针对盾构掘进过程中姿态主要依赖操作人员施工经验手工调整、掘进轨迹精度主要依赖人员熟练性的情况，提出基于双闭环反馈自动控制盾构掘进轨迹的方法，通过主反馈实现掘进斜度的实时更新，局部反馈实现液压缸的速度控制。分析表明，局部反馈精度决定了预调偏差大小，在掘进轨迹控制中至为关键，因此以球铰支撑推进系统为例分析单环掘进前后液压缸的几何关系，推导左右推进液压缸速度关于掘进斜度、掘进速度的数学解析式，采用AMESim和MATLAB联合仿真工具搭建了推进速度控制的模糊PID模型，仿真分析非均载荷下推进液压缸的速度控制，并以盾构模拟推进试验台为例进行推进速度控制试验。结果表明： 基于模糊PID控制策略的推进液压缸速度控制可实现较准确的盾构掘进轨迹，为盾构失准问题的进一步解决提供了理论基础和现实依据。

Considering the fact that the attitude of shield during the boring process is mainly controlled by manual adjustment according to personal experience and that the precision of shield boring trajectory mainly depends on personal proficiency, the authors propose the automatic shield attitude control method based on dual closedloop feedback. The automatic shield attitude control method proposed contains a mainloop feedback that updates the tunneling trajectory and a local feedback that controls the velocity of the thrust cylinders. Succedent analysis shows that the localfeedback control is crucial. Therefore, the authors analyze the geometric relation of hydraulic cylinders before and after onering boring based on a sphericalhinge support thrust system, and deduce the mathematical expression of shield attitude and velocity of thrust cylinders on the left and right sides. The authors achieve the simulation of the velocity control system based on fuzzy PID by using AMEsim and MATLAB software, and make the corresponding test based on a thrust simulation test rig. The result indicates that accurate shield attitude can be realized by fuzzy PID control strategy. The paper provides the theoretical foundation and practical basis for further solution of the shield misalignment problem. 