文档介绍：华中科技大学
硕士学位论文
盾构姿态测量中的倾角仪误差补偿研究
姓名:文香稳
申请学位级别:硕士
专业:机械电子工程
指导教师:朱国力
2011-01-13
华中科技大学硕士学位论文
摘要
工程上为确保盾构机沿着设计的线路掘进,需要对其位置和姿态进行高精度的实时
测量。倾角仪是盾构姿态测量中的重要部件,用来直接测量俯仰角和滚动角。然而,倾
角仪不仅具有非线性特性,还存在温漂问题,因此测量误差较大。本文在分析盾构姿态
测量原理的基础上,着重探讨了倾角仪测量误差的补偿方法,主要内容包括:
(1)采用蒙特卡罗方法分析了倾角仪误差对盾构姿态角度测量的影响。结果表明
倾角仪的测量精度不仅直接决定着俯仰角和滚动角的测量精度,还对偏转角的测量有较
大影响。
(2)为研究倾角仪的输入输出特性,设计了一个旋转实验平台来进行倾角测量实
验。结果证明倾角仪的测量输出确实具有非线性误差和温漂误差。倾斜角度越大,非线
性误差和温漂误差就越大。
(3)研究了基于多项式拟合的倾角仪测量误差补偿方法。为克服多项式拟合的一
般方案存在的拟合次数较多、计算量较大等不足,提出了改进措施,即先建立温漂误差
的线性模型、再考虑非线性对模型的影响,结果只需进行 2 次多项式拟合就可将测量误
差控制在± 毫弧度以内,而一般方案则需要进行 4 次多项式拟合。
(4)为进一步减小倾角仪的测量误差,提出了神经网络校正方法。利用神经网络
建立了倾角仪测量系统的逆模型,通过对神经网络模型进行训练实现了倾角仪测量输出
和环境温度到实际倾斜角度的映射关系,从而完成了温度补偿和非线性校正。神经网络
方法不仅可以同时考虑环境温度影响和非线性作用,而且获得的补偿精度比多项式拟合
方法的更高。经过补偿,倾角仪测量误差的最大值由毫弧度下降至毫弧度。
最后,对全文进行了总结,并对未来工作做了展望。
关键词:盾构机,姿态测量,倾角仪,误差补偿,多项式拟合,神经网络
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华中科技大学硕士学位论文
Abstract
To ensure the shield machine can tunnel along the designed line in engineering, it is
necessary to measure its position and pose accurately in real-time. The inclinometer is an
ponent in pose measurement of shield machine and it is utilized to measure the
pitching angle and the rolling angle directly. However, the measurement error of the
inclinometer is often large due to the impact of nonlinearity and temperature drift. Therefore,
pensation methods of measurement error for the inclinometer were mainly discussed
in this paper based on the analysis of pose measurement principle for shield machine. The
main contents are as follows:
( 1 ) The impact of the inclinometer’s error on measuring the attitude angles of shield
machine was analyzed using Monte Carlo method. The results show that the measurement
accuracy of the inclinometer not only determines the measurement accuracy of the pitching
angle and the rolling angle directly, but also influences the measurement of the yawing angle
largely.
( 2 ) To research the measurement characteristic of the inclinometer, a rotation
e