盾构自动驾驶性能评价体系设计和应用

Design and Application of Performance Evaluation System for Self-Driving Shields

针对当前自主驾驶盾构评价缺乏一套系统、客观、全面的评价标准和方法的问题,在分析当前盾构自主驾驶发展现状基础上,围绕隧道质量、环境安全、掘进效率、控制性能和用户体验5个维度建立了盾构自动驾驶性能评价体系。并以此为基础,以“智驭号”盾构自主掘进控制系统在南京和郑州的应用为例,对项目的自动驾驶性能进行评价和分析。评价结果表明:“智驭号”盾构自主掘进控制系统在各维度下控制效果好,对不同情况适应性强,但在高程下坡姿态控制、自立性差的土层中的沉降控制、砂性土中速度和转矩的控制方面有提升的空间,掘进效率方面也有改进的空间。该评价体系能够科学准确地识别盾构自动驾驶系统性能的特点、实现简洁清晰的评分。评价体系不仅有助于定量化地分析各个控制系统的特点,而且还可以帮助开发者和实施者发现盾构自动驾驶系统存在的问题,为盾构自动驾驶技术发展和工业化应用提供参考。

Current self-driving shields lack systematic,objective,and comprehensive evaluation methods.To address this issue,a self-driving shield performance evaluation system is developed.This system can evaluate five aspects of self-driving shields:tunnel quality,environmental safety,excavation efficiency,control performance,and user experience.Furthermore,a case study is conducted on the self-driving system of shield Zhiyu used in Nanjing and Zhengzhou,China,to assess and analyze its self-driving performance.The evaluation results show the following:(1)The self-driving system of shield Zhiyu exhibits good control effect in all dimensions and strong adaptability to various conditions;however,it requires improvement regarding the control of downhill vertical attitude,settlement control of poor self-supporting soil,and speed and torque control in sandy soil.(2)Moreover,tunneling efficiency should be improved in future.The proposed evaluation system can reasonably and accurately identify the performance characteristics of shield self-driving systems with concise scoring.Further,the system not only helps to quantitatively analyze the characteristics of each control system but also helps developers and users to determine problems of a shield self-driving system and provides a reference for the development and industrial application of shield self-driving technology.