directions. Even if one is forced, each matrix will only be large, and there is little merit.

Further, γ is considered to be a parameter indicating the difference between the top and bottom or the left and right of the ground characteristics. Because
This is because even if the head angle is fixed straight, that is, fixed to 0, if γ is not 0, the posture angle changes. In the actual work data, these phenomena can be confirmed in the vertical direction where the posture angle can be measured. It may not only fall in the direction of gravity, but may also rise. As will be described in the method of constructing an observer, in the horizontal direction, observation values used for estimating internal parameters can be obtained only from position data once every 6 strokes, and the attitude angle can be measured by a means for measuring. Is not established. That is, since the internal parameters are estimated with observation values that are significantly smaller than in the vertical direction,
The less internal parameters the better. It is considered that the difference between the left and right of the ground in the horizontal direction is smaller than that in the vertical direction. If the planning line is a straight line in the horizontal direction, set γ to 0 and set L
Q control may be applied.

Next, a processing method for actually inputting the next head angle calculated based on the control law will be described.

The next head angle calculated by the above control law is
It is a value in the absolute coordinate system, and when operating a machine,
Rolling needs to be corrected and converted to the machine coordinate system. In addition, due to the mechanical restrictions of the tunnel machine, there is a limit to the maximum vertical and horizontal values of the head angle as an input value. When there is rolling, simply cutting off the portion exceeding the limit value affects the orthogonal direction, and good control cannot be performed. In order to minimize the impact, perform the following process.

The horizontal and vertical values of the head angle of the absolute coordinate system are η _H and η _V , respectively, and the horizontal of the head angle of the excavator coordinate system is
The vertical values are h _H and h _V , the roll angle is φ, and the input limit value is Lmt. To convert the head angle calculated by the control law to the coordinates of the excavator is a _{h H = η H cos φ-} η V sin φ h V = η H sin φ + η V cos φ. If both h _H and h _V are within the limit values, they are input as they are. If both h _H and h _V exceed the limit value, both are set to the limit values. If only one is exceeded, processing is required. Now, it is assumed that only h _H exceeds the limit value. h _H may be a limit value. At this time, even the vertical component of the absolute coordinate system of the horizontal head angle of the excavator coordinate system, which is caused by the rolling that should be originally input, is also truncated. Therefore,
Add this component to h _V. Assuming that Δ is rounded down, η _V calculated by the control law is

Η _V = − (Lmt + Δ) sin φ + h _V cos φ = −lmt sin φ + (h _V −Δtan φ) cos φ Since the corrected head angle in the vertical direction of the excavator coordinate system is h _V ′ Then, h _V ′ = h _V −Δtan φ. If this exceeds the limit value, the limit value is set. When only h _V exceeds the limit value, h _V is the limit value, and η _H calculated by the control law is η _H = h _H cos φ + (Lmt + Δ) sin φ = (h _H + Δtan φ) cos φ + h _V Since sin φ, it is assumed that h _H ′ = h _H + Δtan φ when the corrected head angle in the vertical direction of the machine coordinate system is h _H ′. If this exceeds the limit value, the limit value is set.

Next, a method for estimating the recoil parameter of the ground when the head is press-fitted from the measured value simultaneously with the estimation of the state quantity will be described.

[0097] state variable and parameter remaining in the model alpha, although the estimation and identification of γ are various, (1) the field measurements, so many variations, in (2)
The part parameters are considered to fluctuate according to the soil quality change of the face, and it is necessary to update them sequentially. (3) The behavior of the excavator at the time of press-fitting into the ground depends on the soil wedge formed at the tip of the head. It is considered that the method based on probability theory is effective for the reason that it is probably controlled by an amount including stochastic fluctuation, such as the balance of the dynamic friction coefficient of the head and the circumferential surface and the soil wedge, and the like. A Kalman filter is used for the observer.

Since the measured values are different vertically and horizontally after this, the three-dimensional model is used. Prior to applying the Kalman filter, the model is expressed in a state space expression.

Again, the measurement values and the acquisition intervals that can be acquired are: the attitude angle by the inclinometer for each stroke in the vertical direction, the relative depth by the hydraulic pressure difference method, and the horizontal direction by the electromagnetic method, one pipe is installed (6 strokes). ) For each horizontal position only.

Of the state quantities of the control dynamic model,
Since the head angle is also an input value that can be manipulated by the operator, it need not be estimated by the observer. In addition, as mentioned earlier, in the horizontal direction where there are few acquisitions of measured values, internal parameters are
It is dangerous to add more meters . As a result of preliminary verification using a large number of actual work data in the horizontal direction only, it has been confirmed that α alone can ensure sufficient accuracy and that the variation with respect to the elongation of the stroke is very small. Therefore, γ in the horizontal direction is set to 0 for now. Further, it is possible to use the same vertical and horizontal values for α.

[0101] Under the above-mentioned policy, it is to state the amount y _cH, θ _{fH,
α H y cV, θ fV,} α V, take a γ _V. Subscript _H is horizontal, _V
Indicates vertical (vertical). W (k) for each stochastic variation
Given the degree, the equation of state includes a definite input vector and is expressed as follows.

[0102]

X _kf (k + 1) = F (k) x _kf (k) + u (k) + w (k) where the state quantity x _kf (k) is

[Formula 39]

[Formula 40] The system noise vector w (k) is

[The number 41 is a _{w (k) = [w ycH} (k) w θfH (k) w αH (k) w ycV (k) w θfV (k) w αV (k) w γ (k)] T. Next, the observation equation is y (k) = Hx _kf (k) + v (k) where the observation value vector y (k) is the horizontal position measurement value by the electromagnetic method mag (k), and the vertical attitude by the inclinometer. Inc
(k), the relative depth by the hydraulic pressure difference method is sil (k), the distance from the reference line of the target position at the time of the horizontal k stroke is y _dH (k), and the target attitude angle is θ _dH ( k)

[Equation 42] Is. However, L _d is the distance from the middle bent portion to the pressure sensor.

Applying a Kalman filter including external input to the above equation of state and observation equation by referring to Kiyoshi Nishiyama, supervised by Michio Nakano, Kalman filter solved by personal computer (1993), Maruzen, pp.43, the system state quantity y _cH , θ _fH , y _cV ,
It is possible to estimate α _H , α _V , and γ _V together with θ _fV .

The procedure will be briefly described below. First, in solving the filtering problem, the system noise w (k) and the observation noise v (k) in the state equation and the observation equation are described.
_And Gaussianity of x _kf (0) is assumed. Furthermore, assume the following.

[0105]

[Equation 43]

[Equation 44] First, the estimation step is calculated. When y (0) is observed, the minimum variance estimator of the random variable vector x _kf (0) is

[Equation 45] Next, the prediction step is calculated. Given y ₀ , x ₁ is predicted as a Gaussian random variable vector with the following mean value vector and covariance matrix.

[0106]

[Equation 46] Then, when y (1) is observed, the above estimation and prediction steps are similarly calculated by updating the time. By repeating this sequentially, the optimum state estimation amount can be calculated sequentially.

The estimated state quantity is sequentially sent to the LQI control process to determine the next manipulated variable.

Next, a calculation example will be shown. The plan line is horizontal and vertical, the state of the excavator is horizontal, the left side is positive toward the traveling direction, the tip of the tunnel excavator is +30 cm away from the plan line, and the attitude angle is +1. 5 degrees, head angle is -1.0 degrees, vertical direction is positive vertically upward, the tip of the excavator is +20 cm away from the planned line, posture angle is +1.0 degrees, and head angle is -1.5. It is assumed that it is a degree. From this state, direction control is applied so that the excavator follows the planned line.

The construction conditions of the calculation example are as follows.
The length of the pilot head of each part of the tunnel machine is 45 cm, the length of the front propulsion cylinder is 150.7 cm, and the length of the rear propulsion cylinder is 1
53.0 cm, the pressure sensor mounting position is 109.0 cm from the center bend, and the stroke length is 45 cm. The buried pipe is a steel pipe with a nominal diameter of 300, the length is 250 cm, and the outer diameter is 3 cm.
2.85Cm, the second moment is 8,200cm ^4, the elastic coefficient is 2.1 × 10 ⁶ cm ^4. The soil quality is Kanto Loam with an N value of 9. Under this condition, the ground spring value is calculated based on the method of Road Bridge Specification IV Substructure, and it is 14
It is 3.8 kgf / cm ² . Further, L _eq is 45.4 cm when the number of subsequent tubes is two, and thereafter, the change in this value due to the increase in the number of subsequent tubes is reduced at an accelerating rate, and this order of magnitude is sufficient for practical use. This means that β, f calculated using L _eq
It shows that _β and f _α can be calculated as constants,
The calculation time can be greatly reduced. Table 1 shows the calculation of each parameter.

[0110]

[Table 1] The observable values are horizontal position, relative depth, and vertical attitude angle. The values output by the dynamic model are 0 for the horizontal position and a normal random number with a standard deviation of 2.0 cm, and 0 for the relative depth. the normal random number of standard deviations 1.0 cm, addition average value of 0 to the vertical attitude angle, the normal random number of standard deviations 0.05 degrees, respectively, on the basis of this value, the state amount and internal power in the observer
Estimate the parameters .

Under the above conditions, when applying the Kalman filter, the initial values of the internal parameters are α _H = 0.1
2, α _V = 0.12, γ _V = 0.00, horizontal and vertical positions are +0.1 cm, angles are +0.1, and the initial value Σ (0 ) Is

The following is given.

The horizontal position control and parameter estimation results are shown in FIGS. 11A to 11C, and the vertical position control and parameter estimation results are shown in FIGS. 12A, 12B and 13.
Shown in (a) and (b).

The automatic direction control method for a tunnel machine according to the present invention three-dimensionally models the behavior of the tunnel machine in the press-fitting small-diameter pipe propulsion method using a beam model on an elastic floor. , And a Kalman filter is used as an observer to optimally estimate the state quantity from the measurement value covered with noise, and at the same time,
The parameter indicating the characteristics of the ground at the tip of the excavator is estimated, and the feedback gain according to the ground condition can be obtained each time, and moreover, as in the present invention ,
It is characterized in that if a dynamic model is constructed by selecting a partial parameter, the variation of the parameter with respect to the extension of the stroke is small, and the obtained feedback gain is almost optimal.

In the present invention, since the dynamic model of the tunnel excavator retains the physical meaning, the configuration of the control system is relatively easy, the section for identifying the internal parameters is unnecessary, and the measurement is performed. Each time a value is obtained ,
Partial parameters can be updated and almost optimal feedback gain according to the parameters can be calculated. Therefore, it is possible to quickly respond to changes in the surrounding ground.By filtering, the optimal state estimator is estimated from the measured values covered by noise, and based on that, It differs from the prior art in that feedback control is performed.

Further, in the automatic direction control method of the present invention, the control system is constructed based on the three-dimensional dynamic model analytically calculated from the mechanical point of view, and the Kalman filter is used as the observer and is covered with noise. Since the state quantity is optimally estimated from the measured value and at the same time, the parameter indicating the characteristics of the ground at the tip of the excavator is successively estimated, the feedback gain corresponding to the ground condition can be sequentially obtained each time.

According to the modeling method of the present invention, the fluctuation of the internal parameters of the ground is very small, and when the next manipulated variable is determined by the feedback gain, almost optimum control becomes possible. Further, due to the mechanical limitation of the tunnel excavator, the value of the pilot head angle, which is an operation amount for performing control, is limited, and some correction is required during rolling, which is also clear in the present invention. I am trying.

Therefore, simultaneous automatic pitching and yawing direction control is possible, high responsiveness to changes in ground characteristics is achieved, and the operation amount and position of the pilot head of the operator are
The relationship between postures becomes clear and good control can be performed. further,
By applying the automatic direction control method of the present invention, it is possible to construct a practical operator training simulator for a tunnel machine.

[0118]

As described above, according to the present invention,
The dynamic model calculates the change in posture angle for each operation,
The first process of linearly combining these to determine the attitude change angle per stroke, the attitude angle of the tunnel excavator after an arbitrary stroke has elapsed, and using this, each operation step ends due to the change of the attitude angle at each operation step The second process to find the change in distance from the reference line for each stroke and perform linear combination to find the change distance from the reference line for the middle bent portion after the next stroke, the distance from the reference line for the middle bent portion, and the posture Position to be calculated from angle, pilot head angle, and length of each part of tunnel machine
By constructing a control system based on this process, a tunnel machine that can immediately respond to changes in the ground with a three-dimensional dynamic model with a physical meaning, which was not possible with the conventional method, can be accurately adjusted to the planned line. It is possible to control the direction automatically.

Further, according to the present invention, it is possible to easily configure an operator training training simulator.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a control system that implements an automatic direction control method for a tunnel machine according to an embodiment of the present invention.

FIG. 2 is a flowchart showing a procedure of the present invention using the control system shown in FIG.

FIG. 3 is a perspective view showing a configuration of a tunnel machine used in the embodiment of FIG.

FIG. 4 is a perspective view for explaining the tunnel machine main body shown in FIG. 3 and an electromagnetic method which is a horizontal position measuring method used in the present invention.

FIG. 5 is a perspective view showing an apparatus for measuring a vertical position and an attitude angle used in the automatic direction control method of the present invention.

FIG. 6 is a diagram illustrating a method for correcting the direction of the tunnel machine shown in FIG.

FIG. 7 is a diagram for explaining a force and a displacement acting on the tunnel machine when the pilot head is tilted.

FIG. 8 is a diagram for explaining a force and a displacement acting on the tunnel machine when the pilot head is press-fitted.

FIG. 9 is a diagram for explaining the displacement of the tunnel excavator during the entire propulsion due to the original push.

FIG. 10 is a diagram for explaining the displacement of the middle bending part of the tunnel machine for each direction correction operation.

11 (a), (b) and (c) show the measured value and estimation result of the horizontal position deviation, the estimation result of the horizontal angle deviation and the successive estimation result of the internal parameter αH in the numerical experiment of the present invention, respectively. FIG.

12 (a) and 12 (b) are diagrams respectively showing a measurement value and an estimation result of a vertical position deviation and an estimation result of a vertical angle deviation in a numerical experiment of the present invention.

[13] FIG. (A), (b) sequential estimation result of the internal parameters αV in a numerical experiment of the present invention, respectively, the internal
It is a figure which shows the successive estimation result of parameter ( gamma) V.

[Explanation of symbols]

11 tunnel machine 12 Observer 15 and 16 Adder 31 Tunnel machine main body 32 buried pipe 33 Original pushing device 34 Hydraulic system 38 Start shaft 401 pilot head 402 Front propulsion cylinder 403 Rear propulsion tube 404 Center folding mechanism 601R Right direction correction jack 601L Left direction correction jack 602 pilot jack

─────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-10-131671 (JP, A) JP-A-8-86190 (JP, A) Patent 2552164 (JP, B2) (58) Fields investigated (Int. Cl. ⁷ , DB name) E21D 9/093

Claims (10)

(57) [Claims] 1. The tilting of the pilot head in the correction direction
The first operation to make a space in the soil in the direction of propulsion
Pressing the pilot head by extending the ilot jack
The second operation to enter, while shrinking the pilot jack,
A tunnel excavator and
And the entire buried pipe following the tunnel machine
Direction control is performed by three operations of the third operation
Completed the trolley propulsion and the front propulsion barrel through the middle fold
Of the press-fitting tunnel excavator in which the
A moving direction control method, Underground tunnel excavator and subsequent buried pipe on elastic floor
Modeled as a beam, and recoil when the pilot head is press-fitted
The rotation angle due to
Model parameter other than its internal parameters.
Of the pilot head angle can be determined analytically
Input the manipulated variable and output the tip position of the pilot head
Using a dynamic model The dynamic model is Set the pilot head angle and change it from the previous time.
Based on the converted angle, change the posture angle for each operation.
Then, linearly combine these and change the posture per stroke.
The first step to find the conversion angle, The initial value of the attitude angle based on the measured value and the first process
By accumulating the posture change angle for each desired stroke
Obtain the attitude angle of the tunnel machine after an arbitrary stroke
Therefore, using this, the length of each part of the excavator and the first step
Based on the change in the posture angle at each operation step calculated by
Change the distance from the reference line after each operation step.
Therefore, by linearly combining these values, the next stroke
Change distance from the reference line of the middle part of the rear tunnel machine
The second process of seeking Of the middle bent portion for each stroke determined by the second process
From the cumulative change in distance from the reference line and the initial value of this distance
The distance from the reference line of the middle fold that is obtained, and in the second process
Attitude angle of tunnel machine and pilot head angle
And the position is calculated from the length of each part of the tunnel machine
And a third step,Reaction during pilot head press-fitting operation in the first process
The angle of change of posture of the tunnel machine due to motion is ξ ₂ And then pie
With the lot head angle being η, the posture change angle ξ ₂ At that time
Linear function of the pilot head angle η ₂ As
like ξ ₂ =-(Αη + γ) Other horizontal position measurement values from the ground, vertical position and
And the attitude angle measurement value
Estimate the dynamic model of the tunnel machine
And configure the control system Tunnel excavator characterized by
Automatic direction control method. Wherein said posture change angle xi] ₁ of tunnel boring machine during the pilot head tilting operation in the first process, the soil around the ground and β becomes ξ ₁ = -βΔη when a Δη the operation of the head angle Characteristic value and pipe shape, elastic coefficient, length of each part of the tunnel machine and analytically determined from the number of subsequent pipes, a control system is configured based on the dynamic model of the tunnel machine. Item 1. An automatic direction control method for a tunnel machine according to Item 1. 3. The extension amount of the pilot jack, where the attitude change angle ξ ₃ of the tunnel machine from the completion of the pilot head press-fitting operation at the end of the entire propulsion operation by the original push in the first step is set to a constant multiple of the pilot head angle. From the ratio of the sum of the length of the front propulsion cylinder of the tunnel machine and the length of the pilot head, the pilot head length is L _h , the stroke length is L _s , the front propulsion cylinder is the length L _f , and the pilot head is calculated by the angular as _{η ξ 3 = {L s /} (L h + L f)} η, claim 1, wherein the configuring the control system on the basis of a dynamic model of the tunnel boring machine or
The automatic direction control method of the tunnel excavator according to 2 or 3. 4. The position which becomes the center of the posture change of the tunnel excavator during the tilting operation of the pilot head in the second step, the soil property value of the surrounding ground, the shape of the pipe, the elastic coefficient, the length of each part of the tunnel excavator, and analytically determined from the following pipe number, according to claim 1, 2 or 3 Neu, characterized in that configuring the control system on the basis of a dynamic model of the tunnel excavator
A method for automatically controlling the direction of a tunnel excavator according to any of the above. 5. The position which becomes the center of the posture change of the tunnel excavator at the time of the pilot head press-fitting operation in the second step, the soil property value of the surrounding ground, the shape of the pipe, the elastic coefficient, the length of each part of the tunnel excavator, and analytically determined from the following pipe number, claim 1, 2, 3 or 4, characterized in that it constitutes a control system based on the dynamic model of the tunnel excavator
An automatic direction control method for a tunnel machine according to any one of 1 . 6. A first operation of tilting the pilot head in a correcting direction, a second operation of press-fitting the pilot head by extension of the pilot jack to create a space in the soil in the propulsion direction, while shrinking the pilot jack,
The direction control is performed by the three operations of the third operation of propelling the tunnel excavator and the entire buried pipe following the tunnel excavator by the push jack in the starting shaft, completing the one-stroke propulsion A recording medium storing a program for implementing an automatic direction control method for a press-fit tunnel excavator in which a front propulsion cylinder and a rear propulsion cylinder are connected via a section, The pipe is modeled as a beam on an elastic floor, the rotation angle due to the recoil when the pilot head is press-fitted is assumed to be a linear function of the tilt angle of the pilot head, and all the parameters other than its internal parameters can be analytically determined. Input the operation amount,
Using a dynamic model that outputs the tip position of the pilot head, the dynamic model calculates the change in the posture angle for each operation based on the size of the set pilot head angle and the angle changed from the previous time. , A first step of linearly combining these to obtain a posture change angle per stroke, and an initial value of the posture angle based on a measured value and a posture change angle for each stroke obtained by the first step The attitude angle of the tunnel machine after the passage is obtained, and by using this, the reference line at the end of each operation step is determined by the length of each part of the machine and the change in the attitude angle at each operation step of this time calculated in the first process. The change distance from the reference line of the middle part of the tunnel machine after the next stroke is calculated by linearly combining these values. The second step, the cumulative change in the distance from the reference line of the middle bent portion for each stroke obtained in the second step, the distance from the reference line of the middle bent portion obtained from the initial value of this distance, and the second step And a third step of calculating the position from the attitude angle of the tunnel machine obtained in step 1, and the pilot head angle and the length of each part of the tunnel machine, and a counteraction at the pilot head press-fitting operation in the first step.
Let ξ ₂ be the posture change angle of the tunnel machine due to motion , and
When the lot head angle is η, the attitude change angle ξ ₂ is
As a linear function ξ ₂ of the pilot head angle η
As xi] ₂ = - assuming (αη + γ) and the other horizontal position measurement value from the ground, your vertical position
And the attitude angle measurement value
Estimate the dynamic model of the tunnel machine
A recording medium on which an automatic direction control program for a tunnel machine is recorded, characterized by configuring a control system in and . 7. In the first step, when the attitude change angle of the tunnel excavator during tilting operation of the pilot head is ξ ₁ , and the operation amount of the head angle is Δη, β such that ξ ₁ = −βΔη is obtained, and β is the soil of the surrounding ground. Characteristic value and pipe shape, elastic coefficient, length of each part of the tunnel machine and analytically determined from the number of subsequent pipes, a control system is configured based on the dynamic model of the tunnel machine. A recording medium recording the automatic direction control program of the tunnel machine according to Item 6 . 8. The extension amount of the pilot jack, where the posture change angle ξ ₃ of the tunnel machine from the completion of the pilot head press-fitting operation at the end of the entire propulsion operation by the original pushing in the first step is set as a constant multiple of the pilot head angle. From the ratio of the sum of the length of the front propulsion cylinder of the tunnel machine and the length of the pilot head, the pilot head length is L _h , the stroke length is L _s , the front propulsion cylinder is the length L _f , and the pilot head is calculated by the angular as _{η ξ 3 = {L s /} (L h + L f)} η, or claim 6, characterized in that configuring the control system on the basis of a dynamic model of the tunnel excavator
A recording medium on which the automatic direction control program for the tunnel machine described in item 7 is recorded. 9. The position, which is the center of the posture change of the tunnel excavator during the tilting operation of the pilot head in the second step, is the soil property value of the surrounding ground, the shape of the pipe, the elastic coefficient, the length of each part of the tunnel excavator, and analytically determined from the following pipe number, claim 6, 7 or 8 Neu, characterized in that configuring the control system on the basis of a dynamic model of the tunnel excavator
A recording medium on which the automatic direction control program of the tunnel machine described in the above is recorded. 10. The position, which is the center of the posture change of the tunnel excavator during the pilot head press-fitting operation in the second step, is the soil value of the surrounding ground, the shape of the pipe, the elastic coefficient, the length of each part of the tunnel excavator, and Analytically determined from the number of subsequent tubes,
9. A control system is configured based on a dynamic model of the tunnel machine, 6, 6, 8 or
9. A recording medium having recorded therein an automatic direction control program for a tunnel machine.