基于自主纠偏算法的隧洞盾构机施工掘进姿态控制方法

A Method for Controlling the Excavation Posture of Tunnel Shield Machine Based on Autonomous Correction Algorithm

隧洞盾构机掘进施工过程中,单一的姿态调节参数保持固定不变,使得构机施工轴线偏差较大。因此,提出基于自主纠偏算法的隧洞盾构机施工掘进姿态控制方法。运用三角网格算法,对隧洞施工空间环境地图进行剖分处理,建立掘进空间栅格地图;在栅格地图中分析每个盾构单环掘进的线性位移过程,获取盾构机施工掘进具体姿态。与期望施工掘进姿态进行对比,计算出当前盾构机施工位姿偏差,结合PID控制算法和BP神经网络,设计新型自主纠偏算法,根据实时位姿偏差,自适应调整姿态调节参数,实现盾构机施工姿态纠偏控制。算例测试结果表明:新研究控制方法应用后,盾构机施工的轴线偏差不超过10mm,满足了掘进姿态控制标准要求。

During the excavation process of a tunnel shield machine,a single attitude adjustment parameter remains un-changed,resulting in a significant deviation in the construction axis of the machine.Therefore,a method for controlling the excavation posture of tunnel shield machines based on autonomous correction algorithms is proposed.Using the trian-gular grid algorithm,the spatial environment map of tunnel construction is segmented and a grid map of excavation space is established.Analysis of the linear displacement process of each shield tunneling single ring excavation in a grid map is made to obtain the specific posture of the shield tunneling machine during construction.Compared with the expected con-struction and excavation posture,the current shield machine construction posture deviation is calculated.Combining PID control algorithm and BP neural network,a new autonomous correction algorithm is designed.Based on real-time posture deviation,the posture adjustment parameters are adaptively adjusted to achieve shield machine construction posture cor-rection control.The test results of the example show that after the application of the new research control method,the axis deviation of shield tunneling machine construction does not exceed 10 mm,which meets the requirements of excavation posture control standards.