盾构推进姿态控制策略研究
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摘要
为提高盾构施工过程中姿态控制系统的控制精度和控制性能,提出一种盾构推进姿态控制策略。该策略将轨迹自动跟踪控制方法与模糊自适应PID闭环控制算法相结合,通过轨迹、位移、压力等多个闭环反馈实现对各个分区液压缸的速度控制,保证盾构推进轨迹按照设计的隧道轴线运行,并通过电液控制试验平台中的推进系统对提出的策略进行试验验证。结果表明,文章提出的控制策略能够使位移偏差维持在5 mm之内,可以很好地满足施工要求。
In order to improve the control accuracy and control performance of attitude control system of shield during construction, a control strategy for shield boring attitude is proposed. In this strategy, the trajectory automatic tracking control method is combined with fuzzy adaptive PID closed-loop control algorithm; and the speed control of each partition hydraulic cylinder is realized by multiple closed-loop feedback of trajectory, displacement and pressure, so as to ensure the shield is boring along the design axis of tunnel. Meanwhile, the thrust system of electrohydraulic control experimental platform is used to verify the effectiveness of the above-mentioned strategy. The results show that the proposed control strategy can guarantee the displacement deviation within 5 mm, which can meet the construction requirements.
In order to improve the control accuracy and control performance of attitude control system of shield during construction, a control strategy for shield boring attitude is proposed. In this strategy, the trajectory automatic tracking control method is combined with fuzzy adaptive PID closed-loop control algorithm; and the speed control of each partition hydraulic cylinder is realized by multiple closed-loop feedback of trajectory, displacement and pressure, so as to ensure the shield is boring along the design axis of tunnel. Meanwhile, the thrust system of electrohydraulic control experimental platform is used to verify the effectiveness of the above-mentioned strategy. The results show that the proposed control strategy can guarantee the displacement deviation within 5 mm, which can meet the construction requirements.
引文
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[13] 张振,龚国芳,吴伟强,等.硬岩隧道掘进机推进系统姿态自适应控制[J].浙江大学学报(工学版),2015(10):1870.ZHANG Zhen,GONG Guofang,WU Weiqiang,et al.Adaptive attitude control of thrust system for hard rock tunnel boring machine[J].Journal of Zhejiang University(Engineering Science),2015(10):1870.
[14] 霍建勋,王明年,晁峰.起伏基岩地层盾构姿态控制及刀具配置分析[J].隧道建设,2017,37(增刊1):219.HUO Jianxun,WANG Mingnian,CHAO Feng.Analysis of attitude control and cutting tool configuration of shield tunneling in fluctuated rock[J].Tunnel Construction,2017,37(S1):219.
[15] YANG Huayong,SHI Hu,GONG Guofang.Motion control of thrust system for shield tunneling machine[J].Journal of Central South University of Technology,2010,17(3):537.
[2] 尹清锋,油新华,张峰,等.盾构姿态系统控制技术[J].都市快轨交通,2012,25(3):86.YIN Qingfeng,YOU Xinhua,ZHANG Feng,et al.System control technology of shield gesture[J].Urban Rapid Rail Transit,2012,25(3):86.
[3] 朱江涛.盾构掘进姿态的影响因素及纠偏[J].建设机械技术与管理,2017(增刊1):88.ZHU Jiangtao.Influence factors and rectification on tunneling attitude of the shield machine[J].Technology & Management for Construction Machinery,2017(S1):88.
[4] 梁荣柱,夏唐代,林存刚,等.软土地区盾构施工竖向姿态控制研究[J].现代隧道技术,2015,52(5):152.LIANG Rongzhu,XIA Tangdai,LIN Cungang,et al.Control of the shield′s vertical attitude during shield tunneling in soft soils[J].Modern Tunnelling Technology,2015,52(5):152.
[5] 高超.软土地层盾构掘进施工姿态控制技术研究[J].工程技术研究,2017(3):67.GAO Chao.Study of shield boring attitude control technology in soft soil[J].Engineering and Technology Research,2017(3):67.
[6] 王春凯.盾构姿态控制研究[J].隧道建设,2016,36(11):1389.WANG Chunkai.Analysis of shield attitude control technology[J].Tunnel Construction,2016,36(11):1389.
[7] 张爱军.上软下硬地层盾构掘进姿态施工参数模糊控制研究[J].铁道科学与工程学报,2018,15(11):2920.ZHANG Aijun.Study of fuzzy control on tunneling parameters of shield attitude in upper-soft and lower-hard ground[J].Journal of Railway Science and Engineering,2018,15(11):2920.
[8] 王林涛.盾构掘进姿态控制关键技术研究[D].杭州:浙江大学,2014.WANG Lintao.Research on key technologies for attitude control of shield tunneling machine[D].Hangzhou:Zhejiang University,2014.
[9] 周奇才,陈俊儒,何自强,等.盾构智能化姿态控制器的设计[J].同济大学学报(自然科学版),2008(1):76.ZHOU Qicai,CHEN Junru,HE Ziqiang,et al.Design of intellectualized controller of shield machine[J].Journal of Tongji University (Natural Science),2008(1):76.
[10] LIU Huajiang,WANG Jingcheng,ZHANG Langwen,et al.Dynamic modeling and trajectory tracking control of tunnel boring machine[C]// Control and Decision Conference.New York:IEEE,2014.
[11] 龚国芳,洪开荣,周天宇,等.基于模糊PID方法的盾构掘进姿态控制研究[J].隧道建设,2014,34(7):608.GONG Guofang,HONG Kairong,ZHOU Tianyu,et al.Research on shield boring attitude control based on fuzzy PID algorithm[J].Tunnel Constuction,2014,34(7):608.
[12] YUE Ming,SUN Wei,HU Ping.Dynamic coordinated control of attitude correction for the shield tunneling based on load observer[J].Automation in Construction,2012,24(2):24.
[13] 张振,龚国芳,吴伟强,等.硬岩隧道掘进机推进系统姿态自适应控制[J].浙江大学学报(工学版),2015(10):1870.ZHANG Zhen,GONG Guofang,WU Weiqiang,et al.Adaptive attitude control of thrust system for hard rock tunnel boring machine[J].Journal of Zhejiang University(Engineering Science),2015(10):1870.
[14] 霍建勋,王明年,晁峰.起伏基岩地层盾构姿态控制及刀具配置分析[J].隧道建设,2017,37(增刊1):219.HUO Jianxun,WANG Mingnian,CHAO Feng.Analysis of attitude control and cutting tool configuration of shield tunneling in fluctuated rock[J].Tunnel Construction,2017,37(S1):219.
[15] YANG Huayong,SHI Hu,GONG Guofang.Motion control of thrust system for shield tunneling machine[J].Journal of Central South University of Technology,2010,17(3):537.