JPH07119550B2 - Control method of tunnel machine - Google Patents

Description

The present invention relates to a method for controlling a tunnel machine that requires direction control.

[Conventional technology]

Recently, in the industrial world, there is an increasing tendency to use computers to automate the control conventionally performed by humans because of the diversification of work environments and the lack of skilled operators.

However, human control is subjective based on experience and perception, and in order to automate it, it is necessary to incorporate the vague sense of humans into the computer, which cannot be applied by conventional control means. There was no side.

One method for dealing with such a problem is to apply the fuzzy reasoning proposed by LA Zaden in 1964.

Fuzzy reasoning quantifies human ambiguity and applies this fuzzy reasoning to control method of tunnel excavator from Tokyo Electric Power Co., Inc., Technical Research Institute. Face control and direction control in shield excavation (1988.9 .3
It was proposed as the 11th Kanto district regular meeting document).

The conventional method of controlling a tunnel excavator using the above fuzzy reasoning is shown in FIG. 15 in which the attitude of the tunnel propulsion device b with respect to the construction planning line a is detected by the target c, and the deviation (horizontal direction) from the construction planning line a is detected. the D _H, the amount of change △ D _H, the azimuth angle theta _H, to an input variable which the change amount as △ theta _H. Then, a control regulation and a membership function by fuzzy inference that determines the control amount of the actuator are set from the variables D _H and ΔD _H , θ _H and Δθ _H , respectively. Further, the two control variables are adjusted, and finally the control regulation and the membership function that are combined into one control variable are set.

As described above, the control regulation can be significantly reduced by dividing the four input variables into two stages and performing fuzzy inference.

[Problems to be Solved by the Invention]

In the above conventional tunnel machine control method, the deviation at a certain point and the pitching angle are the yawing angle amounts (D _H , θ _H ).
And the amount of change (ΔD _H , Δθ _H ) are input values. That is, the proportional element and the derivative element are used as input values.

In this case, the responsiveness is excellent, but the stability of the deviation is poor, and as a result, it tends to meander. It is also easily affected by external disturbances.

The present invention has been made in view of the above, and enables a control in which the deviation is stable and is unlikely to be affected by disturbance, and a mathematical model is particularly used for tunnel excavators having different characteristics and sizes by fuzzy reasoning. It is an object of the present invention to propose a control method of a tunnel excavator in which the operator's know-how is easily incorporated and the parameters can be easily adjusted.

[Means for Solving the Problems]

In order to achieve the above object, a method for controlling a tunnel excavator according to the present invention is provided with a direction control actuator, and a tunnel excavator having a means for measuring a deviation of a position or a deviation of an inclination with respect to a construction plan line at a tip portion. At, the deviation of the position and the deviation of the inclination are measured, and of these two measured values,
The corrected deviation of the inclination is set by incorporating the correction value for the deviation into the deviation of the inclination, the integrated value of the corrected deviation of the inclination is calculated, and the corrected deviation of the inclination and the integrated value are used as the fuzzy values. By control, the optimum control amount of the actuator for the next direction control is output.

[Action]

The input value for the fuzzy control is the deviation of the inclination with respect to the plan line incorporating the correction value for the deviation and its integrated value, and the proportional element and the integral element are considered for this input value.

〔Example〕

An embodiment of a compaction type small diameter underground excavator will be described below with reference to FIGS. 3 and 4. In this embodiment, the laser beam 3 from the laser transit 2 installed in the vertical shaft is used as a construction planning line to make a deviation from the laser beam 3 of the pilot head 4 by the laser target 5 built in the pilot head 4 having the pilot jack 4a. Deviation value), pitching angle (deviation amount of vertical tilt) and yawing angle (deviation amount of horizontal tilt). In FIGS. 3 and 4, 6 is a swing jack, 7 is a swing potentiometer, 8 is an inclinometer,
9 is a signal cable, 10 is a pilot pipe, 11 is a control panel, 12
Is a controller, 13 is a display device, 14 is a keyboard, and 15 is a pedestal.

In this configuration, in the pilot head 4, the pilot jack 4a extends to dig a pilot hole, and the pilot pipe 10 is pushed by a rear digging jack (not shown) provided in the vertical shaft 1 while the pilot jack 4a is contracted. A small-diameter hole is dug into the ground.

By operating the swing jack 6, the pilot jack 4a is swung so that steering in the excavation direction is performed. Above pilot jack
The swing amount of 4a is detected by the swing potentiometer 7.

On the other hand, the attitude of the pilot head 4 with respect to the planned excavation line, that is, vertical and horizontal deviations, pitching angles, and yawing angles shown in FIGS. 5 and 6 are the laser transit 2 and the laser target 5 shown in FIG. Is detected by each sensor attached to, and the operation amount of the rocking jack is detected by the rocking potentiometer 7.

FIG. 1 is a block diagram for operating the above-mentioned underground excavator for small diameter pipes (hereinafter simply referred to as excavator).

Reference numeral 16 in the drawing denotes a sensor group provided in the pilot head 4 section, which is composed of sensors for detecting the deviation, the yawing angle, the pitching angle, and the swing jack operation amount. The controller 12 that receives the signal from the sensor group 16 receives the signal and A / D-converts the automatic measurement unit 1
8, a fuzzy control unit 20, and an automatic adjustment unit 19 to which a signal from the automatic measurement unit 18 is input. The output signal from the controller 12 is displayed on the CRT 13a of the display device 13.

FIG. 2 is a flow chart showing a control method according to the present invention, and the method of the present invention will be explained with reference to the block diagram shown in FIG. 2 and FIG. In this description, only the horizontal direction will be described, but the vertical direction is exactly the same.

The sensor group 16 measures the horizontal deviation D _H and yaw angle θ _H of the pilot head 4 and inputs them to the automatic measuring unit 18 of the controller 12. Further, the deviation correction coefficient α is determined from the characteristics and size of the machine.

These input variable data are input to the controller 12 that executes fuzzy control, and as the output of this, the control amount of the actuator for the next horizontal direction control Δ
Calculate E _H.

In the controller 12, the corrected yawing angle S is calculated from the input horizontal deviation D _H , yawing angle θ _H , and deviation correction coefficient α.
As θ _H , Sθ _H = θ _H + α D _H is set.

From this modified yawing angle Sθ _H , Integral value of modified yawing angle as To calculate. In this case, The sign of Sθ _H this time is If different from the previous Reset And calculate.

And the above Sθ _H (proportional factor) The fuzzy control using two values of (integral element) as input values calculates the next control amount ΔE _H of the horizontal direction control actuator.

The calculation is performed by causing the controller 12 to execute a program incorporating fuzzy control and automatically processing the measurement data.

7 to 9 and Table 1 show the concrete contents of fuzzy control.

Note that FIG. 7 shows the membership function of the corrected yawing angle Sθ _H , and FIG. 8 shows the integrated value of the corrected yawing angle. 9 shows the membership function of the next horizontal control amount ΔE _H.

Table 1 shows each fuzzy control rule.

And this fuzzy control rule Is represented. In addition, X, Y, and Z each show a membership function.

As an example, Sθ _H = −0.25 (%), The calculation method of ΔE _{H in the case} of will be described.

The control rules used from Table 1 are Equation 4 holds.

This is expressed by the min-max method of fuzzy control, and the final output is calculated by the center of gravity method, which is calculated as ΔE _H = 0.5 (degrees).

That is, the first of the above four equations is as shown in FIGS. 10 (A), (B), and (C), and Sθ _H is Is 0.67, and by taking the smaller of these (min),
ΔE _H is 0.5.

The second equation is as shown in FIGS. 11 (A), (B), and (C), and Sθ _H is Is 0.33, so ΔE _H is 0.33.

The third equation is as shown in FIGS. 12 (A), (B), and (C), and Sθ _H is Is 0.67, so ΔE _H is 0.5.

The fourth equation is as shown in FIGS. 13 (A), (B), and (C), and Sθ _H is Is 0.33, so ΔE _H is 0.33.

Or four △ take max of E _H, the determined in Figure 14 the final output of △ E _H by the center of gravity lateral, △ become E _H = 0.5 (degrees).

In the above embodiment, the system in which the measurement data from the laser target 5 is automatically processed by the controller to perform the fuzzy control and the result is displayed on the CRT of the display device 13 is shown. There may be a case where the measured value is input to the controller by a keyboard or the like by position measurement.

Further, a system in which not only the fuzzy control result is displayed on the display device 13 but the actuator is directly moved according to the value of the result is also conceivable.

Although the above embodiment is shown only in the horizontal direction, the vertical direction can be obtained in the same manner.

Further, the same system can be applied not only to the compaction type small diameter underground excavator as shown in FIG. 3 but also to the large diameter field tunnel excavators such as the excavation type small diameter underground excavator and the shield machine.

According to the present invention, in the direction control of the tunnel machine,
The input value for the fuzzy control is the deviation of the slope with respect to the planning line incorporating the correction value for the deviation and its integral value, so that the proportional element and the integral element are taken into consideration, and the deviation of the input value is stable. Control that is not easily affected is possible.

In addition, fuzzy control makes it easy to incorporate the know-how of the operator without using a mathematical model for tunnel excavators of different characteristics and sizes, making it easy to adjust the parameters and using the same system for a wide range of tunnel excavators. Can be applied.

[Brief description of drawings]

The drawings show an embodiment of the present invention. FIG. 1 is a block diagram, FIG. 2 is a flow chart, FIG. 3 is a structural explanatory view showing an excavation state of an underground excavator for a small diameter pipe, and FIG. 4 is a pilot. Sectional views showing the head, FIGS. 5 and 6 are explanatory views showing the attitude of the pilot head, FIGS. 7, 8 and 9 are membership function diagrams, and FIGS. 10 (A) and 10 (B). , (C) to FIGS. 13 (A), (B), (C), and FIG. 14 are explanatory diagrams of a calculation method by fuzzy inference. FIG. 15 is an explanatory view showing a direction control system of the tunnel machine. 4 is a pilot head, 4a is a pilot jack, 5 is a laser target, 6 is a swing jack, 7 is a swing potentiometer, 12 is a controller, 13 is a display device, 16 is a sensor group, 18 is an automatic measuring unit, 19 is automatic The adjustment part, 20 is a fuzzy control part.

Claims (1)

[Claims] 1. A tunnel excavator equipped with a direction control actuator and having means for measuring a deviation of a position with respect to a construction plan line and a deviation of a tilt at a tip end, the deviation of the position and the deviation of the inclination are measured, and Of the two measured values, the corrected deviation of the inclination is set by incorporating the correction value for the deviation into the deviation of the inclination, and the integrated value of the corrected deviation of the inclination is calculated. A method for controlling a tunnel excavator, characterized in that the optimum control amount of a directional control actuator for the next time is output by fuzzy control using the value as an input value.