| The application of trenchless pipe construction technology in pipeline construction project is increasing,among which the pipe jacking construction is widely used due to its high accuracy,various soil,large diameter range,low overall cost and small environmental pollution.In the process of pipe jacking,the pipes can not be pushed completely in the design direction due to the change of the soil layer.In order to ensure the tunneling accuracy,pipe jacking machine must be straightened timely.Based on NSPD2000 slurry balance pipe jacking machine,this paper explores key technologies of automatic straightening,including the following contents:(1)For the automatic attitude measurement system,the attitude measurement method based on gyroscope and inclinometer is proposed to explore the communication mode of the sensor,and the adaptive weighted fusion algorithm is used to fuse the two sensors to obtain a more stable and accurate measurement value.Exploring the coordinate transformation between the coordinate system of the earth and the coordinate system of the pipe jacking machine,and proposes the calculation method of the position deviation.(2)For the automatic control system,fuzzy PID control mode is proposed.The state equation of the pipe jacking correction control process is established,and the fuzzy PID controller is used to self-correct the parameters of the PID controller.The PID controller and fuzzy PID controller are designed and simulated,and the control effects of the two are compared.(3)Based on the automatic attitude measurement system and the automatic deviation correction control system,a set of intelligent measurement and control system of slurry balance pipe jacking machine is developed.The design of the experiment is used to verify the measurement scheme and control scheme.The experiment shows that the high stability and accuracy of the automatic attitude measurement system,automatic correction control system can correct bias effectively. |
PDF Full Text Request