盾构掘进姿态自动控制技术研究与应用

Research and Application of Automatic Control Technology for Shield Tunneling Attitude

为解决盾构施工过程中姿态控制的滞后性及缺乏理论支撑的难题,基于盾构纠偏原理、人工经验及专家知识等规则,设计盾构最佳纠偏曲线模型,建立姿态模糊控制器,提出一种盾构施工的姿态自动控制方法。该方法可解决传统模糊控制中输入参数超出其基本论域的问题,当姿态偏差值和趋势值在偏差允许范围内,直接启动模糊控制器输出油缸压力差并进行姿态控制;当姿态偏差值和趋势值超出偏差允许范围,构建最佳纠偏曲线模型,模糊控制器的输入参数为盾构位姿相对于最佳纠偏曲线的偏差值和趋势值,根据输出的油缸压力差进行盾构姿态纠偏。设计盾构掘进姿态自动控制系统,并在盾构施工现场进行测试应用,结果表明:基于模糊理论及最佳纠偏曲线的控制策略可实现盾构姿态的自动控制。

Control of shield tunneling attitude is challenging due to its hysteresis and lack of theoretical support.The authors address this issue by developing an optimal correction curve model for the shield by leveraging manual expertise and expert knowledge.An attitude fuzzy controller is established to propose an automatic attitude control method.This method effectively addresses the problem of traditional fuzzy control systems exceeding the basic theory domain in terms of input parameters.When the attitude deviation and trend values fall within the allowable range,the fuzzy controller can immediately initiate the output of cylinder pressure differences to regulate the attitude.However,if these values exceed the acceptable deviation range,an optimal deviation curve model is employed.The input parameters for the fuzzy controller are then determined based on the shield′s attitude deviation and trend relative to the optimal deviation curve,allowing for correction through adjustments in cylinder pressure differences.Furthermore,to validate this approach,an automatic control system for shield attitude is designed and tested at a shield construction site.The results demonstrate the successful implementation of automatic shield attitude control,leveraging fuzzy theory and the optimal correction curve.