双护盾隧道掘进机盾体间相对位姿测量方法研究  

Research on measurement method of relative pose between shields of double shield tunnel boring machine

作　　者：孙跃宇 朱国力[1] 刘瑞 贺泊宁 SUN Yueyu;ZHU Guoli;LIU Rui;HE Boning(School of Mechanical Science and Engineering,Huazhong University of Science and Technology,Wuhan 430074,China)

机构地区：[1]华中科技大学机械科学与工程学院,湖北武汉430074

出　　处：《华中科技大学学报(自然科学版)》2024年第12期53-63,共11页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家重点研发计划资助项目(2022YFC3802302)。

摘　　要：针对双护盾隧道掘进机盾体间相对位姿测量困难的问题,提出了一种基于差分进化算法的多传感器联合测量方法.首先分析了盾体间的机构关系并设计了多传感器测量方案,通过推导运动学反解关系构建了相对位姿求解约束条件,将复杂的相对位姿正解问题转化为多元连续函数的极值优化问题;进而提出了一种适用于该优化问题的动态自适应差分进化算法,生成了包含相对位姿理论值及对应的多传感器测量数据的仿真实例,分别利用该算法和多个差分进化变种算法进行相对位姿求解对比测试.仿真结果表明:该算法与其他差分进化算法相比避免了陷入局部最优的情况,相对位姿求解误差更小、计算效率更高;同时,也通过大量随机抽样仿真试验分析验证了该算法的相对位姿求解精度及鲁棒性.最后,多盾体试验台的应用测试结果表明:该方法能实现盾体间相对位置测量误差小于5 mm,相对姿态测量误差小于2 mrad,测量周期小于3 s,满足工程测量规范及应用要求.Aiming at the problem of relative pose measurement between the shields of the double-shield tunnel boring machine,a multi-sensor joint measurement method based on differential evolution algorithm was proposed.First,the institutional relationship between the shields was analyzed and a multi-sensor measurement scheme was designed.Then,the constraints to solve the relative pose between the shields were established according to the inverse kinematics analysis and the complex problem of positive solution of relative pose between the shields was transformed to an extreme value optimization problem for a multivariate continuous function.Therefore,a dynamic adaptive differential evolution(DE)algorithm was proposed for this optimization problem.Simulation examples containing the relative pose values and the corresponding measuring data of multi-sensor were generated,and the relative pose solution tests for comparison was conducted using this DE algorithm and other improved DE algorithms,respectively.Simulation result shows that this DE algorithm has smaller relative pose solving error and higher calculation efficiency,avoiding easily falling into the local optimality,compared to other improved DE algorithms.Meanwhile,the accuracy of this DE algorithm used for solving the relative pose between the shields is also analyzed statistically by massive random sampling simulation,which verifies its robustness.Finally,the application test results of this method on the multi-shield platform show that the relative position error is within 5 mm and the relative attitude error is within 2 mrad with the measurement time period less than 3 s,which meets the engineering survey specifications and the requirement of application.

关 键 词：双护盾隧道掘进机 盾体间位姿测量 多传感器信息 相对位姿正反解 差分进化算法 

分 类 号：U455.31[建筑科学—桥梁与隧道工程] TP39[交通运输工程—道路与铁道工程]