摘要
现有盾构机在隧道掘进过程中主要依靠人工驾驶,对操作员驾驶经验依赖大.由于操作员反应不及时,挖掘轨迹易呈蛇形,需要计算机进行自动纠偏.为此,文中研究提出了一种基于模糊控制的自动纠偏方法,该方法仅以盾构机的运行偏差作为输入,输出推力液压缸压差的调整值,相比现有的研究方法,具有更高的响应速度和鲁棒性.此外,研究提出了总推力调节方法以及适用于低土压环境的压差分配策略,进一步减少了对人工操作的依赖,并扩展了自动纠偏系统的适用路段.实验结果表明,所开发的自动纠偏系统能够将偏差控制在施工要求范围内,并有效地使偏差收敛到目标值,相较于人工驾驶具有一定优势.
Abstract
In the process of tunnel excavation,existing shield machines primarily rely on manual driving,which heavily depends on the operators'experience.However,operators'responses may not always be timely,and the excavation trajectory is prone to exhibiting a snake-like shape.This necessitates automatic deviation correction by a computer.To address this issue,an automatic deviation correction method based on fuzzy control is proposed.This method takes only the running deviation of the shield machine as input data and outputs the adjusted value of the pressure difference in the thrust hydraulic cylinder.Compared with existing research methods,this approach offers faster response speed and superior robustness.Furthermore,a total thrust adjustment method and a differential pressure distribution strategy tailored for low earth pressure environments have been developed.These innovations further reduce the reliance on manual operation and expand the range of applicable sections for the automatic rectification system.Experimental results demonstrate that the developed automatic rectification system can effectively control deviations within the scope of construction requirements and efficiently converge deviations to the target value.Compared to manual driving,this approach exhibits distinct advantages.
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