盾构推进姿态控制策略研究

An Attitude Control Strategy for Shield Thrusting

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.