通过对比当前国际各盾构制造或隧道施工企业在盾构自动驾驶方面的技术和实践进展，从岩土辨识、盾构姿态控制和地面沉降控制3个维度综述盾构自动驾驶的理论研究现状及趋势。在此基础上，提出层次化的盾构自动驾驶控制体系，以及数据、机制和经验相融合的控制方法。以“智驭号”盾构自动掘进控制系统为例，简要介绍盾构自动驾驶技术的探索成果，包括盾构自动驾驶体系的控制环节设计、姿态和沉降核心控制算法的模型结构，以及自动驾驶系统在实际工程中的应用情况。最后，讨论盾构自动驾驶技术在应用中存在的难题，并展望未来发展趋势。
The current technological and practical achievements
in shield tunneling construction are evaluated with particular focus on shield
automatic driving. Also, the developments in theoretical research are
summarized based on rock and soil identification, shield attitude control, and
ground settlement control. Thereafter, a hierarchical automatic driving control
system and a control method for data, mechanism, and experience fusion are
proposed. A case study is conducted on the ZhiYu shield automatic excavation
and control system. The exploration results of the shield automatic driving
technology including the control link design, the model structure of the core
control algorithm for attitude and settlement, and the application of the
system in actual engineering practice are explored. Finally, the challenges in
shield automatic driving technology are discussed and the future development
trends are predicted.
