基于Hermite插值的管片拼装机轨迹规划

盾构施工中，管片拼装机需要先完成一环的拼装，才能往前进行推进。目前管片拼装机工作效率较低，直接影响着掘进速度。为了提高管片拼装机的拼装效率，结合Hermite插值算法提出一种新的拼装轨迹规划方法，通过各动作始末两点进行Hermite插值，构造出五次多项式，通过加速度、功率等约束解出各具体解。选取用时最长的作为时间基准，重新构造其余五次多项式。在降低启动冲击的同时，将管片拼装机的拼装效率提升了近一倍。

Trajectory Planning of Segment Assembler Based on Hermite Interpolation

During shield construction,the segment assembler needs to complete one ring of assembly before moving forward.At present,the working efficiency of segment assembler is low,which directly affects the tunneling speed.In order to improve the assembly efficiency of segment assembly machine,a new assembly trajectory planning method combined with Hermite interpolation algorithm was proposed.Hermite interpolation was carried out at the beginning and end of each action to construct a quintic polynomial,and the specific solutions were solved by constraints such as acceleration and power.Selecting the one with the longest time as the time benchmark,the other quintic polynomials were reconstructed.While reducing the starting impact,the assembly efficiency of the segment assembly machine is nearly doubled.