CN103603671A - Tunneling posture adjustment control system of miniature shield tunneling machine and adjustment method thereof - Google Patents
Tunneling posture adjustment control system of miniature shield tunneling machine and adjustment method thereof Download PDFInfo
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Abstract
The invention discloses a tunneling posture adjustment control system of a miniature shield tunneling machine, and an adjustment method thereof. The tunneling posture adjustment control system of the miniature shield tunneling machine comprises an adjusting mechanism which comprises a datum plate; a plurality of turning cylinders are fixed at one side of the datum plate; a displacement sensor for measuring displacement of a piston rod of the turning cylinder is arranged inside each turning cylinder; the piston rod of each turning cylinder is connected with an adjusting block contacting a cylinder of the miniature shield tunneling machine; each displacement sensor is connected with a controller through an analog-to-digital (AD) conversion circuit; the controller adjusts a tunneling route of the miniature shield tunneling machine by controlling the size of an accelerator of each turning cylinder; the AD conversion circuit and the controller are connected with a switch power supply. The tunneling posture adjustment control system is simple in structure and reliable in control. By the method disclosed by the invention, a moving path in the tunneling process of the shield tunneling machine can be automatically and stably adjusted, and the adjusting accuracy and efficiency are high; meanwhile, artificial participation in a rectifying operation can be reduced, and thus a potential safety hazard is removed.
Description
Technical field
The present invention relates to miniature shield machine, particularly a kind of miniature shield machine driving attitude adjustment control system and method for adjustment.
Background technology
Generally adopt at present shield excavation machine to build subterranean tunnel engineering, shield excavation machine is called for short shield machine, is a kind of special-purpose machinery that excavates subterranean tunnel in weak geology.In order to guarantee the quality of construction, shield machine is in shield structure process, and the route of advancing forward must be according to predefined correct track.But advancing in process of reality, inevitably can there is the situation that track departs from shield machine.When shield machine generation shield structure track departs from the situation of subscribing track, just need deviation-rectifying system to implement correction to shield machine.Miniature shield machine, the tunnel radius that particularly the superminiature shield machine of diameter≤1.5m excavates is little, space structures is limited, is not easy to adopt annular pipe sheet assembling, thereby the propelling cylinder pressure that can not withstand on annular section of jurisdiction by adjusting as general shield machine carries out attitude adjustment.Miniature shield machine generally adopts the operating type of push pipe driving at present, cannot effectively adjust attitude shield machine driving attitude.
Situation about departing from for shield machine generation track in practice of construction, the conventional method correction modes that adopt are manual operations more, first need to locate shield machine, then carry out count measurement, finally again shield machine are carried out to level, the correction of vertical direction.This correction mode is complex operation not only, and correction speed is slow, and precision is not high, and can strengthen construction volume, reduces efficiency of construction.Because shield machine is to tunnel in tunnel, working environment very severe, as adopted manual operation to rectify a deviation, exists larger potential safety hazard simultaneously.The problems such as barrier, surface subsidence, have had a strong impact on control efficiency and precision, even cause safety problem.
Summary of the invention
Technical problem to be solved by this invention is, not enough for prior art, a kind of miniature shield machine driving attitude adjustment control system and method for adjustment are provided, automatically adjust the running orbit in shield machine tunneling process, carry high accuracy of adjustment and regulated efficiency, eliminate safe hidden trouble.
For solving the problems of the technologies described above, the technical solution adopted in the present invention is: a kind of miniature shield machine driving attitude adjustment control system, comprises governor motion; Described governor motion comprises datum plate, and described datum plate one side is fixed with a plurality of lifting rams, is provided with for measuring the displacement transducer of described lifting ram piston rod displacement in described lifting ram; The piston rod of described lifting ram is connected with the regulating block contacting with miniature shield machine oil cylinder; Described displacement transducer is connected with controller by A/D convertor circuit; Described controller is adjusted the driving route of described miniature shield machine by controlling the throttle size of described lifting ram; Described A/D convertor circuit, controller are all connected with Switching Power Supply.
Described controller is also connected with for showing the liquid crystal display of the real-time monitor data of miniature shield machine.
Described datum plate is fixed with support bar away from a side of described lifting ram, makes governor motion structure more firm.
The present invention also provides a kind of method of utilizing above-mentioned control system to adjust miniature shield machine driving attitude, and the method is:
1) build following fuzzy control rule table:
Wherein, PB, PM, PS, ZO, NS, NM, NB represent respectively honest, center, just little, zero, negative little, negative in, greatly negative; Δ kp, Δ ki, Δ kd are respectively the gain of PID controller factor of proportionality, integral coefficient gain, differential coefficient gain;
2) initialize factor of proportionality kp, integral coefficient ki and the differential coefficient kd of PID controller, the factor of proportionality kp after being initialized
0, integral coefficient ki
0with differential coefficient kd
0;
3) gather the shift value that displacement transducer detects, adopt FEM (finite element) model or granular model, described shift value is carried out to numerical simulation, obtain the shift value of expectation, the shift value of the shift value of expectation and setting is compared, obtain the deviation e of shift value, utilize deviation e calculation deviation rate of change ec; Ec obtains by deviation e time differential;
4) fuzzy subset's domain of setting e, ec is e ［ 3,3 ］, and ec ［ 3,3 ］, according to the value of e, ec, by the fuzzy subset under the judgement of maximum membership degree method e, ec;
5), according to the fuzzy subset of e, ec, from described fuzzy control rule table, choose an inference rule;
6) the factor of proportionality gain, integral coefficient gain, the differential coefficient that by mamdani inference method, obtain PID controller gain, and the factor of proportionality kp by factor of proportionality gain, integral coefficient gain, differential coefficient gain and after initializing
0, integral coefficient ki
0with differential coefficient kd
0be added, obtain the PID controller parameter after reasoning;
7) adopt the PID controller parameter after the reasoning of maximum membership degree method defuzzification, obtain factor of proportionality kp, integral coefficient ki and the differential coefficient kd of the PID controller of current iteration;
8) by the factor of proportionality kp of the PID controller of current iteration, integral coefficient ki and differential coefficient kd substitution PID controller;
9) by modulating in the output input sine pulse width modulator of PID controller, generate the conditioning signal of lifting ram throttle size, by regulating lifting ram oil inlet quantity to control lifting ram piston rod displacement;
10) use factor of proportionality kp, integral coefficient ki and the differential coefficient kd of the PID controller of current iteration to substitute the factor of proportionality kp after initializing
0, integral coefficient ki
0with differential coefficient kd
0, repeating step 3)～9), until deviation e is less than threshold value, described threshold value is 0.01～0.05.
In described step 4) and step 7), the membership function of maximum membership degree method is Triangleshape grade of membership function, and Triangleshape grade of membership function mathematical expression and simple operation, occupy memory headroom little, can reach control requirement.
In shield machine tunneling process, attitude of shield machine may be offset, and controls the displacement of lifting ram piston rod by PID controller of the present invention, can tunnel attitude to shield machine and finely tune.In the present invention, one has four lifting rams, is divided into upper and lower two groups, is evenly distributed on datum plate one side, can adjust from four positions shield machine driving attitude.
Compared with prior art, the beneficial effect that the present invention has is: miniature shield machine driving attitude adjustment control system of the present invention is simple in structure, controls reliable; Method of adjustment of the present invention can regulate the running orbit in shield machine tunneling process automatically and steadily, adjusts precision high, and regulated efficiency is high, can reduce artificial participation correction operation simultaneously, has eliminated potential safety hazard.
Accompanying drawing explanation
Fig. 1 is one embodiment of the invention control system structured flowchart;
Fig. 2 is one embodiment of the invention governor motion structural representation;
Fig. 3 is one embodiment of the invention AD conversion single channel schematic diagram;
Fig. 4 is one embodiment of the invention method of adjustment flow chart.
The specific embodiment
As depicted in figs. 1 and 2, one embodiment of the invention comprises governor motion; Described governor motion comprises datum plate 2, and described datum plate 2 one sides are fixed with a plurality of lifting rams 3, is provided with for measuring the displacement transducer of described lifting ram 3 piston rod displacements in described lifting ram 3; The piston rod of described lifting ram 3 is connected with the regulating block 4 contacting with miniature shield machine oil cylinder; Described displacement transducer is connected with controller by A/D convertor circuit; Described controller is adjusted the driving route of described miniature shield machine by controlling the throttle size of described lifting ram 3; Described A/D convertor circuit, controller are all connected with Switching Power Supply; Described controller is also connected with for showing the liquid crystal display of the real-time monitor data of miniature shield machine; Described datum plate 2 is fixed with support bar 1 away from a side of described lifting ram 3.
Controller of the present invention is selected MC9S12XS series monolithic, MC9S12XS128 is 16 single-chip microcomputers that Freescale company releases, and by 16 CPU (CPU12X), 128KB program Flash (P-lash), 8KB RAM, 8KB data Flash (D-lash), forms on-chip memory.Major function comprises: inner PLL phase-locked loop module, 2 asynchronous serial port communication SCI, 1 serial peripheral equipment interface SPI, MSCAN module, timer module TIM, cycle interruption timer module PIT, 16 passage A/D modular converter ADC are compared in 18 passage I/O, 18 channel pulse width modulated module PWM, I/O numeral I/O mouth.External crystal-controlled oscillation is selected 16MHZ.
Single-chip microcomputer can only processing digital signal, and the voltage signal of real system is simulation letter amount, therefore must carry out AD conversion.Select the TLC3543 of TI company to realize AD conversion, this position is a 12 Bits Serial, 11 passages, ultra high speed A/D conversion chip.When physical circuit connects, select passage 0 as the input of voltage signal, passage 1 is as the input of current signal.The serial line interface line of TLC3543 chip mainly contains four, concrete connection is that clock signal C LOCK meets single-chip microcomputer XTAL and EXTAL, serial data input DIN meets single-chip microcomputer PP0, between TLC3543 and single-chip microcomputer, only has four lines to be connected, and that reference voltage is selected is Power of SCM System+5V.Physical circuit as shown in Figure 3.
As shown in Figure 4, the method for adjustment miniature shield machine driving attitude of the present invention is:
1) build following fuzzy control rule table:
Wherein, PB, PM, PS, ZO, NS, NM, NB represent respectively honest, center, just little, zero, negative little, negative in, greatly negative; Δ kp, Δ ki, Δ kd are respectively the gain of PID controller factor of proportionality, integral coefficient gain, differential coefficient gain;
2) initialize factor of proportionality kp, integral coefficient ki and the differential coefficient kd of PID controller, the factor of proportionality kp after being initialized
0, integral coefficient ki
0with differential coefficient kd
0; For the initial pid parameter of this model experiment value, be kp=3, ki=0.01, kd=0.3;
3) gather the shift value that displacement transducer detects, adopt FEM (finite element) model or granular model, described shift value is carried out to numerical simulation, obtain the shift value of expectation, the shift value of the shift value of expectation and setting is compared, obtain the deviation e of shift value, utilize deviation e calculation deviation rate of change ec;
4) fuzzy subset's domain of setting e, ec is e ［ 3,3 ］, and ec ［ 3,3 ］, according to the value of e, ec, by the fuzzy subset under the judgement of maximum membership degree method e, ec;
NB[-3,-2]；NM[-2.5,-1]；NS[-1.5,0]；Z0[-1,1]；
PB[2,3]；PM[1,2.5]PS[0,1.5]；
5), according to the fuzzy subset of e, ec, from described fuzzy control rule table, choose an inference rule;
6) the factor of proportionality gain, integral coefficient gain, the differential coefficient that by mamdani inference method, obtain PID controller gain, and the factor of proportionality kp by factor of proportionality gain, integral coefficient gain, differential coefficient gain and after initializing
0, integral coefficient ki
0with differential coefficient kd
0be added, obtain the PID controller parameter after reasoning;
7) adopt the PID controller parameter after the reasoning of maximum membership degree method defuzzification, obtain factor of proportionality kp, integral coefficient ki and the differential coefficient kd of the PID controller of current iteration;
8) by the factor of proportionality kp of the PID controller of current iteration, integral coefficient ki and differential coefficient kd substitution PID controller;
9) by modulating in the output input sine pulse width modulator of PID controller, generate the conditioning signal of lifting ram throttle size, by regulating lifting ram oil inlet quantity to control lifting ram piston rod displacement;
10) use factor of proportionality kp, integral coefficient ki and the differential coefficient kd of the PID controller of current iteration to substitute the factor of proportionality kp after initializing
0, integral coefficient ki
0with differential coefficient kd
0, repeating step 3)～9), until deviation e < 0.01.
In the present embodiment, the membership function of maximum membership degree method is Triangleshape grade of membership function, and Triangleshape grade of membership function mathematical expression and simple operation, occupy memory headroom little, can reach control requirement.
Claims (5)
1. a miniature shield machine driving attitude adjustment control system, is characterized in that, comprises governor motion; Described governor motion comprises datum plate (2), and described datum plate (2) one sides are fixed with a plurality of lifting rams (3), is provided with for measuring the displacement transducer of described lifting ram (3) piston rod displacement in described lifting ram (3); The piston rod of described lifting ram (3) is connected with the regulating block (4) contacting with miniature shield machine oil cylinder; Described displacement transducer is connected with controller by A/D convertor circuit; Described controller is adjusted the driving route of described miniature shield machine by controlling the throttle size of described lifting ram (3); Described A/D convertor circuit, controller are all connected with Switching Power Supply.
2. miniature shield machine driving attitude adjustment control system according to claim 1, is characterized in that, described controller is also connected with for showing the liquid crystal display of the real-time monitor data of miniature shield machine.
3. miniature shield machine driving attitude adjustment control system according to claim 1 and 2, is characterized in that, described datum plate (2) is fixed with support bar (1) away from a side of described lifting ram (3).
4. utilize control system described in claim 3 to adjust a method for miniature shield machine driving attitude, it is characterized in that, the method is:
1) build following fuzzy control rule table:
Wherein, PB, PM, PS, ZO, NS, NM, NB represent respectively honest, center, just little, zero, negative little, negative in, greatly negative; Δ kp, Δ ki, Δ kd are respectively the gain of PID controller factor of proportionality, integral coefficient gain, differential coefficient gain;
2) initialize factor of proportionality kp, integral coefficient ki and the differential coefficient kd of PID controller, the factor of proportionality kp after being initialized
0, integral coefficient ki
0with differential coefficient kd
0;
3) gather the shift value that displacement transducer detects, adopt FEM (finite element) model or granular model, described shift value is carried out to numerical simulation, obtain the shift value of expectation, the shift value of the shift value of expectation and setting is compared, obtain the deviation e of shift value, utilize deviation e calculation deviation rate of change ec;
4) fuzzy subset's domain of setting e, ec is e ［ 3,3 ］, and ec ［ 3,3 ］, according to the value of e, ec, by the fuzzy subset under the judgement of maximum membership degree method e, ec;
5), according to the fuzzy subset of e, ec, from described fuzzy control rule table, choose an inference rule;
6) the factor of proportionality gain, integral coefficient gain, the differential coefficient that by mamdani inference method, obtain PID controller gain, and the factor of proportionality kp by factor of proportionality gain, integral coefficient gain, differential coefficient gain and after initializing
0, integral coefficient ki
0with differential coefficient kd
0be added, obtain the PID controller parameter after reasoning;
7) adopt the PID controller parameter after the reasoning of maximum membership degree method defuzzification, obtain factor of proportionality kp, integral coefficient ki and the differential coefficient kd of the PID controller of current iteration;
8) by the factor of proportionality kp of the PID controller of current iteration, integral coefficient ki and differential coefficient kd substitution PID controller;
9) by modulating in the output input sine pulse width modulator of PID controller, generate the conditioning signal of lifting ram throttle size, by regulating lifting ram oil inlet quantity to control lifting ram piston rod displacement;
10) use factor of proportionality kp, integral coefficient ki and the differential coefficient kd of the PID controller of current iteration to substitute the factor of proportionality kp after initializing
0, integral coefficient ki
0with differential coefficient kd
0, repeating step 3)～9), until deviation e is less than threshold value, described threshold value is 0.01～0.05.
5. control system according to claim 4 is controlled the method for earth pressure balance for miniature shield machine, it is characterized in that, in described step 4) and step 7), the membership function of maximum membership degree method is Triangleshape grade of membership function.
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Cited By (10)
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| CN105569667A (en) * | 2015-12-31 | 2016-05-11 | 石家庄铁道大学 | Safety state detection system and method for main drive seal of total section tunneling machine |
| CN105888678A (en) * | 2016-06-17 | 2016-08-24 | 韶关市铁友建设机械有限公司 | Intelligent excavating and pipe jacking machine |
| CN107328415A (en) * | 2017-05-31 | 2017-11-07 | 合肥工业大学 | Push-bench gesture ambiguity control system and method based on MEMS gyroscope |
| CN108374667A (en) * | 2018-03-23 | 2018-08-07 | 北京交通大学 | Slurry-water balance type shield prototype and its installation method |
| CN108533279A (en) * | 2018-03-23 | 2018-09-14 | 北京交通大学 | A kind of model test control system carrying out shield attitude adjusting |
| CN109630153A (en) * | 2018-11-22 | 2019-04-16 | 浙江大学宁波理工学院 | A kind of unmanned method of large-scale digging device |
| CN110185463A (en) * | 2019-07-01 | 2019-08-30 | 西安电子科技大学 | A kind of control method of shield excavation attitude |
| CN110242310A (en) * | 2019-06-14 | 2019-09-17 | 西安电子科技大学 | Shield axis method for correcting error based on deep neural network in conjunction with association analysis |
| CN110306988A (en) * | 2019-07-02 | 2019-10-08 | 重庆市能源投资集团科技有限责任公司 | A kind of deflection deviation correction control system of shield machine |
| CN112922620A (en) * | 2021-02-08 | 2021-06-08 | 中国铁建重工集团股份有限公司 | Shield type TBM tracking control method and system |
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Cited By (14)
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|---|---|---|---|---|
| CN105569667A (en) * | 2015-12-31 | 2016-05-11 | 石家庄铁道大学 | Safety state detection system and method for main drive seal of total section tunneling machine |
| CN105888678A (en) * | 2016-06-17 | 2016-08-24 | 韶关市铁友建设机械有限公司 | Intelligent excavating and pipe jacking machine |
| CN107328415A (en) * | 2017-05-31 | 2017-11-07 | 合肥工业大学 | Push-bench gesture ambiguity control system and method based on MEMS gyroscope |
| CN108374667A (en) * | 2018-03-23 | 2018-08-07 | 北京交通大学 | Slurry-water balance type shield prototype and its installation method |
| CN108533279A (en) * | 2018-03-23 | 2018-09-14 | 北京交通大学 | A kind of model test control system carrying out shield attitude adjusting |
| CN109630153B (en) * | 2018-11-22 | 2020-06-05 | 浙江大学宁波理工学院 | Unmanned driving method of large-scale tunneling equipment |
| CN109630153A (en) * | 2018-11-22 | 2019-04-16 | 浙江大学宁波理工学院 | A kind of unmanned method of large-scale digging device |
| CN110242310A (en) * | 2019-06-14 | 2019-09-17 | 西安电子科技大学 | Shield axis method for correcting error based on deep neural network in conjunction with association analysis |
| CN110242310B (en) * | 2019-06-14 | 2020-08-11 | 西安电子科技大学 | Shield axis deviation rectifying method based on combination of deep neural network and correlation analysis |
| CN110185463A (en) * | 2019-07-01 | 2019-08-30 | 西安电子科技大学 | A kind of control method of shield excavation attitude |
| CN110185463B (en) * | 2019-07-01 | 2020-10-09 | 西安电子科技大学 | Control method for shield tunneling attitude |
| CN110306988A (en) * | 2019-07-02 | 2019-10-08 | 重庆市能源投资集团科技有限责任公司 | A kind of deflection deviation correction control system of shield machine |
| CN112922620A (en) * | 2021-02-08 | 2021-06-08 | 中国铁建重工集团股份有限公司 | Shield type TBM tracking control method and system |
| CN112922620B (en) * | 2021-02-08 | 2022-05-17 | 中国铁建重工集团股份有限公司 | Shield type TBM tracking control method and system |
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