Trajectory Planning During Shield Tunneling Process

This thesis is on the research background of basic scientific issues of full-face large-scale excavation equipment design and manufacturing, analyzing trajectory planning-related issues of shield tunneling machine, a detailed analysis was giving about main factors impacting trajectory planning of shield machine, investigating the shield machine their own characteristics and structural characteristics of the segment respectively, and then putting forward a design method using minimum turning radius as a corrective trajectory design parameters to determine the ease curve.In order to complete the design of trajectory, this paper was giving a systematic introduction of ground control survey, contact measurement and underground control measurement associated on the tunnel project. Through breaking designed tunnel axis (DTA) down into horizontal axis and vertical curve, and the measured data, the computation about the cut center coordinates and tail center coordinates of the shield was derived. Position deviation and angle deviation were obtained through the comparison with the corresponding coordinate axes, and thus to determine the trajectory correction control strategy. If the shield machine deviations were beyond the segment's correction range, the trajectory planning would be needed. In this paper, trajectory planning algorithm about linear straight line segment, circular curve segment and transition curve was proposed, and combined with the actual concrete shield machine parameters carrying out simulation trajectory planning, so as to lay an important foundation for realization of trajectory deviation control in the shield tunneling process.