Research On Trajectory Tracking Of Shield Machine

Shield technology is a set of hydraulic, manufacturing, control, measurement techniques as interdisciplinary as one of modern tunneling technology. Due to its fast, high degree of automation, little influence on the ground and its protection to the environment, it has become an important technology in the major underground excavation such as transportation, underground engineering, mining, water conservancy, municipal construction and electrical construction of telecommunication facilities. With the rapid development of the shield technology, hydraulic technology, measurement and control technology and automation control technology, the mechanization and the automation control of shield machine is inevitable.The trajectory tracking control of shield machine during tunneling is one of the most critical issues in the process of tunneling construction. Topic of this paper is to carry out a research on model and control of shield behavior. Major work and research are as follows.In this paper, first, the role of the propulsion system were analyzed, the influencing factors of shield behavior such as extra excavation area, cutter rotation direction, the gap in the shield tail, shield body sliding and other factors were provided by the numbers, the load model acting on shield during excavation was established; kinematics and dynamics equations were established respectively. To verify the validity of the model, we carried out the corresponding simulation analysis, including the physical simulation in Pro / E and ADAMS platform and the digital simulation in Matlab platform. The results showed that: The establishment of dynamics and kinematics model during tunneling better depicted the character of dynamics and kinematics of shield machine. And underactuated and nonholonomic features were proved by analyzing the model of shield behavior; in order to achieve the control of shield behavior purposes, research paper also discussed the controllability of the propulsion system. Based on this model, fuzzy variable structure tracking control method was proposed, and it provided reference for the improving of trajectory tracking control during tunneling.