基于陀螺仪与倾角仪组合的TBM姿态角测量研究

发布时间：2019-03-01 15:18

【摘要】：由于TBM的隧道施工环境多为山体岩石结构,其在掘进过程中易受到剧烈的振动冲击,这会导致其姿态角测量系统中的倾角传感器发生测量失准甚至失效。陀螺传感器有抗振性强的特点,可作为强振动环境下TBM姿态角的测量传感器。为了提高TBM姿态角测量系统在振动环境下的测量精度和稳定性,本文提出一种基于双轴倾角仪和三轴陀螺仪组合的TBM姿态角测量方法。分析倾角仪和陀螺仪在不同振动频率下的测量性能,找到了倾角仪发生测量失效的共振频率段。当倾角仪发生共振而测量失效时,陀螺仪的测量性能未受较大影响,扫频振动测试结果表明当倾角仪发生测量失效时可用陀螺仪进行TBM姿态角测量的工作,但需要对陀螺仪的随机漂移误差进行估计补偿,才能保证陀螺仪在振动环境下长时间的稳定测量。利用Allan方差法分析MEMS三轴陀螺仪的主要随机漂移误差项,并根据分析结果建立陀螺仪的随机漂移误差模型。通过仿真实验验证了误差模型的准确性,从而依据陀螺仪的误差模型建立扩展Kalman滤波算法的多传感器融合估计模型。利用倾角仪未失效时输出的高精度角度信息通过扩展Kalman滤波对陀螺仪输出角速度的零偏进行实时跟踪估计,当倾角仪在强振动环境下发生测量失效时,将经过零偏补偿后的陀螺仪角速度进行积分运算,可获得较为精确的TBM姿态角。最后通过仿真实验和实验平台的测试验证了本文提出的融合系统测姿算法能有效测量强振动环境下的TBM姿态角并具有较高的可靠性,可以满足TBM隧道施工过程中的姿态角测量精度要求,具有可实施性和实际工程应用价值。
[Abstract]:Because the tunnel construction environment of TBM is mostly mountain rock structure, it is easy to be subjected to severe vibration shock in the process of tunneling, which will lead to the measurement misalignment or even failure of the inclination sensor in the attitude angle measurement system. The gyroscope sensor has the characteristics of strong anti-vibration and can be used as the sensor for measuring the attitude angle of TBM in strong vibration environment. In order to improve the accuracy and stability of TBM attitude angle measurement system in vibration environment, a TBM attitude angle measurement method based on biaxial tiltmeter and triaxial gyroscope is presented in this paper. The measurement performance of tiltmeter and gyroscope at different vibration frequencies is analyzed, and the resonant frequency section where the measuring failure of tiltmeter is found. When the tiltmeter is resonant and the measurement fails, the measurement performance of the gyroscope is not greatly affected. The results of frequency sweep vibration test show that the gyroscope can be used to measure the attitude angle of TBM when the tiltmeter fails. However, it is necessary to estimate and compensate the random drift error of the gyroscope in order to ensure the long-term stability measurement of the gyroscope in the vibration environment. The main random drift error term of MEMS triaxial gyroscope is analyzed by Allan variance method, and the random drift error model of the gyroscope is established according to the analysis results. The accuracy of the error model is verified by the simulation experiment. Based on the error model of gyroscope, the multi-sensor fusion estimation model of extended Kalman filtering algorithm is established. Using the high precision angle information output when the tiltmeter does not fail, the zero deviation of the gyroscope output angular velocity is estimated by extended Kalman filter in real time. When the tiltmeter fails in the strong vibration environment, it can be used to estimate the zero deviation of the gyroscope output angular velocity in real time. The TBM attitude angle can be obtained by integrating the angular velocity of gyro after zero offset compensation. Finally, through the simulation experiment and the test of the experimental platform, the proposed fusion system attitude measurement algorithm can effectively measure the attitude angle of TBM in strong vibration environment, and has high reliability. It can meet the precision requirement of attitude angle measurement in the construction of TBM tunnel, and has the practical application value.
【学位授予单位】：华中科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U455

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