Development of positioning control system of excavator for the diaphragm wall method considering ground properties

考虑地面特性的地下连续墙法挖掘机定位控制系统开发

• 批准号: 07555448
• 负责人: FUKAGAWA Ryoichi
• 金额: $ 0.45万
• 依托单位: Ritsumeikan University (1996)Ehime University (1995)
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 1995
• 资助国家: 日本
• 起止时间: 1995 至 1996
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-07555448/
• 关键词: disphragm wall method; positioning control; excavation; simulation; interaction; laboratory test; in-situ test; fuzzy reasoning; 地中連続壁; 掘削機; 自動制御; 地盤

Main results obtained from this research were as follows :(1) Formulation of interaction between the excavator for the diaphragm wall method and the surrounding groundThe interaction between the excavator for the diaphragm wall method and the surrounding ground was mechanically formulated. In this formulation, the non-linearity of displacement at the loading plate of the excavator was considered since the displacement was relatively large, while displacement at the side wall of the excavator was regarded elastic since the displacement is relatively small. A series of tests were carried out by use of a miniature excavator in order to investigate the effectiveness of the proposed model. The theoretical values showed a good accordance with the experimental values, so that it was proved that the proposed mechanical model was valid in this case.(2) Creation of control algorism considering ground properties and the examination using miniature excavatorControl algorism to determine the control conditions from the inital response of the excavator was proposed based on the mechanical model shown in (1). Since the properties of the surrounding ground can be estimated by analyzing the initial response of the excavator, smooth control results could be obtained without knowing the ground properties beforehand. A series of laboratory tests resulted in making clear the effectiveness of the proposed control algorism.(3) Creation of control algorism on fuzzy reasoning and the examination using actual excavator.Fuzzy reasoning algorism to output SPT N-values based on three kinds of input data, that is the penetration speed of the excavator, the lifting weight and the torque of drum cutters, was constructed.Moreover positioning control algorism incorporated the fuzzy reasoning algorism was created and finally the effectiveness of the proposed control algorism were proved by the in-situ tests using actual excavator.

（1）地下连续墙法挖掘机与周围土体相互作用的力学模型建立了地下连续墙法挖掘机与周围土体相互作用的力学模型。在该公式中，由于挖掘机加载板处的位移相对较大，因此考虑了位移的非线性，而挖掘机侧壁处的位移相对较小，因此将其视为弹性位移。为了研究所提出的模型的有效性，进行了一系列的测试，通过使用小型挖掘机。理论计算值与实验值吻合较好，证明了该力学模型的有效性。(2)根据（1）所示的力学模型，提出了根据挖掘机的初始响应确定控制条件的控制算法。由于通过分析挖掘机的初始响应可以估计周围地面的特性，因此可以在事先不知道地面特性的情况下获得平滑的控制结果。一系列的实验室测试结果表明，所提出的控制算法的有效性。(3)建立了基于模糊推理的控制算法，并进行了实际挖掘机的试验，采用模糊推理算法，根据挖掘机的挖掘速度、提升重量和滚筒刀具的扭矩三种输入数据，输出SPT N值，最后，本文提出了一种基于模糊推理的位置控制算法，并证明了该算法的有效性用实际挖掘机进行了现场试验。

项目成果

Matsuike, Sawa, Ohashi, Sotozono, Fukagawa and Muro: "Development of automatic system for diaphragm-wall excavator" Proc. of the 13th Symposium on Automation and Robotics in Construction. 285-294 (1996)

Matsuike、Sawa、Ohashi、Sotozono、Fukakawa 和 Muro：“连续墙挖掘机自动系统的开发”Proc。

4) Matsuike, T., Sawa, Y., Ohashi, A., Sotozono S., Fukagawa, R.and Muro, T.: "Development of automatic system for diaphragm-wall excavator" Proc.of the 13th Int.Symposium on Automation and Robotics in Construction. 285-294 (1996)

4) Matsuike, T., Sawa, Y., Ohashi, A., Sotozono S., Fukakawa, R.and Muro, T.：“连续墙挖掘机自动化系统的开发”第13届国际研讨会论文集

Fukagawa,Muro,Yamamoto and Matsuike: "The simulation of the interaction between a model excavator for diaphragm wall method and the surrounding ground" Proc.of the 12th International Conference on ISTVS. 622-629 (1996)

Fukakawa、Muro、Yamamoto 和 Matsuike：“连续墙法模型挖掘机与周围地面相互作用的模拟”第 12 届 ISTVS 国际会议论文集。

Fukagawa, R., Muro, T., Tamamoto K.and Matsuike, T.: "The simulation of the interaction between a model excavator for diaphragm wall method and the surrounding ground" Proc.of the 12th Int.Conf.on ISTVS.Proc.of the 12th Int.Conf.on ISTVS.622-629 (1996)

Fukakawa, R.、Muro, T.、Tamamoto K. 和 Matsuike, T.：“连续墙法模型挖掘机与周围地面相互作用的模拟”Proc.of the 12th Int.Conf.on ISTVS。

Fukagawa,Muro,Hozumi and Matsuike.: "Interaction between a model excavator and the surrounding ground during positioning control tests" Proc.of 12th Int.Symp.on Automation and Robotics in Construction. 123-130 (1995)

Fukakawa、Muro、Hozumi 和 Matsuike.：“定位控制测试期间模型挖掘机与周围地面之间的交互”Proc.of 12th Int.Symp.on Automation and Robotics in Construction。