Research On Measurement And Control Technology Of Shaft Driving Attitude

Shaft boring equipment is an important equipment for the construction of bridge piles,and its performance directly affects the efficiency of shaft and hole pile excavation.Affected by the complex terrain in the southwest,it is impossible to use the existing largescale shaft boring equipment,and the site construction still adopts the manual drilling and blasting method to dig.However,the degree of automation of manual drilling and blasting method is low and the safety risks are high.At present,only the organic combination of automated mechanical equipment and drilling and blasting method can improve the excavation efficiency and environmental adaptability.The harsh working conditions of vertical shafts make the positioning and adjustment of automatic equipment one of the key problems to be solved when applying vertical shaft boring equipment to drill and blast tunnelling process.Therefore,this thesis takes the shaft boring equipment as the object and carries out the research on the key technology of attitude measurement and control of shaft boring equipment.The research content of this thesis is mainly in the following four aspects:(1)Analysis of the system composition and characteristics and dynamics of shaft boring equipment.The system composition,structural characteristics,working principle and other characteristics of the shaft boring support posture adjustment equipment are analyzed,and the mechanism motion coordinate system is established for the posture characteristics of the shaft boring equipment.The kinetic characteristics of the support attitude adjustment system under two kinds of working conditions,such as fine-tuning and fast attitude adjustment,are analyzed.Considering the machine-rock interaction relationship,a coupled model of support attitude adjustment mechanism-rock dynamics is established by using Lagrangian dynamics modeling method,which lays a theoretical foundation for the attitude control research in this thesis.(2)Research on attitude measurement and attitude solution method of shaft boring equipment.Firstly,considering the complex working conditions of the shaft environment,the multi-sensor measurement method is used instead of the conventional single sensor,and the multi-sensor structure layout is designed.Secondly,with reference to the dual coordinate system establishment method of navigation system,a reference coordinate system describing the attitude of shaft boring equipment is established by combining multi-sensor data information.Then analyze the existing attitude solving methods,combine with the extended Kalman filter algorithm,and propose a multi-sensor data fusion attitude measurement and Euler angle real-time attitude solving method based on the extended Kalman filter algorithm.Finally,the attitude measurement and solution experiments are conducted to verify the accuracy and reliability of the attitude measurement and solution method.(3)Research on error compensation of vertical shaft boring attitude measurement.Firstly,the error sources of the extended Kalman filter-based multi-sensor data fusion method are analyzed.Secondly,the algorithm characteristics of the extended Kalman filter are analyzed,and an improved quantum particle swarm algorithm is proposed to optimize the parameters of the extended Kalman filter based on the optimization method of chaotic sequence population initialization and optimal average position,and the feasibility of the improved algorithm is verified by solving single-peak and multi-peak.Finally,the advantages of the improved quantum particle swarm-expanded Kalman filter algorithm are verified through the experiments of comparative analysis of attitude measurement and solution,and the improved algorithm effectively compensates the attitude measurement errors.(4)Research on attitude control strategy and method for shaft boring equipment.Firstly,we analyzed the characteristics of the downhole attitude of the shaft boring equipment,and made the three-dimensional attitude adjustment process two-dimensional and step-by-step.Based on the spacing between equipment and shaft axis and attitude measurement data,three forms of attitude and supporting attitude adjustment schemes are summarized and summarized.Then,a controller structure based on double negative feedback control is designed by supporting the hydraulic leg sensor data and real-time attitude measurement data,considering the actual working conditions of shaft boring and the problems of time lag and under-constraint of hydraulic equipment.Secondly,an attitude controller based on fuzzy-optimal control is designed by introducing fuzzy control based on the optimal control method.Finally,an attitude control simulation environment based on MATLAB/AMESim software is established and attitude control simulation experiments are carried out to prove that the attitude control method based on fuzzy-optimal control as the core can effectively solve the problems of time lag and underconstraint of attitude control of shaft boring equipment.