基于数据驱动的盾构自主姿态控制体系设计和应用  

Design and Application of a Data-Driven Shield Autonomous Attitude Control System

作　　者：吴秉键 吴惠明[2,3] 胡珉[1,2] 孙俊超 WU Bingjian;WU Huiming;HU Min;SUN Junchao(SHU-UTS SILC Business School,Shanghai University,Shanghai 201800,China;SHU-SUCG Research Center for Building Industrialization,Shanghai University,Shanghai 200072,China;Shanghai Tunnel Engineering Co.,Ltd.,Shanghai 200030,China)

机构地区：[1]上海大学悉尼工商学院,上海201800 [2]上海大学-上海城建集团建筑产业化研究中心,上海200072 [3]上海隧道工程股份有限公司,上海200030

出　　处：《隧道建设（中英文）》2023年第3期478-485,共8页Tunnel Construction

摘　　要：为改变盾构掘进过程中姿态控制容易出现不够稳定、准确的问题,提出一种综合人工智能和传统控制理论思想的盾构姿态自主控制体系,以提高成型隧道质量,减少对环境的扰动。控制体系分为规划层和执行层:1)规划层采用集合经验模态分解方法,将原始数据中的高频原始信号平稳化处理后,通过盾构施工过程历史数据和实时数据的离线和在线训练建立盾构运动模型,基于设计轴线对控制轨迹进行规划;2)执行层基于神经网络构建位姿控制器模型,根据实时反馈调节推进参数,实现盾构姿态预测及自主控制。自主姿态控制体系被应用在“智驭号”盾构自主掘进控制系统中,并在杭州至绍兴地铁隧道项目柯桥—笛扬路区间左线施工现场中使用。结果表明,该控制体系的预测准确率、控制精度和稳定性均显著高于人工控制水平。An autonomous attitude control system,utilizing a combination of artificial intelligence and traditional control theory,is proposed to enhance the quality of tunnels formed and minimize environmental disruption during the excavation process.To achieve this,the control system is divided into two layers:planning and execution.The planning layer employs a collection experience modal decomposition method to process the high-frequency signal in the original data in a stable manner.After training the historical and real-time data,a shield motion model is established to plan the control trajectory based on the design axis.In the execution layer,a position controller model is built using a neural network,and the advancing parameters are adjusted according to real-time feedback,allowing for the prediction and autonomous control of the shield attitude.The system was implemented in the ZhiYu shield excavation control system,utilized in the left-line of the Keqiao-Diyang section of the Hangzhou-Shaoxing metro tunnel project.The results demonstrate that the proposed control system outperforms the manual control method in terms of stability and prediction accuracy.The autonomous attitude control system presents a promising solution to enhance tunnel excavation processes and reduce environmental disturbance.

关 键 词：盾构 自主姿态控制系统 数据驱动 数据降噪 自动控制 

分 类 号：U455.2[建筑科学—桥梁与隧道工程]