Track and posture composite control method in shield tunneling process
A compound control and attitude technology, applied in earthwork drilling, mining equipment, tunnels, etc., can solve problems such as optimal design of correction path, influence on tunnel axis accuracy, difficulty in trajectory adjustment, etc., so as to improve tunnel forming quality and reduce trajectory correction Frequency, the effect of improving the tunnel deviation correction efficiency
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[0027] The present invention will be further described below in conjunction with accompanying drawing.
[0028] The trajectory and attitude compound control flow chart in the process of shield tunneling is attached figure 1 As shown, the present invention adopts both attitude and trajectory setting thresholds for control. Even if the trajectory has not yet reached the deviation correction threshold, as long as the attitude deviates beyond the limit, the posture adjustment will be performed in time to avoid aggravating the trajectory deviation; when the shield is moving forward , obtain the current position deviation S of the shield machine through measurement and calculation i , angle deviation θ i , if S i ≤ Position deviation threshold S of trajectory attitude composite controller cmin and θ i ≤Trajectory Attitude Composite Controller Angle Deviation Threshold θ cmin when, or S i ≤Permissible deviation S of the actual tunnel construction position min and θ i =0, the ...
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