华中科技大学学报（自然科学版）2024，Vol.52Issue(12)：53-63,11.DOI:10.13245/j.hust.241206
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
摘要
Abstract
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Key words
double-shield tunnel boring machine/pose measurement between shields/multi-sensor information/forward and inverse solution of relative pose/differential evolution algorithm分类
交通工程引用本文复制引用
孙跃宇,朱国力,刘瑞,贺泊宁..双护盾隧道掘进机盾体间相对位姿测量方法研究[J].华中科技大学学报（自然科学版）,2024,52(12):53-63,11.基金项目
国家重点研发计划资助项目(2022YFC3802302). （2022YFC3802302）
