CN116263109A - Synchronous assembly control method for segments of shield machine and shield machine - Google Patents
Synchronous assembly control method for segments of shield machine and shield machine Download PDFInfo
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- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
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Abstract
The invention provides a synchronous assembly control method for segments of a shield machine and the shield machine, and belongs to the technical field of segment assembly of the shield machine. And analyzing the position of the parallel mechanism of the propulsion system in the synchronous assembly process to obtain the target displacement of the propulsion cylinder in the pushing area, and controlling the propulsion cylinder to stretch according to the target displacement. When the propulsion cylinder is controlled to stretch out and draw back, a target speed is obtained according to target displacement through a speed-based control method, the propulsion cylinder is controlled to stretch out and draw back according to the target speed, a pressure-based control method is adopted, a propulsion cylinder pressure matrix corresponding to current geological information and target axis information is extracted from a pre-established expert knowledge base, and pressure is applied to each propulsion cylinder according to the propulsion cylinder pressure matrix, so that the propulsion cylinders reach the target displacement, and stable advance of the shield machine along the target axis in the tunneling process is finally realized. By adopting the method, the stable control of the posture of the shield machine in the synchronous assembly process can be realized, and the tunneling efficiency of the shield machine is improved.
Description
Technical Field
The invention provides a synchronous assembly control method for segments of a shield machine and the shield machine, and belongs to the technical field of segment assembly of the shield machine.
Background
In shield construction, segment assembly is a key procedure for tunnel formation and directly influencing the pose of the shield. The current segment assembly steps are as follows: and stopping the shield after one stroke of tunneling, performing segment assembly operation, and performing the next tunneling process by the shield, so that the shield construction is realized circularly. According to statistics, in shield construction, the segment assembly operation time is about 50% of the tunnel construction time, and the segment assembly operation time is a key procedure for limiting the shield construction efficiency. Therefore, the synchronous pipe piece assembling operation method for assembling while tunneling is provided in the industry, but how to quickly adjust the stress states of the other groups of pushing cylinders under the condition that the pushing cylinders in the assembling area retract and are not stressed, and the stable control of the tunneling posture and the tunneling speed of the tunneling machine is the key problem at present.
Disclosure of Invention
The invention aims to provide a segment synchronous assembly control method of a shield machine and the shield machine, which are used for solving the problem that the tunneling attitude of the shield machine is difficult to control stably in the segment synchronous assembly process.
In order to achieve the above purpose, the invention provides a synchronous assembly control method for segments of a shield machine, wherein a plurality of propulsion cylinders are arranged at the rear part of a shield body, each propulsion cylinder has a propulsion state and a retraction state, the propulsion cylinders corresponding to the segments to be assembled at present are in the retraction state, and the rest propulsion cylinders are in the propulsion state; in the synchronous assembly process of the shield tunneling machine segments, a propulsion oil cylinder in a propulsion state is controlled by adopting the following steps:
1) Acquiring the current pose and the target pose of the shield tunneling machine;
2) Regarding a propulsion cylinder of the shield machine as a parallel mechanism, taking a plane where a support shoe of the propulsion cylinder is positioned as a static platform of the parallel mechanism, taking a plane where a connection part of the propulsion cylinder and a shield body is positioned as a movable platform of the parallel mechanism, and connecting the static platform with the movable platform through the propulsion cylinder; taking the pose of the static platform as the current pose of the shield machine, and calculating the target displacement of each propulsion cylinder in a propulsion state when the movable platform reaches the position meeting the target pose of the shield machine;
3) And controlling each propulsion oil cylinder in a propulsion state according to the target displacement, so as to realize the tunneling of the shield machine along the target axis.
In the synchronous assembly process of the shield machine, the propulsion cylinders corresponding to the segments to be assembled currently are in a retracted state, the rest propulsion cylinders are in a propulsion state, the propulsion cylinders of the shield machine are used as parallel mechanisms for position analysis, the plane where the support shoes of the propulsion cylinders are located is used as a static platform of the parallel mechanisms, the plane where the connection parts of the propulsion cylinders and the shield body are located is used as a movable platform of the parallel mechanisms, the static platform is connected with the movable platform through the propulsion cylinders, when the position analysis is carried out, the pose of the static platform is used as the current pose of the shield machine, according to the position of the movable platform when the shield machine reaches the target pose, the displacement of each propulsion cylinder in the propulsion state when the shield machine reaches the target pose is calculated as the corresponding target displacement, and each propulsion cylinder in the propulsion state is controlled according to the target displacement, so that stable tunneling of the shield machine along the target axis is realized. By adopting the method, the stable control of the posture of the shield machine in the synchronous assembly process can be realized, and the tunneling efficiency of the shield machine is improved.
Further, in the method, the current geological type and the current tunneling direction of the shield tunneling machine are obtained, the pressure of each propulsion cylinder is collected through the pressure sensor in the step 3), and a synchronous tunneling model reflecting the corresponding relation among the geological type, the tunneling direction and the pressure of each propulsion cylinder is constructed according to the current geological type, the current tunneling direction and the pressure of each propulsion cylinder.
In the segment synchronous assembly process of the shield machine, geological type (namely the type of rock mass and earth and stones during the tunneling of the shield machine) and azimuth information during the tunneling are acquired, the pressure of the pushing cylinders of each pushing cylinder is acquired through a pressure sensor, a synchronous tunneling model reflecting the corresponding relation among the geological type, the tunneling azimuth and the pressure of each pushing cylinder is established, and the synchronous tunneling model can be used for segment synchronous assembly control in the tunneling process of the shield machine in the later stage, compared with a control method for obtaining the pressure of each pushing cylinder through mathematical calculation, the calculation process is reduced, and the tunneling efficiency is improved.
Further, in the method, the pressure of each thrust cylinder when the coincidence degree of the current tunneling azimuth and the target axis is larger than a set value is selected to construct a synchronous tunneling model.
In order to improve the accuracy of the synchronous tunneling model, the pressure of each thrust cylinder when the coincidence ratio of the current tunneling azimuth and the target axis is larger than a set value is selected and used for constructing the synchronous tunneling model.
Further, in the method, the pressure of each propulsion cylinder when the tunneling speed of the shield machine is maximum is selected to construct a synchronous tunneling model.
In order to improve the segment synchronous assembly efficiency in the later tunneling of the shield machine, the tunneling speed of the shield machine is used as an evaluation standard, and the pressure of each propulsion oil cylinder when the tunneling speed of the shield machine is maximum is selected to construct a synchronous tunneling model when tunneling is performed under different geological types and different tunneling directions.
Further, in the above method, in step 3), when each propulsion cylinder in a propulsion state is controlled according to the target displacement, the obtained current geological type and the target tunneling azimuth are input into a pre-established synchronous tunneling model, the pressure of each propulsion cylinder corresponding to the current geological type and the target tunneling azimuth is output, and each propulsion cylinder in the propulsion state is controlled according to the pressure of the propulsion cylinder to achieve the target displacement.
If the segment synchronous assembly process of the shield machine is controlled only according to the target displacement, the posture of the shield machine is not stable enough, so when each propulsion cylinder in a propulsion state is controlled according to the target displacement, the pre-established synchronous tunneling model can be called, the model is input according to the acquired current geological type and the target tunneling azimuth, the pressure of each propulsion cylinder corresponding to the model is output, and then the corresponding propulsion cylinders are controlled through the pressure of each propulsion cylinder, the automatic management of the segment synchronous assembly process of the shield machine can be realized, and the tunneling efficiency of the shield machine is improved.
Further, in the method, when each propulsion cylinder in a propulsion state is controlled according to target displacement, the proportional valve opening of each propulsion cylinder in the propulsion state is adjusted by adopting displacement closed-loop control, so that the change of the displacement of the corresponding propulsion cylinder is realized, and finally the target displacement is achieved; the displacement closed-loop control takes the target displacement as a given value, takes the current displacement of the thrust cylinder as a current value, and obtains a first adjustment quantity by passing a difference value between the given value and the current value through a regulator, and the proportional valve is adjusted according to the first adjustment quantity.
The displacement closed-loop control mode is adopted to carry out closed-loop control on the process that the propelling cylinders reach the target displacement, the stable control in the tunneling process of the shield machine is realized through pressure regulation and control by adjusting the opening of the proportional valve of each propelling cylinder, and the posture of the shield machine in tunneling can be more stable.
Further, in the above method, the adjusting the proportional valve according to the first adjustment amount includes: and performing dynamic pressure feedback processing according to the pressure of the corresponding thrust cylinder to obtain a second regulating quantity, calculating the difference between the first regulating quantity and the second regulating quantity as a final regulating quantity, and regulating the proportional valve according to the final regulating quantity.
In the synchronous assembly process, if the vibration of the parallel mechanism of the propulsion oil cylinder is aggravated, namely the posture of the shield machine is unstable, the load pressure is increased, so that the flow rate of the input propulsion oil cylinder is reduced in a dynamic pressure feedback processing mode, the vibration of the parallel mechanism is weakened, and the posture of the shield machine in tunneling is more stable.
Further, in the above method, in step 2), a fixed coordinate system is established at the stationary platform, and an x-axis of the fixed coordinate system is along a tangential direction of the target axis; and taking the coordinates of the center of the cutter head of the shield machine in the fixed coordinate system as the pose of the static platform, and taking the coordinates of the target point in the fixed coordinate system as the target pose of the shield machine, wherein the target point is the position to be reached by the center of the cutter head when the shield machine advances along the target axis.
According to the structure of the shield machine, a cutter head is used as a reference object, a fixed coordinate system is established at a static platform, the x-axis of the fixed coordinate system is along the tangential direction of a target axis, the position of the center of the cutter head of the shield machine in the fixed coordinate system is used as the pose of the static platform, the position of a target point in the fixed coordinate system is used as the target pose of the shield machine, and the target point is the position to be reached by the center of the cutter head when the shield machine advances along the target axis. The shield machine center is adopted for calculation, so that the calculated amount is small.
Further, in the above method, in step 2), a shield junction coordinate system is further established at the moving platform, an x-axis of the shield junction coordinate system is along an axis direction of the shield, and a conversion relationship between the shield junction coordinate system and the fixed coordinate system is established;
according to the conversion relation between the shield structure coordinate system and the fixed coordinate system, converting the position of the cutter head center in the shield structure coordinate system into the fixed coordinate system as the position of the shield machine cutter head center in the fixed coordinate system, and converting the position of the target point in the shield structure coordinate system into the fixed coordinate system as the position of the target point in the fixed coordinate system.
By establishing the shield knot body coordinate system at the movable platform, the position of the center of the cutter disc in the shield knot body coordinate system is conveniently obtained according to the structure of the cutter disc, and further, the conversion between the center of the cutter disc and the position of the target point is realized through the conversion relation between the shield knot body coordinate system and the fixed coordinate system, so that the calculation efficiency is improved.
Further, in the above method, the conversion relation includes a translational conversion relation and a rotational conversion relation, the translational conversion relation being expressed by the following formula:
in the method, in the process of the invention,
for the coordinates of point C in a fixed coordinate system, +.>
Is the origin o of the shield junction coordinate system A′ Coordinates in the fixed coordinate system a, +.>
For the coordinates of point C in the shield junction coordinate system, +.>
Is a rotation transformation matrix;
the rotation transformation relation is obtained by a rotation transformation matrix
The representation is:
rotating the fixed coordinate system around the z-axis of the shield junction coordinate system
Back rotation about y-axis of shield knot body coordinate system +.>
And then rotate around the x-axis of the shield junction coordinate system +.>
And then translating to obtain a shield junction coordinate system.
A directly-adoptable conversion relation is disclosed, which comprises a translation transformation relation and a rotation transformation relation, wherein the translation transformation relation describes a distance relation between two coordinate systems, and the rotation transformation relation describes a posture relation between the two coordinate systems, so that the implementation and the application of the invention are facilitated.
The invention also provides a shield machine, wherein a plurality of propulsion cylinders are arranged at the rear part of the shield body, each propulsion cylinder has a propulsion state and a retraction state, the propulsion cylinders corresponding to the segments to be assembled are in the retraction state, and the rest propulsion cylinders are in the propulsion state; the shield tunneling machine comprises a controller, wherein the controller comprises a processor and a memory, and in the synchronous splicing process, the processor executes instructions in the memory to realize the synchronous splicing control method of the pipe sheet of the shield tunneling machine, so that each propulsion oil cylinder in a propulsion state is controlled.
The invention also provides a method for synchronously splicing and controlling the segments of the shield tunneling machine, which comprises the following steps:
1) Acquiring the current geological type and the current tunneling direction of the shield tunneling machine during tunneling;
2) In the segment synchronous assembling process, the pressure of each thrust cylinder is collected through a pressure sensor;
3) And constructing a synchronous tunneling model reflecting the corresponding relation among the geological type, the tunneling azimuth and the pressure of each propulsion cylinder according to the current geological type, the current tunneling azimuth and the pressure of each propulsion cylinder.
The invention also provides a synchronous assembly control method for the pipe sheet of the shield machine, which is used for acquiring geological types (namely the types of rock mass and earth stones during the tunneling of the shield machine) and azimuth information during the tunneling in the synchronous assembly process of the pipe sheet of the shield machine, acquiring the pressure of the pushing cylinders of each pushing cylinder at the moment through a pressure sensor, and establishing a synchronous tunneling model reflecting the corresponding relation among the geological types, the tunneling azimuth and the pressure of each pushing cylinder. By adopting the method, the synchronous tunneling model can be constructed and used for segment synchronous splicing control in the tunneling process of the later shield machine, and compared with a control method for obtaining the pressure of each thrust cylinder by adopting mathematical calculation, the method can enable the control of the segment synchronous splicing process of the shield machine to be smoother and the posture of the shield machine to be more stable.
In the method, in the step 3), the pressure of each thrust cylinder when the coincidence degree of the current tunneling azimuth and the target axis is larger than a set value is selected to construct a synchronous tunneling model.
In order to improve the accuracy of the synchronous tunneling model, the pressure of each thrust cylinder when the coincidence ratio of the current tunneling azimuth and the target axis is larger than a set value is selected and used for constructing the synchronous tunneling model.
In the method, in the step 3), the pressure of each propulsion cylinder when the tunneling speed of the shield machine is maximum is selected to construct a synchronous tunneling model.
In order to improve the segment synchronous assembly efficiency in the later tunneling of the shield machine, the tunneling speed of the shield machine is used as an evaluation standard, and the pressure of each propulsion oil cylinder when the tunneling speed of the shield machine is maximum is selected to construct a synchronous tunneling model when tunneling is performed under different geological types and different tunneling directions.
Further, in the method, in the process of synchronously splicing the segments of the shield machine, the current geological type and the target tunneling azimuth during tunneling of the shield machine are acquired, the current geological type and the target tunneling azimuth are input into a pre-established synchronous tunneling model, the pressure of each propulsion cylinder corresponding to the current geological type and the target tunneling azimuth is output, and each propulsion cylinder is controlled according to the pressure of the propulsion cylinder.
The synchronous tunneling model can be used in the synchronous assembly process of the segments of the shield tunneling machine in the later stage, the corresponding pressure of each propulsion cylinder can be output only by acquiring the current geological type and the target tunneling direction and inputting the current geological type and the target tunneling direction into the synchronous tunneling model, and the corresponding propulsion cylinders are controlled according to the pressure of each propulsion cylinder, so that the smooth control of the posture of the shield tunneling machine in the synchronous assembly process can be realized, and the operation process of the shield tunneling machine is more stable.
Drawings
FIG. 1 is a schematic diagram of a control flow of a method for controlling synchronous assembly of shield tunneling machine pipe sheets in embodiment 1 of the method of the present invention;
FIG. 2 is a schematic distribution diagram of a thrust cylinder of a shield machine in embodiment 1 of the method of the present invention;
FIG. 3 is a schematic diagram of a parallel mechanism of a shield tunneling machine according to embodiment 1 of the present invention;
FIG. 4 is a flow chart of the method of the present invention for establishing a synchronous tunneling model in embodiment 1;
FIG. 5 is a schematic diagram of a construction flow for constructing an expert knowledge base in embodiment 1 of the method of the present invention;
FIG. 6 is a flow chart of the use of the synchronous tunneling model in method embodiment 1 of the present invention.
In the figure, 1 is a partition, 2 is a supporting shoe, 3 is a thrust cylinder, 4 is a pressure sensor, and 5 is a displacement sensor.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent.
Method example 1:
according to the segment synchronous assembly control method of the shield machine, the propulsion cylinders are controlled in a partitioned mode according to the planned target axis, a parameter equation is established through the kinematic analysis of the parallel structure of the propulsion system, the target displacement of the propulsion cylinders which can enable the shield machine to tunnel according to the target axis is solved, the expansion and contraction amount of the propulsion cylinders is adaptively adjusted by combining the actual displacement acquired by the displacement sensors arranged at the propulsion cylinders, and stable advancing of the shield machine according to the target axis during segment synchronous assembly is guaranteed, so that shield tunneling efficiency is improved.
As shown in FIG. 1, the shield tunneling machine segment synchronous assembly control method comprises the following steps:
s1, planning a tunneling route of the shield machine according to a pre-designed tunnel parameter and combining with the structure of the shield machine to obtain a target axis of tunneling of the shield machine, namely a target tunneling direction of the shield machine during tunneling.
S2, in the synchronous assembly process, the propulsion system is used as a parallel mechanism for processing, and a parameter equation is established by combining a target axis of the shield tunneling machine.
S3, according to the positions and the postures of the propulsion cylinders in each partition during synchronous assembly, the parallel mechanism of the propulsion system is subjected to kinematic analysis, and then the corresponding target displacement when the propulsion cylinders reach the target point from the current state is solved.
S4, the current displacement of the propulsion cylinder to be controlled is collected in real time, the current displacement is compared with the target displacement, and the guide control of the shield machine and the cutter head of the shield machine is realized through PID (proportion integration differentiation) adjustment of the controller and partition control of the propulsion cylinder, so that the shield machine stably works on the target axis.
When the segment synchronous splicing method is adopted for segment synchronous splicing, firstly, a propulsion system of a shield machine is partitioned, the propulsion system comprises m propulsion cylinders arranged at the rear part of a shield body of the shield machine along the circumferential direction, each ring pipe segment generally comprises n segments, the value of n is generally 5, the propulsion system is divided into 5 partitions according to the number of segments, each partition corresponds to k propulsion cylinders, the value range of k is 3-5, the k propulsion cylinders corresponding to each partition are uniformly controlled, and n multiplied by k=m.
The pushing oil cylinder is in two states, wherein one state is a pushing state, namely the state when the pushing oil cylinder pushes the pipe piece, the corresponding partition is a pushing area when the pushing oil cylinder is in the pushing state, and the pushing oil cylinder in the pushing area enables the shield machine to move forwards by pushing the pipe piece which is spliced and corresponds to the pushing oil cylinder; the other state is a retraction state, the corresponding partition is a retraction area when the pushing oil cylinder is in the retraction state, a space which can accommodate the pipe piece to be spliced is arranged between the pushing oil cylinder in the retraction area and the pipe piece which is spliced, and the width of the space is the distance between the width of one pipe piece and the width of two pipe pieces.
And a corresponding displacement sensor is arranged in each subarea and is used for collecting the displacement of the pushing cylinder, the displacement sensor usually adopts a laser sensor or an ultrasonic sensor, and a pressure sensor corresponding to each pushing cylinder is arranged and is used for collecting the pressure when the pushing cylinder pushes the segment.
Taking one partition as an example, as shown in fig. 2, the partition 1 corresponds to a segment, 3 propulsion cylinders 3 in the propulsion system are pushed on the segment through corresponding supporting shoes 2, pressure sensors 4 are arranged at the bottoms of cylinder barrels of the propulsion cylinders to collect the pressure of each propulsion cylinder, and meanwhile, displacement sensors 5 arranged in the partition 1 can measure the displacement of the propulsion cylinders in real time.
The assembling process of each annular pipe piece is regarded as a complete process, the assembling process of each pipe piece in the assembling process of each annular pipe piece, namely, the control process of the pushing oil cylinder in each pushing area is used as an independent control action, and the following control is carried out in each control action:
the specific implementation process of the step S2 is as follows: in the synchronous assembly process, the shield machine determines the moving track of the cutterhead advancing along the target axis according to the parameters of the target axis and the cutterhead. The method comprises the steps of taking a supporting shoe spherical surface as a static platform, taking a bottom spherical surface of a cylinder barrel of a thrust cylinder as a movable platform, and taking the static platform, the movable platform and the thrust cylinder between the inlet platform and the movable platform as a parallel mechanism for processing, wherein an equivalent shield machine performs a lofting process along a planned target axis, and a cutter head advances along the tangential direction of the target axis. For a specific process of establishing the parallel mechanism, reference may be made to the study of the hydraulic parallel robot force/bit hybrid control strategy published by the agricultural machinery journal, volume 49, 9, tao et al.
All the propulsion cylinders in the propulsion system have the same model, m branch motion chains are shared in the parallel mechanism, each branch motion chain (hereinafter referred to as a branched chain) represents one propulsion cylinder, the initial length of the propulsion cylinder when the piston rod of the propulsion cylinder is completely retracted is L, and the travel of the i-th branched chain propulsion cylinder is L i 。
As shown in fig. 3, a fixed coordinate system { a } and a shield junction coordinate system { a' } are established according to the moving platform and the stationary platform of the parallel mechanism in combination with the target axis. Origin O of fixed coordinate system { a } A Is positioned at the center of a center distribution circle of a supporting shoe spherical pair and is used for fixing x of a coordinate system { A } A The shaft is along the tangential direction of the current tunnel axis, y A The shaft is positioned in the close section of the tunnel segment shaft line and is perpendicular to the current tunnel curve direction, and z can be obtained by a right hand rule A The axial direction. Coordinate origin O of shield junction coordinate system { A' }, and shield junction coordinate system A′ The center of the center distribution circle of the spherical pair at the bottom of the cylinder barrel of the propelling hydraulic cylinder is positioned, and the x of the coordinate system { A' } of the shield knot body is the center of the center distribution circle of the spherical pair at the bottom of the cylinder barrel of the propelling hydraulic cylinder A′ Along the axis direction of the shield body, y A′ The shaft is positioned in the close section of the shield motion track and is perpendicular to the axial direction of the current shield body, and z can be obtained by the right hand rule A′ The axial direction.
The shield junction coordinate system { A' } can be determined by a fixed coordinate system { A }Sequentially wound z A′ 、y A′ And x A′ Rotating
And->
The angle rotation and translation are obtained, so that the rotation transformation matrix from the shield junction coordinate system { A' } to the fixed coordinate system { A }>
The method comprises the following steps:
in the method, in the process of the invention,
and->
The torsion angle, the pitch angle and the yaw angle of the shield machine relative to the target axis in the tunneling process are respectively represented, namely the attitude of the shield body can be obtained through a laser or gyroscope guiding system of the shield machine.
When the shield tunneling machine performs synchronous assembly and tunnels in the stratum according to the target axis, defining an origin O of a shield junction coordinate system { A' } A′ Position in fixed coordinate system { A }
Is [ x, y, z] T 。
The specific implementation process of the step S3 is as follows: and solving target motion parameters of the thrust cylinders in each pushing area in the synchronous assembly process by using the target pose, and performing the following kinematic analysis.
According to the structure of the cutterhead, the coordinates of the center point C of the front end face of the cutterhead in the coordinate system { A' } of the shield junction body can be obtained A′ O A′ C＝[l c ,0,0] T Further according toThe rotation transformation matrix can calculate the coordinate of the center point C of the front end face of the cutterhead in a fixed coordinate system { A }, and the coordinate of the center point C of the front end face of the cutterhead in the fixed coordinate system { A }, the rotation transformation matrix can calculate the coordinate of the center point C of the front end face of the cutterhead
And the coordinates are adopted to represent the current pose of the shield tunneling machine.
On the basis of the known shield tunneling machine along the tunnel tunneling target axis, the position of the center point of the front end surface of the cutter head at the next moment is defined as a point D when the shield tunneling machine moves along the target axis, namely, the coincident point of the center of the front end surface of the cutter head of the shield tunneling machine and the target axis at the next moment when the shield tunneling machine moves along the target axis, and the point D is taken as a target point of the shield tunneling machine moving along the target axis. According to the position of the point D, the coordinate of the point D in a shield junction coordinate system { A' }, and further, the coordinate of the point D in a fixed coordinate system is calculated according to the rotation transformation matrix, and the coordinate is adopted to represent the target pose of the shield machine.
When the shield machine moves along the target axis, the point C coincides with the point D, so that the relation between the coordinates of the point C and the coordinates of the point D is expressed by the formula (2):
solving target displacement of a propulsion cylinder in each pushing area in the propulsion system through position analysis of a parallel mechanism of the shield tunneling machine propulsion system, and establishing a parallel mechanism driving constraint equation as shown in a formula (3):
in the method, in the process of the invention, A O A O A′ for the origin O of the coordinate system of the shield structure A′ Coordinates in the fixed coordinate system a,
in order to rotate the transformation matrix, A′ O A′ M i is M i The coordinates in a', A O A B i is B i Coordinates in the fixed coordinate system a, A τ i indicating the direction of advance of the ith ram relative to the fixed coordinate system { a }. M is M i B is the front spherical pair center point of the ith branched shield thrust cylinder i Is the center point of the spherical pair behind the i-th branched shield thrust cylinder.
In the synchronous assembling process, when each segment in each ring segment is assembled, the corresponding pushing oil cylinders in the assembling area are in a retracted state, and pushing oil cylinders in other areas push the segment to enable the shield machine to advance. With the switching of the splicing area, the state of the shield machine propulsion system is changed, l i I reassignment of (B) corresponding to (B) i And M i Change and rotate the transformation matrix
And D point is updated along with the running state of the shield machine on the target axis, and the target displacement of the thrust cylinder in each assembly area in the synchronous assembly process in time t is calculated based on formulas (1) - (3).
According to the formula (3), the target stroke of each thrust cylinder in the thrust zone can be calculated as follows:
l i ＝ A B i M i · A τ i -L (4)
and (3) performing time derivative calculation on variables on two sides of the equal sign of the formula (4) to obtain the target speed of the pushing oil cylinder in each pushing area. And then in the process of controlling the propulsion cylinder to reach the target displacement, the stable tunneling of the shield machine along the target axis is ensured by continuously adjusting the extending speed of the propulsion cylinder.
In this embodiment, the propulsion system is divided into 5 partitions according to the number of a ring of segments, so when a segment is assembled, the 5 partitions are divided into 4 pushing areas and 1 contracting area, the propulsion cylinders in the contracting area are not controlled, the propulsion cylinders in the pushing areas are calculated according to formulas (1) - (3), the corresponding target displacement of each propulsion cylinder is controlled according to the target displacement, and the corresponding propulsion cylinders are controlled to extend according to the target displacement, so that stable advance of the shield machine along the target axis in the synchronous assembly process is ensured.
For example, the 5 partitions have 15 pushing cylinders in total, the number of the pushing cylinders in each partition is sequentially 1 to 15, if the pipe piece is required to be assembled at the position corresponding to the second partition, the second partition is taken as a contraction area, and the first, third, fourth and fifth partitions are taken as pushing areas, so that the pushing cylinders in the 4 th to 6 th partitions contract, and are not controlled, and only the pushing cylinders in the 1 st to 3 th and 7 th to 15 th partitions are controlled, namely i in the formula (3) sequentially adopts 1 to 3 and 7 to 15, and corresponding B i And M i And correspondingly adjusting the displacement so as to calculate the target displacement of each thrust cylinder.
Due to complex geological conditions and other unpredictable factors, the shield machine sometimes deviates from the route in the process of excavation, and tunneling work of the shield machine is carried out under complex nonlinear load, so that the shield machine can always advance on a target axis in the synchronous assembly process, and smooth control of a thrust cylinder is realized.
The specific control method comprises the following steps: the displacement sensor arranged in the propulsion system oil cylinder measures the displacement of the propulsion oil cylinder in real time, so that the current displacement of the propulsion oil cylinder is obtained, the target displacement of the propulsion oil cylinder is calculated through the calculation process, the target displacement of the propulsion oil cylinder is used as a given value controlled by the displacement ratio ring, the current displacement of the propulsion oil cylinder is used as a current value, the difference value between the target displacement and the current displacement is calculated, the PID of the controller is used for adjusting, the first adjustment quantity is obtained, and then the opening of the proportional valve is controlled according to the first adjustment quantity in a certain proportion, so that the pose of the propulsion oil cylinder in the pushing area is adjusted to reach the target pose, the offset is adjusted, and the shield tunneling machine continues to work on the target axis.
In the synchronous assembly process, if the vibration of the parallel mechanism of the propulsion oil cylinder is aggravated, the posture of the shield machine is unstable, the load pressure is increased, therefore, the second adjustment quantity is calculated according to the first adjustment quantity in a dynamic pressure feedback processing mode, the difference value of each second adjustment quantity of the first adjustment quantity is calculated as the final adjustment quantity, the opening of the proportional valve is adjusted according to the final adjustment quantity, the flow rate of the input propulsion oil cylinder is reduced, the vibration of the parallel mechanism is weakened, and the posture of the shield machine in tunneling is more stable.
As shown in fig. 4 and 5, in the synchronous assembly process, the pressure of each thrust cylinder in the synchronous assembly process is also collected by a pressure sensor, so that an expert knowledge base is established, and then a synchronous tunneling model is established according to the expert knowledge base. Because geology is different, the running state and parameters of the tunneling system are different, in order to improve the utilization rate of information and improve the tunneling efficiency meeting the same geological conditions at the later stage and the energy conservation of the propulsion system, a database is built for the parameters of the propulsion system under different geology, the relation between the geological information and the pressure matrix (W) of the propulsion cylinder when the multi-ring segment is assembled is established, and statistical training is carried out by using methods such as a Support Vector Machine (SVM), a neural network and the like, and a synchronous tunneling model obtained by training is stored.
The specific method comprises the following steps: in the synchronous assembling process based on target displacement control, in each process of controlling and adjusting a propulsion system of the shield machine, the assembling process of each ring segment is regarded as a complete process P= { P 1 ,P 2 ,…,P n Assembling P of each pipe piece in assembling process of each annular pipe piece i As a single action, there are n groups. Historical tunneling data of a shield tunneling machine during tunneling is obtained, geological information and target axis information during tunneling are counted in the same working space V, pressure values of m pushing cylinders corresponding to n partitions of each segment in the assembling process are collected in real time through pressure sensors, and the pressure values are stored in a matrix (W) mode, as shown in the table 1:
table 1 pressure gauge for different propelling cylinders in different partitions in synchronous assembling process of multi-ring segment
The data in Table 1 represents each segment P of each ring segment P i Upon reaching the target displacement L m When the actual pressure value of each corresponding thrust cylinder is used, a group of segments with the number of rings of T is used in the assembly tunneling processThe optimal thrust cylinder pressure to achieve the target displacement represents the optimal parameters of the propulsion system under V geology. For example, in a table
The method is characterized in that in the synchronous assembly process of the shield tunneling machine advancing along the target axis under the current geological condition, when the 2 nd segment of the 1 st ring segment is assembled, the propulsion cylinder is enabled to reach the target displacement L 1 When the pressure matrix of each propulsion cylinder in the propulsion system is in use, the pressure of the propulsion cylinder in the contraction zone is 0, and the pressure of the propulsion cylinder in the pushing zone is measured by a pressure sensor.
Because the shield machine is difficult to tunnel according to a pre-designed target axis during tunneling, mathematical statistical analysis is carried out on tunneling data slightly deviated from the target axis but not influencing the tunneling of the shield machine, and tunneling data deviated from the target axis but lower than a set range (namely, the superposition degree of a tunneling route of the shield machine and the target axis is larger than a set value) is used as tunneling data for establishing an expert knowledge base, so that the accuracy of the expert knowledge base is improved.
When tunneling data are collected, different thrust cylinder pressure matrixes under the same geology and the same target axis can be obtained, at the moment, a group of tunneling data with the maximum tunneling speed is extracted according to the tunneling speed of the shield tunneling machine and used for establishing a knowledge expert base, so that the constructed synchronous tunneling model can improve the tunneling efficiency of the shield tunneling machine under the same geological condition in the later period.
In this embodiment, when the expert knowledge base is established, the target axis is used to represent the tunneling direction of the shield tunneling machine during tunneling, so the direction of the target axis can be represented by the radian, the arc length, the direction of the target axis, and other features, for example, the target axis stored in the expert knowledge base is in radian θ, the arc length is s, and if the radian is 0, it indicates that the target axis is a straight line. The direction of the target axis is indicated by the angle of the target axis with the horizontal.
As shown in fig. 6, when the shield machine works in the synchronous splicing mode, the expert knowledge base and the synchronous tunneling model can be utilized as follows: to the current geological information V cur Compared with the geological information V in the expert knowledge base, when the same geological information V is found, a section of target axis which is the same as the current target axis is searched to obtain the same tunneling direction, and then an output pressure matrix (W) based on the segment assembly ring under the current geology is obtained, the pressure matrix, the number of the ring and the segment block which work currently are split and correspond to P (T), and the pressure value which each propulsion oil cylinder should set under the same geological condition can be obtained
The pressure control-based reference is used as a pressure control-based reference, and the system efficiency and the resource utilization are improved.
And extracting a thrust cylinder pressure matrix corresponding to the current geological information and the target axis from a pre-established expert knowledge base in combination with the current geological information, and applying corresponding pressure to each corresponding thrust cylinder according to the thrust cylinder pressure matrix so as to enable the corresponding thrust cylinders to reach target displacement, thereby finally realizing stable advance of the shield machine along the target axis.
Shield machine embodiment:
the invention also provides a shield machine, and the shield machine adopts the shield machine segment synchronous assembly control method of the method embodiment 1 in the segment synchronous assembly process, and the implementation of the method is clearly described in the method embodiment 1 and is not repeated here.
The invention provides a method for realizing the adjustment of offset by combining a target axis of the advance of a shield machine and a parallel mechanism of a propulsion system, wherein a parameterized equation is obtained, a target pose equation of the shield machine is used for carrying out kinematic analysis on each partition propulsion cylinder in the synchronous assembly process, the target displacement and the target speed of each partition propulsion cylinder are solved, the displacement sensor is used for acquiring the displacement of each partition in real time in the synchronous assembly process, the current displacement and the target displacement are compared, and the PID adjustment of a controller is used for carrying out partition control on the propulsion cylinders so that the shield machine always works on the target axis. Compared with the traditional method, the self-adaptive control of the other subarea propulsion cylinders is realized under the condition that the propulsion cylinders in the splicing area retract and are not stressed in the synchronous splicing process, the hysteresis problem is solved, the closed-loop control based on displacement is used in the splicing process, the smooth control of the propulsion cylinders is realized, the control system has stronger anti-interference capability and robustness, and the stability and the accuracy of the tunneling of the shield machine in the target axis are ensured.
In addition, the pressure value of each propulsion cylinder in the synchronous assembly process is obtained in real time by using the pressure sensor, a model is trained by combining current geological information by using a Support Vector Machine (SVM), a neural network and other methods, the geological information and the segment assembly ring number are stored in an expert knowledge base in the form of a pressure value matrix, a basis is provided for the subsequent synchronous assembly of the propulsion cylinders based on displacement control and the adjustment based on pressure control of the shield tunneling machine, and the system efficiency and the resource utilization rate are greatly improved.
Method example 2:
the invention also provides a segment synchronous splicing method of the shield machine, which obtains the current tunneling direction of the shield machine during tunneling by obtaining the geological type of the position where the shield machine is in tunneling and according to a target axis which is designed in advance or in a measuring mode. Then collecting the pressure of the thrust cylinder in the synchronous pipe piece assembling process by a pressure sensor, and treating the assembling process of each ring of pipe pieces as a complete process P= { P 1 ,P 2 ,…,P n Assembling P of each pipe piece in assembling process of each annular pipe piece i As a single action, there are n groups. Historical tunneling data of the shield tunneling machine during tunneling is obtained, geological information and target axis information during tunneling are counted in the same working space V, pressure values of m pushing cylinders corresponding to n partitions of each segment in the assembling process are collected in real time through pressure sensors, and the pressure values are stored in a matrix (W) mode, as shown in the table 1.
The pressure of each thrust cylinder of the shield machine in the synchronous tunneling process can be obtained by adopting the segment synchronous splicing control method in the method embodiment 1, and can also be obtained by mathematical calculation. For example, a calculation method for the distribution of the top force of the shield propulsion system in the pushing and spelling synchronous mode disclosed in Chinese patent document with publication number of CN111810174A is adopted, or the calculation method is obtained through experience of a shield machine driver with abundant experience. When the pressure control is carried out on the propulsion oil cylinder in the modes, the pressure sensor is used for collecting the pressure of the propulsion oil cylinder in the process of synchronously splicing the segments of the propulsion oil cylinder, so that a synchronous tunneling model is constructed.
And (3) combining V with (W) to obtain { V, W }, and carrying out statistics and training by adopting a Support Vector Machine (SVM), a neural network and other methods to obtain a synchronous tunneling model. The synchronous tunneling model can be used for the segment synchronous splicing process of the shield machine in the later stage. Inputting a corresponding geological type during tunneling and a target tunneling direction obtained according to a target axis into a pre-established synchronous tunneling model, outputting an output pressure matrix (W) based on segment assembly rings under the current geological type, and splitting the pressure matrix, the number of the rings and segment blocks which work currently into P (T), so that a pressure value F which is required to be set by each propulsion cylinder under the same geological condition can be obtained PiLi The pressure control-based reference is used as a reference basis for pressure control, so that the system efficiency and the resource utilization are improved.
Because the shield machine is difficult to tunnel according to a pre-designed target axis during tunneling, mathematical statistical analysis is carried out on tunneling data slightly deviated from the target axis but not influencing the tunneling of the shield machine, and tunneling data deviated from the target axis but lower than a set range (namely, the superposition degree of a tunneling route of the shield machine and the target axis is larger than a set value) is used as tunneling data for establishing an expert knowledge base, so that the accuracy of the expert knowledge base is improved.
When tunneling data are collected, different thrust cylinder pressure matrixes under the same geology and the same target axis can be obtained, at the moment, a group of tunneling data with the maximum tunneling speed is extracted according to the tunneling speed of the shield tunneling machine and used for establishing a knowledge expert base, so that the constructed synchronous tunneling model can improve the tunneling efficiency of the shield tunneling machine under the same geological condition in the later period.
Compared with the control method for obtaining the pressure of each thrust cylinder by adopting mathematical calculation in the synchronous assembly process, the method for synchronously assembling the segments of the shield machine in the embodiment is simpler in calculation, and the obtained thrust cylinder pressure has historical experience as a basis and is more reliable. By adopting the method, the control of the synchronous splicing process of the pipe sheets of the shield machine can be smoother, and the posture of the shield machine is more stable.
Claims (15)
1. A synchronous assembly control method for pipe sheets of a shield machine is characterized in that a plurality of propulsion oil cylinders are arranged at the rear part of a shield body, each propulsion oil cylinder has a propulsion state and a retraction state, the propulsion oil cylinders corresponding to the current pipe sheets to be assembled are in the retraction state, and the rest propulsion oil cylinders are in the propulsion state; the method is characterized in that in the synchronous assembly process of the shield tunneling machine segments, a propulsion oil cylinder in a propulsion state is controlled by adopting the following steps:
1) Acquiring the current pose and the target pose of the shield tunneling machine;
2) Regarding a propulsion cylinder of the shield machine as a parallel mechanism, taking a plane where a support shoe of the propulsion cylinder is positioned as a static platform of the parallel mechanism, taking a plane where a connection part of the propulsion cylinder and a shield body is positioned as a movable platform of the parallel mechanism, and connecting the static platform with the movable platform through the propulsion cylinder; taking the pose of the static platform as the current pose of the shield machine, and calculating the target displacement of each propulsion cylinder in a propulsion state when the movable platform reaches the position meeting the target pose of the shield machine;
3) And controlling each propulsion oil cylinder in a propulsion state according to the target displacement, so as to realize the tunneling of the shield machine along the target axis.
2. The method for synchronously splicing and controlling segments of a shield machine according to claim 1, further comprising the steps of obtaining a current geological type and a current tunneling direction during tunneling of the shield machine, collecting pressure of each pushing oil cylinder through a pressure sensor in step 3), and constructing a synchronous tunneling model reflecting corresponding relations among the geological type, the tunneling direction and the pressure of each pushing oil cylinder according to the current geological type, the current tunneling direction and the pressure of each pushing oil cylinder.
3. The method for synchronously splicing and controlling segments of a shield machine according to claim 2 is characterized in that the pressure of each thrust cylinder when the coincidence degree of the current tunneling direction and the target axis is larger than a set value is selected to construct a synchronous tunneling model.
4. The method for synchronously splicing segments of a shield machine according to claim 3, wherein the pressure of each thrust cylinder when the tunneling speed of the shield machine is maximum is selected to construct a synchronous tunneling model.
5. The method for synchronously splicing and controlling segments of a shield tunneling machine according to claim 2, wherein in step 3), when each propulsion cylinder in a propulsion state is controlled according to a target displacement, the obtained current geological type and target tunneling azimuth are input into a pre-established synchronous tunneling model, the pressure of each propulsion cylinder corresponding to the current geological type and the target tunneling azimuth is output, and each propulsion cylinder in the propulsion state is controlled according to the pressure of the propulsion cylinder to reach the target displacement.
6. The method for synchronously splicing and controlling segments of a shield machine according to claim 5, wherein when each propulsion cylinder in a propulsion state is controlled according to a target displacement, the proportional valve opening of each propulsion cylinder in the propulsion state is adjusted by adopting displacement closed-loop control, so that the displacement of the corresponding propulsion cylinder is changed, and the target displacement is finally achieved; the displacement closed-loop control takes the target displacement as a given value, takes the current displacement of the thrust cylinder as a current value, and obtains a first adjustment quantity by passing a difference value between the given value and the current value through a regulator, and the proportional valve is adjusted according to the first adjustment quantity.
7. The method for synchronously splicing segments of a shield tunneling machine according to claim 6, wherein said adjusting the proportional valve according to the first adjustment amount comprises: and performing dynamic pressure feedback processing according to the pressure of the corresponding thrust cylinder to obtain a second regulating quantity, calculating the difference between the first regulating quantity and the second regulating quantity as a final regulating quantity, and regulating the proportional valve according to the final regulating quantity.
8. The method for synchronously splicing and controlling segments of a shield tunneling machine according to claim 1, wherein in step 2), a fixed coordinate system is established at the static platform, and the x-axis of the fixed coordinate system is along the tangential direction of the target axis; and taking the coordinates of the center of the cutter head of the shield machine in the fixed coordinate system as the pose of the static platform, and taking the coordinates of the target point in the fixed coordinate system as the target pose of the shield machine, wherein the target point is the position to be reached by the center of the cutter head when the shield machine advances along the target axis.
9. The method for synchronously assembling and controlling the pipe slices of the shield tunneling machine according to claim 8, wherein in the step 2), a shield junction coordinate system is further established at the movable platform, the x-axis of the shield junction coordinate system is along the axis direction of the shield junction, and a conversion relation between the shield junction coordinate system and a fixed coordinate system is established;
according to the conversion relation between the shield structure coordinate system and the fixed coordinate system, converting the position of the cutter head center in the shield structure coordinate system into the fixed coordinate system as the position of the shield machine cutter head center in the fixed coordinate system, and converting the position of the target point in the shield structure coordinate system into the fixed coordinate system as the position of the target point in the fixed coordinate system.
10. The shield tunneling machine segment synchronous splicing control method according to claim 9, wherein the conversion relation includes a translation transformation relation and a rotation transformation relation, and the translation transformation relation is expressed by the following formula:
in the method, in the process of the invention,
for the coordinates of point C in a fixed coordinate system, +.>
Is a shield knot body coordinate systemOrigin o of (2) A′ Coordinates in the fixed coordinate system a, +.>
For the coordinates of point C in the shield junction coordinate system, +.>
Is a rotation transformation matrix;
the rotation transformation relation is obtained by a rotation transformation matrix
The representation is:
rotating the fixed coordinate system around the z-axis of the shield junction coordinate system
Back rotation about y-axis of shield knot body coordinate system +.>
And then rotate around the x-axis of the shield junction coordinate system +.>
And then translating to obtain a shield junction coordinate system.
11. The shield machine is characterized in that a plurality of propulsion cylinders are arranged at the rear part of a shield body, each propulsion cylinder has a propulsion state and a retraction state, the propulsion cylinders corresponding to the segments to be assembled are in the retraction state, and the rest propulsion cylinders are in the propulsion state; the method is characterized in that the shield machine comprises a controller, the controller comprises a processor and a memory, and in the synchronous assembly process of the shield machine segments, the processor executes instructions in the memory to realize the synchronous assembly control method of the shield machine segments according to any one of claims 1-10, so that each propulsion oil cylinder in a propulsion state is controlled.
12. The synchronous splicing control method for the pipe sheets of the shield tunneling machine is characterized by comprising the following steps of:
1) Acquiring the current geological type and the current tunneling direction of the shield tunneling machine during tunneling;
2) In the segment synchronous assembling process, the pressure of each thrust cylinder is collected through a pressure sensor;
3) And constructing a synchronous tunneling model reflecting the corresponding relation among the geological type, the tunneling azimuth and the pressure of each propulsion cylinder according to the current geological type, the current tunneling azimuth and the pressure of each propulsion cylinder.
13. The method for synchronously splicing segments of a shield machine according to claim 12, wherein in the step 3), the pressure of each thrust cylinder when the overlap ratio of the current tunneling direction and the target axis is greater than a set value is selected to construct a synchronous tunneling model.
14. The method for synchronously splicing the pipe pieces of the shield machine according to claim 13, wherein in the step 3), the pressure of each thrust cylinder when the tunneling speed of the shield machine is the maximum is selected to construct a synchronous tunneling model.
15. The method for synchronously splicing segments of a shield machine according to claim 12, wherein the current geological type and the target tunneling azimuth during tunneling of the shield machine are acquired during synchronous splicing of segments of the shield machine, the current geological type and the target tunneling azimuth are input into a synchronous tunneling model established in advance, the pressures of the propelling cylinders corresponding to the current geological type and the target tunneling azimuth are output, and the propelling cylinders are controlled according to the pressures of the propelling cylinders.
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| CN117150826A (en) * | 2023-10-31 | 2023-12-01 | 中铁十四局集团有限公司 | Oil cylinder thrust accurate distribution method and system suitable for synchronous push-splice system |
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| CN117150826A (en) * | 2023-10-31 | 2023-12-01 | 中铁十四局集团有限公司 | Oil cylinder thrust accurate distribution method and system suitable for synchronous push-splice system |
| CN117150826B (en) * | 2023-10-31 | 2024-01-23 | 中铁十四局集团有限公司 | Oil cylinder thrust accurate distribution method and system suitable for synchronous push-splice system |
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