项目名称： 复杂隧道线形条件下盾构掘进姿态控制模型研究

项目编号： No.51478146

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 建筑科学

项目作者： 陈剑

作者单位： 哈尔滨工业大学

项目金额： 79万元

中文摘要： 随着我国城市轨道交通建设的飞速发展及直线电机驱动地铁系统的采用，大坡度、小半径曲线等复杂线形的地铁盾构隧道工程不断增多，满足复杂隧道设计轴线的盾构掘进姿态控制问题日益突出。目前，尽管在某些大型盾构上装备有自动控制器，盾构姿态控制的现状仍然依靠现场施工人员的经验以人工操作的方式来实现。由于盾构操作人员的熟练程度不等，操作时的心理、情绪状态各异，使姿态控制精度难以维持一致的标准。为此，本项目针对盾构掘进姿态控制这一涉及盾构掘进与土体相互作用数学模型建立与控制算法实现的关键科学问题，通过理论分析与模型试验的方法，提出盾构超挖及铰接角算法、盾构掘进动态荷载模型的研究内容，建立反映地层条件、盾构操作参数和盾构运行状态耦合作用的盾构运动学和动力学模型，并且在盾构运动学和动力学模型的基础上，设计基于指数趋近律及模糊自适应规则，具有良好适应性和稳定性的盾构掘进姿态滑模变结构控制器。

中文关键词： 盾构；隧道设计轴线；轨迹跟踪；姿态控制；施工参数

英文摘要： Along with the development of the Chinese metro construction and adoption of DC motor driving system, shield tunneling projects at large slope and sharply curved tunnel sections are increasing. Control of shield posture is increasingly prominent for following the complex designed tunnel alignment. Although there are some automatic posture control systems in large shield machines, control of shield posture still rely on experience of shield operators. Since the proficiency level, psychology, and emotional situation of shield operators are different, it is sometimes difficult to control the shield in a complex tunnel alignment. Therefore, it is proposed to develop the operation model of overcut, articulation, and the load model acting on shield during excavation. The operation model is used to calculate copy cutter length and range, and articulated angle based on vector analysis, which is applicable on general compound alignments with three-dimensional curvature. The load model is composed of five forces: force due to the self weight of machine, forces on the shield tail, force due to the jack thrust, force acting at the excavation face, and force acting on the shield skin plate. In the load model, a decoupled model of the cutter head load is established, in which the interaction between the cutter head and the soil on the excavation interface is considered. The coupled system between the cutter head and the soil is considered as two correlative subsystems. Equilibrium differential equations and boundary conditions are established for decoupled analysis. Finally, Kinematics and dynamics equations are established respectively. In order to achieve the control of shield posture purposes, sliding mode controller with exponential approach law and fuzzy adaptive rules is proposed.

英文关键词： Shield;Designed tunnel axis (DTA);Trajectory tracking;Posture control;Construction parameters