JPH0666083A - Attitude control device for shield excavator - Google Patents

Abstract

PURPOSE:To enhance the working accuracy by calculating a turning moment every time when an excavator is advanced by a small distance which is obtained by equally dividing a newest excavating section, and by compensating thus calculated turning moment in accordance with a past averaged turning moment and a variation in attitude angle. CONSTITUTION:Every time when a shield excavator is advanced by a small distance L/K which is obtained by equally dividing a predetermined distance L of a section relating to the travel distance of the excavator, with a number K, a turning moment M is calculated by turning moment calculating devices 14, 15. When the excavator comes to the end of the section, a detected value of an attitude angle 6 is delivered, and vertical and lateral model forming parts 112, 122 create vertical and lateral models with the use of the detected attitude angle value theta and the turning moments obtained at four times. Further, vertical and lateral computing parts 111, 121 calculate a difference etheta between the detected attitude angle value and the desired value. Further, vertical and lateral compensated moment creating parts 113, 123 create compensated turning moments MV, MH so as to generate an optimum jack pattern.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shield machine for forming a passage such as a tunnel in the ground, and more particularly to a posture control device for minimizing a posture from a planned tunnel line and a positional deviation.

[0002]

2. Description of the Related Art In a shield machine, a circular excavation part is supported by a plurality of jacks from behind and propelled, and attitude control is required to propel it along a planned tunnel line. . The attitude control is performed by applying a rotation moment to the excavation section in the propulsion direction by a plurality of jacks arranged at intervals in the circumferential direction, and this rotation moment turns on any of the plurality of jacks. You can change it. Normally, the number of jacks is 10 or more, and the combination of jacks turned on is called a jack pattern. For example, in the case of 16 jacks, the types of jack patterns reach 2 ¹⁶ .

To briefly explain the conventional attitude control devices, the attitude angle θ of the excavation part is measured, the rotation moment M acting on the excavation part is calculated, and the attitude angle variation Δθ and the rotation moment data are accumulated. . Then, when the excavation of one ring of shield (usually about 90 cm) is completed, the posture angle change amount is calculated by performing a statistical analysis by a method such as a linear correlation based on the data of several past rings to several tens of rings offline. A correlation model with the rotation moment is created as an updated model.

In the attitude control thereafter, the difference between the target attitude angle and the current attitude angle is calculated, the rotational moment is calculated based on the updated model created by using this difference as the command angle, and the calculated rotational moment is determined. Select the jack pattern that will result.

[0005]

However, the attitude control as described above is not a model that captures changes in soil quality immediately before tunnel construction, mechanical backlash characteristics of the shield machine itself, and changes due to disturbances. There was a case where the accuracy of tunnel construction deteriorated due to control or poor trackability, or attitude control itself became difficult.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide an attitude control device for a shield machine which can improve the tunneling accuracy by fine attitude control.

[0007]

According to the present invention, a tunnel is excavated while propelling an excavation section with a plurality of jacks, and a jack pattern for defining which one of the plurality of jacks is to be turned on is appropriately selected. Meanwhile, in the attitude control device of the shield machine for propelling the excavation part at a target attitude angle, a predetermined distance L
The set as one section, means for calculating a rotational moment M acting on the drilling unit each time advancing the latest excavation section L _n k by a small distance L / k obtained by equally dividing, the drilling section L _n
Obtains the difference between the orientation angle at the end of the previous section as the posture angle variation [Delta] [theta] _n in the end point of the orientation angle θ and with obtaining the average rotational moment M _n of the section L _n, said drilling these values Model creating means for creating a linear approximation model of the rotation moment and the posture angle change amount by using a plurality of types of data based on the average rotation moment and the posture angle change amount of the past several sections before the section L _n. , A means for calculating a difference eθ between the latest attitude angle θ and a target attitude angle, and a correction moment creating means for creating a modified rotation moment from the created model using the difference eθ. The feature is that the optimum jack pattern is selected based on the rotation moment.

It should be noted that the model creating means determines whether or not the plurality of types of data are dispersed so as to be suitable for the linear equation approximation, and when the data are dispersed so as to be suitable for the linear equation approximation, From these plural kinds of data, the inclination α of the linear approximation line and the offset value M of the rotational moment
_of is determined, and it is determined whether or not the obtained slope α is within a predetermined range. If the slope α is within a predetermined range, the slope α and the offset value M _of The step used as the value of the linear approximation model, and if the plurality of types of data are not dispersed so as to be suitable for the linear approximation or the slope α is out of a predetermined range, the slope α is set as the previous value. The value of the linear approximation model is used to determine whether or not the posture angle change amount Δθ _n is within an allowable range, and if it is within a predetermined range, the rotational moment offset value is also the value of the previous linear approximation model. a step of using, when the attitude angle change amount [Delta] [theta] _n in said step is out of the allowable range, the average rotational moment M _n and the latest attitude angle change amount Δ
determining the offset value M _{of the} rotational moment from θ _n and the inclination α.

The shield machine updates the model each time the excavation of each excavation section is completed.

[0010]

1 shows the structure of the main part of an attitude control device according to the present invention, in which an attitude angle .theta. From an attitude angle detector (not shown) for measuring the attitude angle of the excavation portion of the shield machine 10 is shown. , The rotational moment M from the rotational moment calculators 14 and 15 for calculating the rotational moment acting on the excavation section, and the target value of the posture angle are used to perform processing in the steps described below. The control device has a vertical processing unit 11 that performs a process for attitude control in the vertical direction of the excavation unit, and a horizontal direction processing unit 12 that performs a process for attitude control in the horizontal direction of the excavation unit. Is actually realized by a microcomputer or the like.

The vertical direction processing unit 11 calculates the difference eθ _V between the vertical posture angle target value θ _VS and the vertical posture angle detection value θ _V detected by the posture angle detector. 111, a posture angle detected value θ _V in the vertical direction, and a rotation moment M _V in the vertical direction calculated by the rotation moment calculation device 14, a linear expression approximate model of the posture angle change amount Δθ _V and the rotation moment M _V is obtained. The model includes a vertical model creating unit 112 that creates a vertical model, and a vertical correction moment creating unit 113 that creates a vertical correction rotational moment M _V ′ from the created vertical model and the difference eθ _V.

The left / right direction processing unit 12 calculates a difference eθ _H between the target value θ _HS of the left / right direction posture angle and the left / right direction posture angle detection value θ _H , and the left / right direction posture angle. From the detected value θ _H and the rotational moment M _H in the left-right direction calculated by the rotational moment calculation device 15, a left-right direction in which a linear approximation model of the posture angle change amount Δθ _H and the rotational moment M _H is created as a left-right direction model The model creating unit 122 includes a left-right direction correction moment creating unit 123 that creates a left-right direction correction rotational moment M _H ′ from the created left-right direction model and the difference eθ _H.

[0013] jack pattern generator 13, vertical and horizontal directions of the corrected rotation moment M _V ', M _H' is for selecting the optimum jack pattern based on.

Next, the processing operation of the control device will be described with reference to FIG. In this device, a predetermined distance L (40 mm in this example) with respect to the moving distance of the shield machine is defined as one section, and this is divided into k equal parts (4 equal parts in this example) L / k (this example) Then, each time the vehicle moves forward by 10 mm (step S1), the rotational moment M is calculated by the rotational moment calculators 14 and 15 (step S2). This calculation is repeated until the shield machine advances one section.

When the shield machine reaches the end point of one section (step S3), the detected value of the posture angle θ is output, and the vertical direction model creating section 112 and the horizontal direction model creating section 122 are output.
Create a vertical direction model and a horizontal direction model using the detected posture angle value θ and the rotation moment M for four times, respectively (step S4). Then, the vertical direction calculation unit 11
1. The left / right direction calculation unit 121 calculates the difference (error) eθ between the detected posture angle value and the target value (step S).
5).

In step S6, the vertical correction moment creating section 113 and the horizontal correction moment creating section 123 are provided.
Creates a corrected rotational moment M _V ′ in the vertical direction and a corrected rotational moment M _H ′ in the horizontal direction from the created model and the difference eθ. Jack pattern generator 1
In 3, the optimum jack pattern is generated from the created vertical and horizontal correction rotational moments (step S7). Similarly, step S is performed for each section.
1 to S7 are repeated.

Next, with reference to FIGS. 3 to 7, step S4 for creating a model, which is a characteristic part of the present invention, will be described in detail. Note that only the vertical processing unit 11 will be described here for the sake of clarity. Figure 2
When the posture angle changes from θ ₀ to θ ₄ while advancing a fixed distance (40 mm) in step S1 of 1., the posture angle change amount Δθ is represented by (θ ₄ −θ ₀ ). If the rotation moment M acting during this period is constant, it is considered that there is a constant relationship between the posture angle change amount Δθ and the rotation moment M. If this is taken as a proportional relationship, the posture angle change amount is Δθ is expressed by the following mathematical formula 1.

[0018]

[Equation 1]

Here, α is a proportional constant, and M _of is a moment required to maintain a constant posture angle.

FIG. 3 shows an example of the values of the posture angle and the rotation moment. Here, it is assumed that the section 6 is the latest section, and M _{11 to} M ₁₄ are obtained as the calculated values of the rotation moment during this section. Note that θ ₀ and θ ₄ are section 5 and section 6, respectively.
It is the posture angle detection value at the end point in.

In step S4 of FIG. 2, the relationship between the rotation moment and the attitude angle change amount is determined from the data of the change amounts of the rotation moment and the attitude angle applied while moving forward in the latest section 6 and the data of the sections 2 to 5. Is modeled by approximating a linear expression. The data used for modeling is obtained as follows.

At the end point of the latest section 6, the average rotational moment M _V6 and the posture angle change amount Δθ _V6 of the section 6 are given by the following equation 2,
Determined by 3.

[0023]

[Equation 2]

[0024]

[Equation 3]

FIG. 4a is a plot of the relationship between the average rotational moment and the posture angle change amount obtained by the above-mentioned method in the sections 1 to 5 in which the excavation has already been completed before the section 6 on the M-Δθ plane ( P1 to P5), and FIG. 4b shows the relation between the average rotational moment M _V6 obtained in the section 6 and the posture angle change amount Δθ _V6 added to P 4 in FIG. 4a. It should be noted that the past data used for creating the model in the section 6 are the four sections 2, 3, 4, 5 before the latest section 6 here, and thus the data in the section 1 are deleted in FIG. 4b. ing.

In this way, in this example, the model of the section 6 is created by using the latest data of the section 6 and the sections 2 to 2 before it.
The linear approximation model represented by the equation 1 is created from the data of 5 points in 5 sections, which is combined with each data of 5, and the proportionality constant α is set as the inclination of the linear approximation line and the moment M _of is set as the offset value below. Obtained by the method described.

Referring to FIG. 5, in step SS1, the degree of data dispersion at 5 points is determined. This is to determine whether the data pattern of 5 points is a pattern to which the direct calculation method described later can be applied. The direct calculation method is a method of estimating the linear approximation line from the data of 5 points, and cannot be applied when the data of 5 points concentrate on 1 point. The data points need to be scattered in a relationship. 5
If the point data are appropriately scattered, the process proceeds to step SS2.

In step SS2, the slope α of the linear approximation line and the offset value M _of are directly calculated from the data of 5 points as shown in FIG. 4b. A typical example of the calculation method is the least squares method, but other methods may be used. The inclination alpha and the offset value M _of is calculated, a predetermined range alpha _max (upper limit value) shown in FIG. 6 relative inclination alpha, alpha _min of whether subsided the (lower limit) within the determination is made ( Steps SS3, SS4). Then, if the slope α is satisfied the conditions of α _min <α <α _max, a linear equation approximation model _{Δθ = α (M-M of} ) is determined (step SS5).

On the other hand, if it is determined in step SS1 that the degree of data dispersion is not appropriate, or if it is determined in steps SS3 and SS4 that the slope α exceeds the predetermined range, the slope is determined in section 5. Used (step SS6).

Next, at step SS7, it is judged whether or not the posture angle change amount Δθ _{V6 at} the end point of the section 6 is within the allowable range as shown by the broken line in FIG. 7, and if it is within the allowable range. For example, the offset value obtained in section 5 is used (step SS8). This is because, if all the data are within a certain allowable range with respect to the previously created model, the previous model sufficiently exhibits the behavioral characteristics and the model need not be changed.

On the other hand, if the attitude angle variation Δθ _V6 is out of the predetermined range in step SS7, as shown by point P6 in FIG. 7, the process proceeds to step SS9 to translate the linear approximation straight line. And adjust the offset value. In this case, since the inclination α is already known as the previous value, the offset value M _{of6 of the} straight line passing through the point P6 in FIG.

[0032]

[Equation 4]

The offset value M _{of the} latest model is obtained by averaging the offsets of several sections including the latest section 6 thus obtained. For example, if the number of sections is 3 sections,
The offset value Mof _{of the} latest model is calculated by the following mathematical expression 5.

[0034]

[Equation 5]

However, M _V4 and M _V5 are sections 4 and 5, respectively.
In the above equation, Δθ _V4 and Δθ _V5 are the rotational moments obtained by creating the model, respectively, and are the attitude angle change amounts at the end points of sections 4 and 5, respectively.

When the linear approximation model is created as described above, as shown in FIG. 2, the latest posture angle θ ₄
The difference eθ _V between the target value and the target value is obtained. And this difference e
From θ _V and the linear approximation model, the corrected rotational moment M _V
´ is created. The rotational moment M required to make the difference eθ _V zero in the next one section is the rotational moment that causes the angular change Δθ of the difference eθ _V × (−1). Equation 6 is obtained.

[0037]

[Equation 6]

As described above, in the present invention, every time the shield machine excavates one short-distance section (for example, 40 mm), the least-squares method or the like is performed based on the past four sections of data and the current latest data. A model is calculated for each section by using the model, the rotational moment to be output next is obtained by this model, the jack pattern most suitable for this rotational moment is selected, and the excavation of the next section is performed. In the example, 4
A model is created every 0 mm, but by reducing this to 20 mm and 10 mm, the shape becomes closer to continuous control, and a more accurate model is created to improve the tunnel construction accuracy. be able to.

[0039]

As described above, according to the present invention, the following effects can be obtained.

By evaluating the soil quality only with the latest data of several cm and constantly updating the model, changes in the soil quality can be quickly followed without being affected by past data. In addition, the influence of disturbance is quickly eliminated.

The latest soil characteristics can be grasped by deriving a model from the data of the limited area and updating it sequentially.

Since the model is constantly updated, it is possible to cope with sudden changes in soil quality.

Since the model is always created based on the phenomenon itself, a model faithful to the soil condition at that time can be obtained, and improvement in control accuracy can be expected.

The procedure is simplified, and it is judged by a human being,
It does not need to be modified and can be easily automated.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of a main part in an embodiment of the present invention.

FIG. 2 is a flow chart diagram for explaining an attitude control operation according to the present invention.

FIG. 3 is a diagram showing changes over time in the posture angle and the rotation moment measured in the present invention.

FIG. 4 is a diagram showing an example of a model created in the present invention.

5 is a flow chart diagram for explaining a detailed operation of step S4 shown in FIG. 2. FIG.

FIG. 6 is a diagram for explaining the operation of steps SS3 and SS4 shown in FIG. 5.

FIG. 7 is a diagram for explaining a model creating operation in the present invention.

[Explanation of symbols]

 11 Vertical Direction Processing Section 12 Horizontal Direction Processing Section 13 Jack Pattern Generation Section 14, 15 Rotational Moment Calculator 111 Vertical Direction Calculation Section 112 Vertical Direction Model Creation Section 113 Vertical Correction Moment Creation Section 121 Horizontal Direction Calculation Section 122 Horizontal Direction Model Creation Part 123 Left-right correction moment creation unit

Claims (3)

[Claims] 1. A tunnel is excavated while propelling an excavation section with a plurality of jacks, and the excavation section is targeted while appropriately selecting a jack pattern that defines which one of the plurality of jacks is turned on. In the attitude control device of the shield machine for propelling at the attitude angle,
A predetermined distance L is defined as one section, and means for calculating a rotation moment M acting on the excavation section every time the vehicle is advanced by a minute distance L / k obtained by equally dividing the latest excavation section L _n into k sections; obtains the difference between the orientation angle at the end of the previous section as the posture angle variation [Delta] [theta] _n with obtaining the average rotational moment M _n of attitude angle θ and the interval L _n at the end point of the interval L _n, these values And the excavation section L _n
Model creating means for creating a linear approximation model of the rotation moment and the posture angle change amount by using a plurality of types of data based on the average rotation moment and the posture angle change amount for the past several sections, and the latest model The correction rotation moment includes a means for calculating a difference eθ between the posture angle θ and a target posture angle, and a correction moment generation means for generating a correction rotation moment from the model created using the difference eθ. An attitude control device for a shield machine, which is characterized in that an optimum jack pattern is selected based on the above. 2. The attitude control device according to claim 1, wherein
The model creating means determines whether or not the plurality of types of data are dispersed so as to be suitable for the linear equation approximation, and when the plurality of types of data are dispersed so as to be suitable for the linear equation approximation. The slope α of the linear approximation line and the offset value M _{of the} rotational moment are calculated from these plural kinds of data, and it is determined whether or not the calculated slope α is within a predetermined range. Is within a predetermined range, the step of using the slope α and the offset value M _of as the latest linear approximation model value, and the plurality of types of data are not dispersed so as to be suitable for the linear approximation. What if or when the inclination alpha is out of the predetermined range, using the value of the previous first-order equation approximation model as the inclination alpha, and the posture angle variation [Delta] [theta] _n is within the permissible range When the determine the steps using an offset value is also the value of the last linear equation approximation model of torque if within a predetermined range, which is the posture angle variation [Delta] [theta] _n in said step is out of the allowable range, The average rotation moment M _n
And a step _of obtaining an offset value M _{of the} rotational moment from the posture angle change amount Δθ _n and the inclination α. 3. The attitude control device for the shield machine according to claim 1, wherein the shield machine updates the model each time the excavation of each excavation section is completed.