Abstract: The Vshaped plough trenchless pipe laying machine provides strong engineering support for concealed pipe drainage and salt control technology. In order to solve the problem that the trenchless pipe laying machine will tilt at a faster speed during construction, resulting in a large swing range of the mount frame and a reduction in the horizontal detection accuracy of the lower control arm behind the mount frame. By analyzing the structure of trenchless pipe laying machine and the mathematical model of control mechanism, an adaptive compensation level detection method based on risk control is proposed. The algorithm uses Kalman filtering algorithm to obtain two groups of detection values: the horizontal inclination of the frame and the horizontal inclination of the rear lower control arm of the mount. Through the control structure characteristics of trenchless pipe laying machine, the relationship between the two groups of horizontal inclination is determined. Then, the longitudinal acceleration of the rear lower control arm is used to assess the risk of the horizontal detection accuracy of the rear lower control arm. According to the assessed risk, the two groups of detection values are adaptively weighted to obtain more accurate horizontal inclination information. The static test results showed that the maximum fluctuation amplitude in the front and rear directions was 0.858°, the maximum fluctuation amplitude in the left and right directions was 0.778°. This system could meet the testing requirements of trenchless pipe laying machine. The dynamic detection test showed that this method could obtain the effective target tilt angle 10.8 s ahead of the original method. The maximum fluctuation between the detected inclination and the target angle was 0.69°, and the fluctuation range was small. This method improves the dynamic level detection accuracy and speed of the rear lower control arm.

Key words:  trenchless pipe laying machine, horizontal tilt angle, adaptive compensation； risk control

摘要： V形犁式无沟铺管机为暗管排水控盐技术提供强有力的工程支撑。为解决无沟铺管机在施工时会出现以较快速度倾斜，导致挂载架摆动幅度偏大，而引起挂载架后下控制臂水平检测精度降低的问题，通过分析无沟铺管机组成结构及控制机构数学模型，提出了一种基于风险控制的自适应补偿水平检测方法。该算法使用Kalman滤波算法得到车架的水平倾角和挂载架后下控制臂的水平倾角两组检测值，通过无沟铺管机的控制结构特性，确定两组水平倾角的关系，然后利用后下控制臂纵向加速度，对后下控制臂水平检测准确性进行风险评估，根据评估的风险对该两组检测值进行自适应加权，获取较精确的水平倾角信息。经过静态检测试验表明了该方法前后方向最大波动幅度为0.858°，左右方向最大波动幅度为0.778°，能够满足无沟铺管机的检测需求；经过动态检测试验表明了该方法能够比原始方法提前10.8 s得到有效的目标倾斜角度，且检测的倾角与目标角度最大波动量为0.69°，波动范围较小，提高了后下控制臂动态水平检测精度和速度。

关键词: 无沟铺管机, 水平倾斜角度, 自适应, 风险控制