CAJ | 학술논문

针对盾构掘进过程中姿态主要依赖操作人员施工经验手工调整、掘进轨迹精度主要依赖人员熟练性的情况，提出基于双闭环反馈自动控制盾构掘进轨迹的方法，通过主反馈实现掘进斜度的实时更新，局部反馈实现液压缸的速度控制。分析表明，局部反馈精度决定了预调偏差大小，在掘进轨迹控制中至为关键，因此以球铰支撑推进系统为例分析单环掘进前后液压缸的几何关系，推导左右推进液压缸速度关于掘进斜度、掘进速度的数学解析式，采用AMESim和MATLAB联合仿真工具搭建了推进速度控制的模糊PID模型，仿真分析非均载荷下推进液压缸的速度控制，并以盾构模拟推进试验台为例进行推进速度控制试验。结果表明：基于模糊PID控制策略的推进液压缸速度控制可实现较准确的盾构掘进轨迹，为盾构失准问题的进一步解决提供了理论基础和现实依据。
침대순구굴진과정중자태주요의뢰조작인원시공경험수공조정、굴진궤적정도주요의뢰인원숙련성적정황，제출기우쌍폐배반궤자동공제순구굴진궤적적방법，통과주반궤실현굴진사도적실시경신，국부반궤실현액압항적속도공제。분석표명，국부반궤정도결정료예조편차대소，재굴진궤적공제중지위관건，인차이구교지탱추진계통위례분석단배굴진전후액압항적궤하관계，추도좌우추진액압항속도관우굴진사도、굴진속도적수학해석식，채용AMESim화MATLAB연합방진공구탑건료추진속도공제적모호PID모형，방진분석비균재하하추진액압항적속도공제，병이순구모의추진시험태위례진행추진속도공제시험。결과표명：기우모호PID공제책략적추진액압항속도공제가실현교준학적순구굴진궤적，위순구실준문제적진일보해결제공료이론기출화현실의거。
Considering the fact that the attitude of shield during the boring process is mainly controlled by manual adjustment according to personal experience and that the precision of shield boring trajectory mainly depends on personal proficiency,the authors propose the automatic shield attitude control method based on dual closed-loop feedback.The automatic shield attitude control method proposed contains a main-loop feedback that updates the tunneling trajectory and a local feedback that controls the velocity of the thrust cylinders.Succedent analysis shows that the local-feedback control is crucial.Therefore,the authors analyze the geometric relation of hydraulic cylinders before and after one-ring boring based on a spherical-hinge support thrust system,and deduce the mathematical expression of shield attitude and velocity of thrust cylinders on the left and right sides.The authors achieve the simulation of the velocity control system based on fuzzy PID by using AMEsim and MATLAB software,and make the corresponding test based on a thrust simulation test rig.The result indicates that accurate shield attitude can be realized by fuzzy PID control strategy.The paper provides the theoretical foundation and practical basis for further solution of the shield misalignment problem.