盾构自动导向系统的研究与实现

华中科技大学硕士学位论文盾构自动导向系统的研究与实现姓名：潘明华申请学位级别：硕士专业：机械电子工程指导教师：朱国力20050507I8632IIAbstractThetaskisfromtheNational863project--theResearchandtheDemonstratingApplicationoftheTunnelBoringMachine's(TBM)AssistantSystemandGuidanceTechnology.TheresearchinthisarticlearesomeofthemaintechnologyaboutguidancesystemofTBM.Thedetailsareasfollowing:Themaintaskofguidancesystemwasresearchedafterwediscussedtheactualityoftunnelmeasure.ThanweknewtheimportanceofdevelopingtheTBM’sguidancesystem.ThebasicknowledgeaboutTBMandtheoryoftunnelmeasurementwereresearched.Afterwecomparedsometypeofguidancesystems,wechoosedmethodofourguidancesystem.ThemaintechniqueofguidancesystemishowtomeasurethepositionandposeofTBM.BycomparingtheresultsofmeasurementwithvaluesofDTA(DesignedTunnelAxis),wecanfindthepositionoffsetandangleoffsetofTBM.WeexpoundedsomeproblemsabouthowtoattainthepositionandposeofTBMandhowtocomparethevalueswithDTA.Howtocontrolthetheodolitewithcomputerisveryimportantinthesystem.Wediscussthisproblemandbringforwardaplantodealwithit.Itisintegranttoanalysetheprecisionofequipmentsandarithmeticthanwecaninsurethattheprecisioncanbeaccept.Wediscussedsomefactorswhichaffecttheprecisionofguidancesystem.ThisguidancesystemhasbeensuccessfullyappliedintheprojectofShanghai,whichhasgreatlyincreasedtheefficiencyandtheproject’squality.Keywords:TBMtunnelmeasurementautomaticguidancesystem111.11.1.18632003AA420130,,(),(),,[1],,,1.11.2[2]21.11.21.11.23a)1.31.41.31.44b)1.5()[3]1.61.51.6c)1.6[28]5d)1.1,1.1.2[21][23],86361.21.2.11.71.7a)[4]GYRO7,b)[26]enzanROBOTEC1.81238c)[5][30]VMT1.9VMT9VMTVMT10mm[6][7]VMTVMT1.2.2(1)10mm30mm(2)(3),10,,1.31122.1-20mm~80mm50mm150mm[8](1)2.12.1(2)122.22.22.22.2.1[9][10]2.3132.3l(xl,yl,zl)[27]llllx,y,z=f()2.2.2[11]2.4/ll2.414ll(x,y)l(xl,yl)=f(l)l/lL/L,l=Ll//L////(,)()llxygl=//(,)()(/)()llxyglgLlLfl===(1)XYααlXYX0Y0/0/0cossinXXlYYlαα=+=+(2.1)(2)x0,y0αR2.52.5X15////sin(1cos)lxRRlyRR==−(2.2)x,y//0//0sincos(1cos)sinsinsin(1cos)cosllxxRRRRllyyRRRRαααα=+−−=++−(2.3)l/ll(xl,yl)=f(l)(3)[12][13]2.6X/L,R/lx/,y/l/=L=L/(2R)Mx/,y//dlN/dlX/Y/dx/=cosdl/,dy/=sindl/162.62435cos1sin2435βββββββ=−+−=−+−/5/9/3/7/11///22443355403456533642240lllllxlyRLRLRLRLRL=−+=−+(2.4)α,x0,y0////00cossinsincosxxxyyyxyαααα=+−=++(2.5)l/l/ll2.2.3ZL2.7172.7(zl)=g(l)Z1ZllZZ00sinZZlβ=+(2.6)2Z0Rl2.8CZBC=Rsin(l/R)EC=BCsinBF=R-Rcos(l/R)AB=DE=BFcosZ=Z0+CDC0sinsin(1cos)cosllZZRRRRββ=+−−(2.7)2.8182.2.42.92.9192.3[14]2.10+3~-3+5~-53X2.10202.112.112133.1(1)3.13.1,,22,,RS232(2)3.23.2LeicaTCA120323RS2323.3100RS232RS232RS485RS4853.3(3)PLCPLC24PLCPLCPLC(4),PLC,3.43.23.5→→→25→PLC→→→→3.52644.14.1.1ZXY4.14.14.1.24.2a,b,ca/,b/,c/A//arctan(()/())Abbaa=−−27RLT4.1(x0,y0,z0)/0/0/0sincos(180)sinsin(180)cosxaLTARybLTARzcLT=++−=++−=+(4.1)4.24.1.3θβϕθ(4.3)4.3θ/,4.4tan/DEADθ=tan/DFFEϕ=tan/DBABβ=AD=L4.2θ/28cosABLβ=tancosBCLθϕ=()2222sintansincosLACAEECLLβθϕθ=−=−−()()222'arccos2ABACBCABACθ+−=××(4.2)4.4θ/δγ=δ+θ/4.1.4,4.5(A,-C,-B)(A,-C,-B,1)(x0,y0,z0)294.5YβXϕZγ(x0,y0,z0)[15](x,y,z)4.3()0001000cos0sin0cossin000cossin00100sincos00,,,1(,,,1)0sincos0sin0cos000100001000100011000010000101xyzACBxyzββγγϕϕγγϕϕββ−−=−−×××−×(4.3)γ0360ϕβ4.24.3(-D,-C,-B)3045PLCh1h2h3h4E4.6σω4.44.6()()12232arcsin()/(2)2arcsin()/(2)hhEhhEσω=×−×=×−×(4.4)4.7h()12344hhhhh+++=4.7X,Y,Z4.5σω31()()()()()((4.5)XYZ4.34.3()4.6iLiXiXiYiYiZiZi===LLL(4.6)14.8AB4.8A32AACCDAEVaLa4.74.7LcCZcZdCD()1sincoscos()AEACaLaLcACaACaVaZZcZdZcCD=×=+××=−+−×(4.7)HV4.84.8XcXdYcYdCDXY()()()()()arctan/arctanHYdYcXdXcVZdZcCDγβ∆=−−−∆=−−(4.8)B4.44.9334.9XY3455.15.1.15.1355.15.1.2NN5.2365.25.1.3375.3385.25.2.1GEOCOM[16]GEOCOMGEOCOM[17]5.4GEOCOMGEOCOM1COMF2BAP3MOT394AUT5TMC6EDM7CSV8BMM9SUP10COM11CTLASC[LF]%R1Q,RPC[,TrId]:[P0][,P1,...]TermLF%R1QGEOCOMRPC065535TrIdID[P0][,P1,...]TermCR/LF5.2.2Windows,,APIVisualC++6.0ActiveXMSCommMSComm,MSCommCommPortCommEventSettingsPortOpen40InputOutputInBufferCount5.2.3MSCommAPIASCGEOCOM[18]GeoCom.LibASCC++C++”GEOCOM.h”5.2.415.5415.525.65.6SetTimeOut4235.75.7DoMeasureGetSimpleMea4Error4366.16.1.1(1)1mrad1mrad0.1(2)LeicaTCA12032mm±2ppm±3(3)440.01mm6.1.2x,y,zx0,y0,z04.34.36.1()11100011000cossin00cos0sin00100sincos000100(,,,1),,,100100010sin0cos010001000110000cossin00sincos00001ACBxyzxyzγγββγγββϕϕϕϕ−−−−−−−=×××−−×(6.1)6.1A-C-B6.1X456.16.26.2.1[19]yx1x2xn12(,,,)nyfxxx=…(6.2)x1x2xn∆x1,∆x2,,∆xn,y∆y1122(,,,)nnyyfxxxxxx+∆=+∆+∆+∆…(6.3)x1x2xn∆x1,∆x2,,∆xn12112nniiniffffyxxxxxxxx=∂∂∂∂∆=∆+∆++∆=∆∂∂∂∂∑(6.4)46/(1,2,,)ifxin∂∂=x1x2xn1.x1x2xn∆x1max,∆x2max,,∆xnmax,y∆ymaxmax1max2maxmaxmax112nniiniffffyxxxxxxxx=∂∂∂∂∆=∆+∆++∆=∆∂∂∂∂∑(6.5)∆ymax2.∆x1max,∆x2max,,∆xnmax,x1x2xnk1,k2,,knky6k=6/∆maxy∆ymax22maxmax11616/nnyiiiiiyiyiffykxkxkxkxσσ==∂∂∆===∆∂∂∑∑(6.6)k1,k2,,knk1,k2,,knky472222max1max2maxmaxmax112nniiniffffyxxxxxxxx=∂∂∂∂∆=∆+∆++∆=∆∂∂∂∂∑(6.7)6.2.2LTαx0y0z0h000sincossinsincosxxLTyyLTzzLThαα=+=+=++(6.8)hx0y0z0xyzLTα5.8LTαδLδTδαxyzδxδyδz222221/2221/2sincoscoscossinsinsinsincossinsi