盾构掘进过程中轨迹规划问题的研究
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摘要
论文以全断面大型掘进装备设计制造中的基础科学问题为研究背景,对盾构掘进机的轨迹规划相关问题进行了分析,详细分析了影响盾构机轨迹规划的主要因素,分别从盾构机本身特性和管片结构特性进行了考察,进而提出了将最小转弯半径作为纠偏轨迹设计参数,来确定缓和曲线的设计方法。
为了完成纠偏轨迹的设计,论文对隧道工程相关的地面控制测量、联系测量和地下控制测量的各种测量方法做了系统介绍;通过将隧道设计轴线分解成平面曲线和纵面曲线,并根据测量所得数据,推导了盾构掘进机切口中心坐标、盾尾中心坐标的计算,通过与设计轴线相应坐标比较求得盾构位置偏差和角度偏差,进而来确定轨迹纠偏控制策略。当盾构机的偏差超出管片的纠偏范围后,就需要进行纠偏轨迹规划。本文分别针对平面线形的直线段、圆曲线段和缓和曲线段提出了轨迹规划算法,并结合具体盾构机实际参数对各种情况下的纠偏问题进行了仿真,从而为实现盾构掘进过程轨迹纠偏控制奠定了重要基础。
This thesis is on the research background of basic scientific issues of full-face large-scale excavation equipment design and manufacturing, analyzing trajectory planning-related issues of shield tunneling machine, a detailed analysis was giving about main factors impacting trajectory planning of shield machine, investigating the shield machine their own characteristics and structural characteristics of the segment respectively, and then putting forward a design method using minimum turning radius as a corrective trajectory design parameters to determine the ease curve.
In order to complete the design of trajectory, this paper was giving a systematic introduction of ground control survey, contact measurement and underground control measurement associated on the tunnel project. Through breaking designed tunnel axis (DTA) down into horizontal axis and vertical curve, and the measured data, the computation about the cut center coordinates and tail center coordinates of the shield was derived. Position deviation and angle deviation were obtained through the comparison with the corresponding coordinate axes, and thus to determine the trajectory correction control strategy. If the shield machine deviations were beyond the segment's correction range, the trajectory planning would be needed. In this paper, trajectory planning algorithm about linear straight line segment, circular curve segment and transition curve was proposed, and combined with the actual concrete shield machine parameters carrying out simulation trajectory planning, so as to lay an important foundation for realization of trajectory deviation control in the shield tunneling process.
为了完成纠偏轨迹的设计,论文对隧道工程相关的地面控制测量、联系测量和地下控制测量的各种测量方法做了系统介绍;通过将隧道设计轴线分解成平面曲线和纵面曲线,并根据测量所得数据,推导了盾构掘进机切口中心坐标、盾尾中心坐标的计算,通过与设计轴线相应坐标比较求得盾构位置偏差和角度偏差,进而来确定轨迹纠偏控制策略。当盾构机的偏差超出管片的纠偏范围后,就需要进行纠偏轨迹规划。本文分别针对平面线形的直线段、圆曲线段和缓和曲线段提出了轨迹规划算法,并结合具体盾构机实际参数对各种情况下的纠偏问题进行了仿真,从而为实现盾构掘进过程轨迹纠偏控制奠定了重要基础。
This thesis is on the research background of basic scientific issues of full-face large-scale excavation equipment design and manufacturing, analyzing trajectory planning-related issues of shield tunneling machine, a detailed analysis was giving about main factors impacting trajectory planning of shield machine, investigating the shield machine their own characteristics and structural characteristics of the segment respectively, and then putting forward a design method using minimum turning radius as a corrective trajectory design parameters to determine the ease curve.
In order to complete the design of trajectory, this paper was giving a systematic introduction of ground control survey, contact measurement and underground control measurement associated on the tunnel project. Through breaking designed tunnel axis (DTA) down into horizontal axis and vertical curve, and the measured data, the computation about the cut center coordinates and tail center coordinates of the shield was derived. Position deviation and angle deviation were obtained through the comparison with the corresponding coordinate axes, and thus to determine the trajectory correction control strategy. If the shield machine deviations were beyond the segment's correction range, the trajectory planning would be needed. In this paper, trajectory planning algorithm about linear straight line segment, circular curve segment and transition curve was proposed, and combined with the actual concrete shield machine parameters carrying out simulation trajectory planning, so as to lay an important foundation for realization of trajectory deviation control in the shield tunneling process.
引文
[1]周文波.盾构法隧道施工技术及应用[M].北京:中国建筑工业出版社,2004.
[2]薛备芳.我国盾构掘进机的现状和发展策略[J].世界隧道,1999(6):26-31.
[3]吴克利.国内外隧道掘进机械发展概述[J].重工与起重技术,2005(1):1-4.
[4]施重衡.盾构机在中国地铁建设中的应用[J].建筑机械,2002(5):20
[5]陈馈.盾构国产化及其市场前景分析[J].建筑机械化,2006(27):5.
[6]刘仁鹏.土压平衡盾构技术综述[J].世界隧道,2000(1):1-7.
[7]Anagnostou G,Kovari K.The face stability of slurry-shield-driven tunnels[J].Tunneling and Underground Space Technology,1994,9(2):155-174.
[8]Gonzalez C,Sagaeta C.Patterns of soil deformations around tunnels.Application to the Extension of Madrid Metro[J].Computers and Geotechnics.2001(28):445-468.
[9]Shani W.UK EPB machine conquers Bordeaux's Karstic limestone[J].Tunnels & Tunneling,1994(7):43-46.
[10]Mathewson A,Laval D.Brunei's tunnel and where it led.Brunel Exhibition Rotherhithe,1992.
[11]尹旅超,朱振宏,李玉珍等译.日本隧道盾构新技术[M].武汉:华中科技大学出版社,1999:46-50.
[12]程英英.基于微分平坦的轮式移动机器人轨迹规划[D].长春:吉林大学.2008.
[13]蒋新松.机器人学导论[D].沈阳:辽宁科学技术出版社,2002:511-516.
[14]王磊,海洋环境下水下机器人快速路径规划研究[D].哈尔滨:哈尔滨工程大学,2007.
[15]马东扬.基于滚动优化的轮式移动机器人轨迹规划[D].长春:吉林大学.2009.
[16]Darling P.Steep tunneling for EPBM under the Avon Estuary.Tunnels & tunneling,January,1993.
[17]Vasudevan C,Ganesan K.Intelligent missions planner for autonomous underwater vehicles[A].Proc of Spie conference on ledge-based artificial intelligence system in aerospace an industry[C].Orlando,1994.
[18]Yahja A,Singh S.An Efficient On-line Path Planning for Outdoor Mobile Robots[J].Robotic and Autonomous Systems.2000,32(2-3):129-143.
[19]陈华华,杜歆,顾伟康.基于遗传算法的静态环境全局路径规划[J].浙江大学学报,2005,32(1):49-53.
[20]禹建丽.一种快速神经网络路径规划算法.机器人,2001,23(3):201-205.
[21]朱伟(译),[日]土木学会(编).隧道标准规范(盾构篇)及解说[M].北京:中国建筑工业出版社,2001.
[22]施重衡.盾构机在中国地铁建没中的应用[J].建筑机械,2002(5):20
[23]吴克利.国内外隧道掘进机械发展概述[J].重工与起重技术,2005.
[24]陈丹等.盾构技术的发展与应用[J].现代城市轨道交通,2005(5).
[25]崔国华等.盾构机的研究现状与发展前景[J].矿山机械,2006.
[26]张德海.地铁隧道盾构自动定位系统开发研究[D].上海:同济大学,2006.
[27]Masahiro M,Kotaro K.Use of compact shield tunneling method in urban underground construction[J].Tunneling and Underground Space Technology 2005(20):159-166.
[28]尹旅超,朱振宏,李玉珍等译.日本隧道盾构新技术[M].武汉:华中科技大学出版社,1999:46-50.
[29]GB 50299-1999地下铁道工程施工及验收规范.
[30]廖少明,侯学渊.盾构法隧道信息化施工控制[J].同济大学学报,2002:1305-1309.
[31]王梦蜀,李典璜等编译.岩石隧道掘进机(TBM)施工及工程实例[M].中国铁道出版社.2004.
[32]刘凤华.管片排版与选型技术研究[D].上海:同济大学,2007.03.
[33]徐俊.盾构法施工最小曲线半径取值的研究[D].北京:北京交通大学.2008.6.
[34]Asano T,Ishihara M.An observational excavation control method for adjacent mountain tunnels.Tunneling and Underground Space Technology.2003(18):291-301.
[35]秦长利.提高盾构施工测量精度的要点与方法[J].测绘通报,2003.12.
[36]王毅才.隧道工程:下册[M].北京:人民交通出版社,1993.
[37]Benecke N,Kalz U.Ensuring tunnel navigation by cost-effective gyroscope control measurements.Tunneling and Underground Space Technology,In Press,Corrected Proof,Available online 20February 2006.
[38]牛学军.城市地铁盾构施工测量若干问题的探讨[D].武汉:武汉大学,2005
[39]于书瀚,杜谟远,周熹.隧道施工[M].北京:人民交通出版社,1999
[40]XU T,Lu H B,DONG W J.Method for determining pitch and roll of the boring tool with micro-machined accelerometers[A].ISTM/2003 5th International Symposium on Test and Measurement[C].
[41]潘国荣,王穗辉.上海地铁二号线隧道贯通定向技术及精度控制[J].同济大学学报,200028(1):122-125.
[42]孙更生.中国土木工程师手册[中册][M].上海:上海科学技术出版社,2001.
[43]易萍丽.现代隧道设计与施工[M].北京:中国铁道出版社,1997.
[44]康明.地铁区间隧道三维坐标计算[J].测绘通报,1999:29-35.
[45]张坤宜.交通土木工程测量[M].北京:人民交通出版社,2000:102-106.
[46]刘丹.缓和曲线精确计算的通用公式[J].广西交通科技,2001:55-61.
[47]杨村,张岩,赵平浅.谈缓和曲线计算中的巧合方法[J].天津市政设计,2003:28-29.
[48]宋瑞恒.盾构隧道通用管片排版与动态纠偏管理软件开发[D].上海:上海交通大学,2008.
[49]Hatano T.Dynamical Compression Deformation and Failure of Concrete Under Earthquake Load[J].Proceeding of Second World Conference on Earthquaking Engineering,1960:193-200.
[50]李惠平.盾构推进过程姿态的模糊自动控制系统研究[D].上海:同济大学,2000.
[51]李鹏程.盾构机姿态测量方法的精度比较[J].安徽建筑,2008,15(6):174-176.
[52]盾构机自动位置姿势计测系统使用说明书.
[53]张厚美,古力.盾构机姿态参数的测量及计算方法研究[J].现代隧道技术上,2004,4.
[54]冯东健,潘庆林,张凤梅.地铁盾构施工中盾构机姿态定位测量的研究[J].工程勘察.2003,4.
[55]薄志义,王坡.盾构机自动导向系统测量原理分析[J].煤炭工程.2006,6.
[56]潘明华,朱国力.盾构机自动导向系统的测量方法研究[J].施工技术.2005,34(6).
[57]高春香.盾构施工中管片拟合DTA问题研究[D].武汉:华中科技大学.2004,5.
[2]薛备芳.我国盾构掘进机的现状和发展策略[J].世界隧道,1999(6):26-31.
[3]吴克利.国内外隧道掘进机械发展概述[J].重工与起重技术,2005(1):1-4.
[4]施重衡.盾构机在中国地铁建设中的应用[J].建筑机械,2002(5):20
[5]陈馈.盾构国产化及其市场前景分析[J].建筑机械化,2006(27):5.
[6]刘仁鹏.土压平衡盾构技术综述[J].世界隧道,2000(1):1-7.
[7]Anagnostou G,Kovari K.The face stability of slurry-shield-driven tunnels[J].Tunneling and Underground Space Technology,1994,9(2):155-174.
[8]Gonzalez C,Sagaeta C.Patterns of soil deformations around tunnels.Application to the Extension of Madrid Metro[J].Computers and Geotechnics.2001(28):445-468.
[9]Shani W.UK EPB machine conquers Bordeaux's Karstic limestone[J].Tunnels & Tunneling,1994(7):43-46.
[10]Mathewson A,Laval D.Brunei's tunnel and where it led.Brunel Exhibition Rotherhithe,1992.
[11]尹旅超,朱振宏,李玉珍等译.日本隧道盾构新技术[M].武汉:华中科技大学出版社,1999:46-50.
[12]程英英.基于微分平坦的轮式移动机器人轨迹规划[D].长春:吉林大学.2008.
[13]蒋新松.机器人学导论[D].沈阳:辽宁科学技术出版社,2002:511-516.
[14]王磊,海洋环境下水下机器人快速路径规划研究[D].哈尔滨:哈尔滨工程大学,2007.
[15]马东扬.基于滚动优化的轮式移动机器人轨迹规划[D].长春:吉林大学.2009.
[16]Darling P.Steep tunneling for EPBM under the Avon Estuary.Tunnels & tunneling,January,1993.
[17]Vasudevan C,Ganesan K.Intelligent missions planner for autonomous underwater vehicles[A].Proc of Spie conference on ledge-based artificial intelligence system in aerospace an industry[C].Orlando,1994.
[18]Yahja A,Singh S.An Efficient On-line Path Planning for Outdoor Mobile Robots[J].Robotic and Autonomous Systems.2000,32(2-3):129-143.
[19]陈华华,杜歆,顾伟康.基于遗传算法的静态环境全局路径规划[J].浙江大学学报,2005,32(1):49-53.
[20]禹建丽.一种快速神经网络路径规划算法.机器人,2001,23(3):201-205.
[21]朱伟(译),[日]土木学会(编).隧道标准规范(盾构篇)及解说[M].北京:中国建筑工业出版社,2001.
[22]施重衡.盾构机在中国地铁建没中的应用[J].建筑机械,2002(5):20
[23]吴克利.国内外隧道掘进机械发展概述[J].重工与起重技术,2005.
[24]陈丹等.盾构技术的发展与应用[J].现代城市轨道交通,2005(5).
[25]崔国华等.盾构机的研究现状与发展前景[J].矿山机械,2006.
[26]张德海.地铁隧道盾构自动定位系统开发研究[D].上海:同济大学,2006.
[27]Masahiro M,Kotaro K.Use of compact shield tunneling method in urban underground construction[J].Tunneling and Underground Space Technology 2005(20):159-166.
[28]尹旅超,朱振宏,李玉珍等译.日本隧道盾构新技术[M].武汉:华中科技大学出版社,1999:46-50.
[29]GB 50299-1999地下铁道工程施工及验收规范.
[30]廖少明,侯学渊.盾构法隧道信息化施工控制[J].同济大学学报,2002:1305-1309.
[31]王梦蜀,李典璜等编译.岩石隧道掘进机(TBM)施工及工程实例[M].中国铁道出版社.2004.
[32]刘凤华.管片排版与选型技术研究[D].上海:同济大学,2007.03.
[33]徐俊.盾构法施工最小曲线半径取值的研究[D].北京:北京交通大学.2008.6.
[34]Asano T,Ishihara M.An observational excavation control method for adjacent mountain tunnels.Tunneling and Underground Space Technology.2003(18):291-301.
[35]秦长利.提高盾构施工测量精度的要点与方法[J].测绘通报,2003.12.
[36]王毅才.隧道工程:下册[M].北京:人民交通出版社,1993.
[37]Benecke N,Kalz U.Ensuring tunnel navigation by cost-effective gyroscope control measurements.Tunneling and Underground Space Technology,In Press,Corrected Proof,Available online 20February 2006.
[38]牛学军.城市地铁盾构施工测量若干问题的探讨[D].武汉:武汉大学,2005
[39]于书瀚,杜谟远,周熹.隧道施工[M].北京:人民交通出版社,1999
[40]XU T,Lu H B,DONG W J.Method for determining pitch and roll of the boring tool with micro-machined accelerometers[A].ISTM/2003 5th International Symposium on Test and Measurement[C].
[41]潘国荣,王穗辉.上海地铁二号线隧道贯通定向技术及精度控制[J].同济大学学报,200028(1):122-125.
[42]孙更生.中国土木工程师手册[中册][M].上海:上海科学技术出版社,2001.
[43]易萍丽.现代隧道设计与施工[M].北京:中国铁道出版社,1997.
[44]康明.地铁区间隧道三维坐标计算[J].测绘通报,1999:29-35.
[45]张坤宜.交通土木工程测量[M].北京:人民交通出版社,2000:102-106.
[46]刘丹.缓和曲线精确计算的通用公式[J].广西交通科技,2001:55-61.
[47]杨村,张岩,赵平浅.谈缓和曲线计算中的巧合方法[J].天津市政设计,2003:28-29.
[48]宋瑞恒.盾构隧道通用管片排版与动态纠偏管理软件开发[D].上海:上海交通大学,2008.
[49]Hatano T.Dynamical Compression Deformation and Failure of Concrete Under Earthquake Load[J].Proceeding of Second World Conference on Earthquaking Engineering,1960:193-200.
[50]李惠平.盾构推进过程姿态的模糊自动控制系统研究[D].上海:同济大学,2000.
[51]李鹏程.盾构机姿态测量方法的精度比较[J].安徽建筑,2008,15(6):174-176.
[52]盾构机自动位置姿势计测系统使用说明书.
[53]张厚美,古力.盾构机姿态参数的测量及计算方法研究[J].现代隧道技术上,2004,4.
[54]冯东健,潘庆林,张凤梅.地铁盾构施工中盾构机姿态定位测量的研究[J].工程勘察.2003,4.
[55]薄志义,王坡.盾构机自动导向系统测量原理分析[J].煤炭工程.2006,6.
[56]潘明华,朱国力.盾构机自动导向系统的测量方法研究[J].施工技术.2005,34(6).
[57]高春香.盾构施工中管片拟合DTA问题研究[D].武汉:华中科技大学.2004,5.