Research On Intelligent Guiding System Of Tunnel Boring Machine

Tunnel Boring Machine(TBM)is a kind of large mechanical device which used intunnel construction.The dual grouting system can form the tunnel as TBM running,which reduce the time of tunnel construction.It is mainly composed of cutter drive system,tunneling control system,propulsion system,guidance measurement system and supporting auxiliary system.The guidance system and the tunneling control system play a key role in ensuring the TBM boring along the predetermined axis and reducing the tunnel excavation error.At present,there are many researches on the earth pressure balance shield machine at home and abroad,and the research on TBM is few.Research on the guidance system measurement technology focuses on the single system,and ignores control system and propulsion system to carry out research.Based on the design of the open hard rock boring machine,this paper introduces the measurement method and working principle of the existing guidance system,combined with the TBM propulsion principle and the change of the steering mechanism,focusing on how to control the TBM tunneling and adjust direction based on the TBM position parameters from guiding system.The new TBM tunneling control system is designed,the corresponding control strategy is obtained and the effectiveness of the system is verified.The main contents of this thesis are as follows:IN the first chapter,the development of open hard rock boring machine at home and abroad is introduced,and introduces the status of its control technology.Then,combining with several measurement methods of guided measurement system,the significance and content of this paper,that ensuring TBM boring along the predetermined axis and avoiding deviation are the most important,are introduced.These need to improve the measurement accuracy of the guidance system and improve its control requirements for TBM tunneling.In the second chapter,the position and attitude of TBM underground are described,and the displacement of TBM is determined by the coordinates of the earth coordinates,and the horizontal angle,pitch angle and rolling angle are determined.Then,several common guiding measurement systems are analyzed.By analyzing the advantages and disadvantages,the laser target-oriented measurement system is the optimal measurement method,and the measurement accuracy is high,which can meet the requirements of TBM tunneling.Then the TBM host structure is split,and the basic working principle and operation flow of the switch are described.Finally,the working principle and method of the VMT laser guidance system are introduced in detail.In the third chapter,the hardware of TBM intelligent guidance system is obtained.The electrical and hydraulic system composition is analyzed,the PLC and I / O module is selected,and then introduces the programming software of Schneider UNITY is introduced.Finally,in combination with TBM,the human-machine interface of the monitoring system should be designed in the construction process.By the combination of these hardware,TBM intelligent guidance system will be established.In the fourth chapter,the TBM intelligent guidance system is programmed.First explain what is "smart",that is using the accurate data measured by the TBM traditional guidance system as the input conditions of boring control,by the PLC program,direct the entire TBM propulsion system,thereby reducing the operator burden,improving the TBM Driving efficiency.At the end of the paper,fuzzy PID control is added to the traditional propulsion system based on the principle and characteristics of fuzzy control.The simulation results show that the effect of steering is better,which is a reference in TBM tunneling control in actual construction.