Control method of shield of tunnel boring complex, and tracking system for its implementation

FIELD: mining.

SUBSTANCE: control method of a shield of a tunnel boring complex consists in the fact that the shield is controlled in two planes by means of control systems in vertical and horizontal planes. By means of measurement equipment there determined are inclination angles of an actuating element relative to vertical and horizontal planes, signals as per speed of change of the inclination angle relative to vertical and horizontal planes, linear displacements in vertical and horizontal planes, and speeds of change of linear displacement in vertical and horizontal planes. The above signals are supplied to a control unit as per four coordinates, where they are compared to the task; after that, based on error signals, a relay control law of the actuating element is created. The invention also proposes a tracking control system of the shield of the tunnel boring complex, which includes the following in-series connected components: an optic direction setting device, a beam deviation unit, a membrane, a photoelectric receiving device and a four-coordinate control unit the input of which is connected to an inclination angle measurement unit. In addition, the device includes a state observer unit the input of which is connected to the inclination angle measurement unit and the output of which is connected to the control unit.

EFFECT: improving accurate and reliable control of movement of a shield of a tunnel boring complex.

2 cl, 4 dwg

The invention relates to the field of automated control systems, and in particular to control systems in the mining industry, and can be used to control a shield tunnel complex.

Known methods of control panel tunnel complexes, in which measurement technique to determine the position of the Executive body of the complex in space and then using automatic control unit forms the control signals shield. Closest to the present invention is a method [A.S. USSR 1599537, CL IS 35/24, 1988], which defines the angle of inclination relative to the horizontal plane and the angle of inclination relative to the vertical plane of the Executive body of the complex, these angles are compared with reference to the given point of space and form signals deviations from jobs, further on the basis of these signals form a relay control signal by the Executive body. This method is chosen as the prototype for the claimed in patent method of control.

The disadvantage of the method described in the prototype [A.S. USSR 1599537, CL E 21 35/24, 1988], is that the control law shield does not take into account data on the angular velocity, linear displacement and linear velocity of the sheet and therefore does not provide sufficient accuracy and is agnosti control.

There are known various traffic management system of the Executive bodies of the tunnel complex, in which there are optical devices detect the position of the shield in space, the unit job position, the control unit of mechanisms of movement of the shield. Closest to the present invention is a system [A.S. USSR 1599537, CL IS 35/24, 1988], in which a laser located in a specic part of the tunnel, and the receiving photocell located on the Executive body of the complex, set the direction of movement of the tunnel complex, with photocell signals to the control unit, where the form of the signal deviation from the task for a given point in space and on the basis of this signal form the control signal spool hydraulic Jack advancement of the shield.

The disadvantage of the system described in the prototype [A.S. USSR 1599537, CL IS 35/24, 1988], is that in this system there is no means of determining the angular velocity, linear displacement and linear velocity, and the control unit does not allow to take into account when forming the control signal of the angular velocity, linear displacement and linear velocity.

The technical task of the present invention is to improve the accuracy and reliability of control of the movement of the shield tunnel complex.

Set the military problem is solved thanks in the proposed method, the control shield is carried out in two planes by means of control systems vertically and horizontally, while using measurement techniques to determine the tilt angles of the Executive body about the vertical and horizontal planes, then form the signals at the above angles, also further define the signals on the rate of change of angle of inclination relative to the vertical and horizontal planes, linear movement in the vertical and horizontal planes, the rate of change of linear movement in the vertical and horizontal planes, the above signals about the state of the shield tunnel complex serves on the control unit on the four coordinates, where they are compared with the job, then on the basis of the error signals form a relay control law by the Executive body. And the proposed witness management system shield tunnel complex, contains serially connected optical unit areas, block deflection of the beam, the aperture of the photoelectric receiving device, the control unit four coordinates, which input is also connected to the block observer status, which its input is connected to the unit for measuring angles.

Technical is usnot of the invention is as follows: shield management is carried out in two planes (horizontal and vertical management system). In each of the systems is carried out relay control, and the switching function is formed by subtracting from the job state coordinates of the object with their weights.

Figure 1 shows the schematic diagram of servo control system; figure 2 - block control block observer status with the unit of measurement of angles; figure 3 - block observer status; figure 4 - location of elements of the system in the tunneling face.

The system consists of an optical unit in the direction 1, the beam which passes through the block 2 deflection, aperture 3 and is fed to the input matrix of the photoelectric receiving device 4 associated with the control unit on the four coordinates 5, the input of which also receives the signal from the block observer status 7, the input of which receives the signal from the unit of measurement of angles 6. The input unit 2 deflection associated with the block set angle of rotation 9.

Photoelectric receiving device consists of a matrix 10 with four photocells 11, spaced from each other at a distance equal to the diameter of the beam is connected mechanically through a screw transmission 12 with the motor 13 and an inductive sensor for measuring the displacement 14. Through horizontal helical gears 15 matrix 10 is connected with the motor 16 and the inductive sensor is m displacement measuring 17. The solar cells 11 through selective amplifiers 18, a comparator 19 and the power amplifier 20 is electrically connected with the motors 13 and 16. Inductive sensors measure the movement of 14 and 17 are electrically connected through out phase-sensitive amplifiers 21 and 22 to the control unit by four coordinates 5. With matrix 10 mechanically, through the housing and optically through the semitransparent mirror 24 and the reflecting mirror 25, is connected to the matrix 26, which consists of four main photocells 27, located on mutually perpendicular axes, and eight additional photocells 28 placed between the main and connected two in parallel. The photocells 27 and 28 are connected through a selective amplifier 29, the comparator 30 and the adjustable amplifiers 31, 32 to the control unit by four coordinates 5. In the feedback circuit of the output amplifiers 31 and 32 included additional photocells-photoconductive 33 and 34, respectively. Unit deflection of the beam 2 consists of a mirrored prism 35 is connected through the reduction gear 36 with the motor 37 connected through an amplifier 38 to the comparator 39, which is connected to the blocks 3 and 9.

Aperture 3 consists of a base 40 on which you installed the matrix 41 with an opening 42 and the two photocells 43 connected through a voltage amplifiers 44 and 45 with the comparator 46 to the E. through the amplifier 47 is connected to the motor 48. The motor is connected via screw transmission 49 matrix 41 and the motion sensor 50, which, through amplifier 51 is connected to the comparator 39 block 2.

Unit 9 job rotation angle of the optical beam consists of a partitioned potentiometer 52 connected to the slats stepping of the selector 53 is connected electrically via limit switch 54 associated with the transfer mechanism 55 tunneling machine (hydraulic jacks).

The unit of measurement of angles 6 (figure 2) consists of an electrolytic sensor 56 is electrically connected with the resistors 57 and 58 and mechanically with a screw 59. In addition, block 6 contains the amplifier 60, the input of which is electrically connected to the resistors 57 and 58, and the output is connected to the motor 61, which, through the gear 62 is connected to the electrolytic sensor 56 and an inductive sensor 63. The output of the inductive sensor 63 is connected with the inputs of the functional converters 64 and 65, the outputs of which are connected with the block observer status 7. The functional inputs of the inverters 64 and 65 are also connected to the outputs of the unit 66.

Block observer status 7 is an electronic device that implements the computation algorithm is shown in figure 3. Input observer status 7 is connected with the output unit of measurement of angles 6, and the output to the input of the control unit on the four coordinators who am 5.

The control unit on the four coordinates 5 contains the adders 67 and 68, the inputs of which is connected to the output of the block observer status 7 and the outputs of the amplifiers 20, the adders 69 and 70, the inputs of which are connected to the outputs of the adders 67 and 68, respectively, and outputs of devices comparison 30, adders generate control signals 71 and 72, the inputs of which are connected to the outputs of the adders 69 and 70, respectively, and output block observer status 7. The outputs of adders forming control signals 71 and 72 connected relays respectively 73,74,...,n and 75,76,...,m.

The implementation of the control method consider the example of the monitoring system.

The optical unit areas 1, block deflection of the beam 2 and the diaphragm 3 are installed in the tunnel, and all other blocks on the shield 8 (figure 4); with the ray optical unit areas 1 sets the direction of movement of the shield. The tracking beam and the measurement of linear and angular coordinates of the shield is photoelectric receiver 4. In steady state all the photocells 11 illuminated by the beam of the optical unit areas 1. Remove them from the electrical signals, amplified by the selective amplifiers 18 are transferred to the comparator 19. Thus the output signals equal to zero.

If there is a deviation of the shield, and therefore photoelec the historical receiver, you are exposed not all solar cells 11 of the matrix 10. Output devices comparison 19 appear the error signals through amplifiers 20 include electric motors 13 and 16. These motors through helical gears 12 and 15 move the matrix 10 so that all the solar cells 11 were equally illuminated. The passed matrix 10 the path defined by the deviation point of the shield 8, which establishes the receiving device 4, is measured by an inductive sensors measure the movement of 14 and 17. Analog signals Ux and Uy with sensors through out phase-sensitive amplifiers 21 and 22 are received in the control unit on the four coordinates 5.

Beam optical unit areas 1, passing through the hole of the matrix 10, enters the semi-transparent mirror 24, which is reflected from falls on the mirror 25 and then on the solar cells 27, 28 matrix 26, which measures the angle of inclination of the shield relative to the horizontal and vertical planes. Install the two mirrors 24 and 25 increases the accuracy of the measurement of angular coordinates.

In the absence of angles of inclination of the shield relative to the horizontal and vertical planes of the shield beam optical unit areas 1 falls on the center of the matrix 26 and evenly illuminates the solar cells 27, 28. The signals on the output device 30 comparison is equal to zero. When there is the presence of the crystals of inclination relative to the horizontal plane α and angles relative to the vertical plane β, beam optical unit areas 1 moves over the solar cells 27, 28. As a result, the illumination of one of the solar cells increases and the other decreases, which leads to the appearance of electrical signals U_αand U_βthe outputs of devices comparison 30 and the output of the amplifiers 31, 32, proportional to the angles of deflection of the axis of the shield in the horizontal and vertical planes.

These stresses act in the control unit on the four coordinates 5. To eliminate the effect of changes in the intensity setting of the beam optical unit areas 1 to measure angles of inclination relative to the horizontal plane and the vertical plane in the circuit of the negative feedback of the output of the amplifiers 31 and 32 included the photoconductive respectively 33 and 34, which are illuminated by a beam passing through the semitransparent mirror 24. When you change the intensity setting of the beam changes the resistance of the photocells of the photoconductive 33 and 34, the change in the gain of the output amplifiers 31 and 32, resulting in the output voltage U_αand U_βremain unchanged. When working on curved sections of track in the function of distance is the deviation of the beam in the plan through block 2. The comparator 39 this unit receives analog signals from the block is 3 and 9. Block 9 receives an analog signal proportional to the desired angle beam block 3 analog signal proportional to the actual rotation angle of the beam: a differential signal is amplified by amplifier 38 includes a motor 37 and the rotation of the prism 35. When you rotate the prism to the desired angle signals at the input of the comparator 39 are equal in magnitude and opposite in sign, so the output comparison signal is equal to zero and the drive is tripped. The rotation of the beam is performed at specified intervals covered by the shield distance (for example, 0.5 m -1,0 m) signal coming from the unit setting the angle of rotation 9. Prism 35 unit 2 rotates the beam in the horizontal plane, which causes a change in the illumination of the photocells 43 unit 3, this leads to the appearance of the signal at the output of the comparison element 46 and the switching of the electric motor 48. The motor 48 moves the matrix 41 and the movable part of the sensor 50 for motion measurement. The analog signal from the sensor 50 is fed through an amplifier 51 to the input of the comparator 39 block 2.

When the movement of the shield moving mechanism 55 of the shield through the limit switch 54 includes a stepping selector 53. The engine stepper seeker moves over the blades, produces a slice through the potentiometer 52, the signal at the input of comparator 39 block 2.

Change is giving angles of the shield is carried out by the unit 6, representing the witness measuring system. As a sensitive element in the block are used electrolytic sensor 56, which resistors 57 and 58 forms a bridge. The sensor 56 is set to the zero position by means of a screw 59, the bridge is balanced and the potential difference in the diagonal of the bridge is zero. When the inclination of the shield, the sense of balance of the bridge, and the signal goes through the amplifier 60 on the controlled winding of the motor 61, which, through the gear 62 moves the sensor to the zero position. As soon as the sensor will take a zero position, the motor will stop. The magnitude of the rotation shaft of the gearbox, is proportional to the angle, is converted into an electrical signal inductive sensor 63. Thus the analog electrical signal proportional to the angles.

Tracking system in the unit of measurement of angles 6 are used to increase the linear part of the sensor characteristics. Using a signal about the angles are being amended ΔUx and ΔUy in linear coordinates x and y of the tunnel shield. To obtain amendments ΔUx and ΔUy used functional converters 64, 65 and the knob 66.

In block observer status 7 signal coming from the unit of measurement of angles 6, goes through a series of transformations is shown in figure 3. The output unit Nablyudatel the state received sum signals about the current position of the shield with their weighting factors in the vertical and horizontal planes. These signals arrive at the inputs of the adders 71, 72.

In the control unit 5 by the adder 67 computed amendment ΔUx is folded coordinate Ux and the output of the adder 67 is obtained signal U_1X=Ux±ΔUx. In the adder 68 computed amendment ΔUy is folded coordinate Uy and the output is the signal U_1Y=U_Y±ΔU_Y. Further, in the adder 69 amendment by the angle U_αis folded U_1Xand the output is the signal U_2X=U_1X+Size. Further, in the adder 70 amendment by the angle U_βis folded U_1Yand the output is the signal U_2Y=U_1Y+U_β. Further, in the adder 71 alert for missing state coordinates in the horizontal plane U_3Xis folded U₂x and the output is the signal U_4X=U_2X+U_3X. Further, in the adder 72, the signal on the missing state coordinates in the vertical plane U_3Yis folded U_2Yand the output is the signal U_4Y=U_2Y+U_3Y.

The control signal U_4Xarrives at the inputs of the relay, which include through electrohydrostatic the jacks to control the shield in a horizontal plane 73,74,...,n. The control signals U_4Yarrive at the inputs of the relay, which include hydraulic jacks to control the shield in a vertical plane 75,76,...,m.

Thus, this from Britanie improves the accuracy and reliability of the control movement of the shield tunnel complex. The invention consists in that the shield is in two planes (horizontal and vertical control system). In each of the systems is carried out relay control, and the switching function is formed by subtracting from the job object coordinates (angle from the axis, the derivative of the angle of deviation from the axis (angular velocity), moving relative to the origin, a derivative of movement relative to the origin (linear speed)) with their weights.

1. The method of controlling the shield tunnel complex, which consists in the fact that managing shield is carried out in two planes by means of control systems vertically and horizontally, while using measurement techniques to determine the tilt angles of the Executive body about the vertical and horizontal planes, then form the signals at the above angles and applying them to the control unit, where they are compared with the task, and then, on the basis of the error signals form a relay control law the Executive body of the tunnel complex, differentthe fact that for the formation control law further define the signals on the rate of change of angle of inclination relative to the vertical and horizontal is loskota, linear movement in the vertical and horizontal planes, the rate of change of linear movement in the vertical and horizontal planes and submit them to the control unit, made in the form of a control unit according to the four coordinates.

2. The witness management system shield tunnel complex containing serially connected optical unit areas, block deflection of the beam, the aperture of the photoelectric receiving device, control unit, whose input is also connected to the unit of measurement of angles, differentthe fact that it introduced an additional unit of an observer state, its input connected to the unit of measurement of angles, and the output control unit according to the four coordinates.