CN110486029A - The optimization method and device of shield machine earth pressure balance control - Google Patents
The optimization method and device of shield machine earth pressure balance control Download PDFInfo
- Publication number
- CN110486029A CN110486029A CN201910857969.3A CN201910857969A CN110486029A CN 110486029 A CN110486029 A CN 110486029A CN 201910857969 A CN201910857969 A CN 201910857969A CN 110486029 A CN110486029 A CN 110486029A
- Authority
- CN
- China
- Prior art keywords
- sealed compartment
- soil pressure
- prediction
- screw conveyor
- shield machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 73
- 238000005457 optimization Methods 0.000 title claims abstract description 47
- 239000002689 soil Substances 0.000 claims abstract description 132
- 230000008569 process Effects 0.000 claims abstract description 46
- 238000006243 chemical reaction Methods 0.000 claims abstract description 21
- 238000012937 correction Methods 0.000 claims abstract description 16
- 230000006870 function Effects 0.000 claims description 82
- 238000005096 rolling process Methods 0.000 claims description 19
- 238000004891 communication Methods 0.000 claims description 16
- 238000003860 storage Methods 0.000 claims description 8
- 238000005266 casting Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 7
- 238000007789 sealing Methods 0.000 claims description 7
- 238000005070 sampling Methods 0.000 claims description 5
- 238000012821 model calculation Methods 0.000 claims 1
- 238000004422 calculation algorithm Methods 0.000 abstract description 5
- 230000008859 change Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
- 230000005641 tunneling Effects 0.000 description 7
- 230000008901 benefit Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000005192 partition Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000009412 basement excavation Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000001141 propulsive effect Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000002715 modification method Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/093—Control of the driving shield, e.g. of the hydraulic advancing cylinders
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
- E21D9/124—Helical conveying means therefor
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention discloses a kind of optimization method and devices of shield machine earth pressure balance control, it is related to shield machine technical field, main purpose is to solve the problems, such as that existing control sealed compartment earth pressure balance is controlled merely by single argument using different Controlling model algorithms.It include: that by sealed compartment soil pressure variable quantity, the relationship between fltting speed, screw conveyor revolving speed carries out time-domain and frequency-domain conversion process respectively, and the prediction model of shield machine earth pressure balance control forecasting function controller is established in conjunction with lag time constant；The output reference locus of sealed compartment soil pressure after the prediction model operation is determined according to sealed compartment soil pressure setting value；Optimize correction process to coefficient is carried out as the jump function of basic function in the balancing earth pressure shield machine prediction function controller；The optimum control amount of the fltting speed, the screw conveyor revolving speed is determined with lag time corresponding when the output reference locus matching according to the sealed compartment soil pressure obtained after the prediction model operation.
Description
Technical field
The present invention relates to a kind of shield machine technical fields, more particularly to a kind of optimization side of shield machine earth pressure balance control
Method and device.
Background technique
As industrialization, urbanization process are constantly accelerated, balancing earth-pressure shielding machine has been widely used in soft soil layer
Subterranean tunnel construction.Balancing earth-pressure shielding machine is mainly adjusted by screw conveyor revolving speed or fltting speed in tunneling process
It balances each other to control the Water And Earth Pressures of sealed compartment pressure and front, to guarantee the stabilization in construction and excavation face.In shield-tunneling construction mistake
Cheng Zhong, in order to prevent catastrophic failure caused by ground settlement, it is necessary to maintain the earth pressure balance in sealed compartment.
Currently, existing use different Controlling model algorithms merely by single argument to the control of sealed compartment earth pressure balance
It is controlled, and has ignored influence of the time lag to sealed compartment earth pressure balance control effect, reduce shield machine earth pressure balance control essence
Degree, influences drivage efficiency.
Summary of the invention
In view of this, the present invention provides a kind of optimization method and device of shield machine earth pressure balance control, main purpose exists
It is controlled merely by single argument using different Controlling model algorithms in solving existing control sealed compartment earth pressure balance
The problem of making, and having ignored influence of the time lag to sealed compartment earth pressure balance control effect.
According to the present invention on one side, a kind of optimization method of shield machine earth pressure balance control is provided, comprising:
By sealed compartment soil pressure variable quantity, the relationship between fltting speed, screw conveyor revolving speed carries out time-domain and frequency-domain respectively
Conversion process, and combination lag time constant establishes the prediction model of shield machine earth pressure balance prediction function controller；
The output reference locus of sealed compartment soil pressure after the prediction model operation is determined according to sealed compartment soil pressure setting value；
According to rolling optimization mode to the step in the shield machine earth pressure balance prediction function controller as basic function
Function carries out coefficient and optimizes correction process, so that the sealed compartment soil pressure obtained after the prediction model operation and the output refer to
Path matching；
It is corresponding when being matched according to the sealed compartment soil pressure obtained after the prediction model operation with the output reference locus
Lag time determines the optimum control amount of the fltting speed, the screw conveyor revolving speed.
Further, described by the sealed compartment soil pressure variable quantity pass between fltting speed, screw conveyor revolving speed respectively
System carries out time-domain and frequency-domain conversion process, and establishes the pre- of shield machine earth pressure balance prediction function controller in conjunction with lag time constant
Surveying model includes:
To the relation table using sealed compartment into soil pressure variable quantity within the Δ t time with fltting speed, screw conveyor revolving speed
Time-domain and frequency-domain conversion process is carried out up to formula, wherein the relational expression is
The Δ pbIt is sealed compartment soil pressure variable quantity, the EtIt (k) is soil deformation modulus, the A is shield machine cross-sectional area, the v
It is fltting speed, the AsIt is the effective casting area of screw conveyor, the ω is screw conveyor revolving speed, and the η is casting
Efficiency, the VcFor the volume of sealed compartment, the h is the screw pitch of screw conveyor；
Lag time constant τ is combined to establish shield machine earth pressure balance Predictive function control according to after time-domain and frequency-domain conversion process
The prediction model of device, wherein the prediction model isIt is described
It is describedThe TmFor propulsion system inertia time, the TnFor the screw conveyor system inertia time.
Further, described that the defeated of sealed compartment soil pressure after the prediction model operation is determined according to sealed compartment soil pressure setting value
Reference locus includes: out
The prediction mould is established according to the sealed compartment soil pressure real output value at current time, sealed compartment soil pressure prediction output valve
Relationship is corrected in the output of block, and carries out first order exponential processing according to sealed compartment soil pressure setting value and the output amendment relationship, is obtained
To output reference locus, wherein the output amendment relationship isThe output refers to rail
Mark is yr(k+i)=yc(k+i)-λi[yc(k)-yp(k)], e (the k+i)=yp(k)-ym(k), the ypIt (k) is current time
Sealed compartment soil pressure real output value；ym(k) output valve, the y are predicted for the sealed compartment soil pressure at current timerFor output reference
Track；ycFor sealed compartment soil pressure setting value；λ is the softening factor,TrTo export reference locus time constant.
Further, it is described according to rolling optimization mode to conduct in the shield machine earth pressure balance prediction function controller
The jump function of basic function carries out coefficient optimization correction process
Quadratic performance index is chosen in the way of rolling optimization as objective function, establishes the sealed compartment soil pressure prediction
The error sum of squares minimum value optimizing of output valve and the output reference locus as the coefficient in the jump function of basic function,
In, the sealed compartment soil pressure prediction output valve and the error sum of squares minimum value of the output reference locus are
Further, described according to the sealed compartment soil pressure obtained after the prediction model operation and the output reference locus
Corresponding lag time determines the fltting speed when matching, the optimum control amount of the screw conveyor revolving speed includes:
When in sealed compartment soil pressure prediction output valve and the error sum of squares minimum value of the output reference locusWhen, when to calculate the lag time be zero, the optimum control amount of the fltting speed is The optimum control amount of the screw conveyor revolving speed is It is describedTsFor the sampling time；
When in sealed compartment soil pressure prediction output valve and the error sum of squares minimum value of the output reference locusWhen, when calculating the lag time and being not zero, using Smith Prediction Control method to the reality of the fltting speed
Border measured value, the screw conveyor revolving speed actual measured value according to ypav(k)=yp(k)+ym(k)-ym(k-D) it is repaired
Just, the optimum control amount for obtaining the fltting speed is The optimum control amount of the screw conveyor revolving speed is Wherein, the ypavIt (k) is revised the output of process
Value；D=τ/Ts。
According to the present invention on the other hand, a kind of optimization device of shield machine earth pressure balance control is provided, comprising:
Unit is established, for by the sealed compartment soil pressure variable quantity pass between fltting speed, screw conveyor revolving speed respectively
System carries out time-domain and frequency-domain conversion process, and establishes the pre- of shield machine earth pressure balance prediction function controller in conjunction with lag time constant
Survey model；
First determination unit, for determining sealed compartment soil pressure after the prediction model operation according to sealed compartment soil pressure setting value
Output reference locus；
Processing unit is used for according to rolling optimization mode to conduct in the shield machine earth pressure balance prediction function controller
The jump function of basic function carries out coefficient and optimizes correction process so that the sealed compartment soil pressure obtained after the prediction model operation with
The output reference locus matching；
Second determination unit, for being referred to according to the sealed compartment soil pressure and the output that are obtained after the prediction model operation
Corresponding lag time determines the optimum control amount of the fltting speed, the screw conveyor revolving speed when path matching.
According to another aspect of the invention, a kind of storage medium is provided, at least one is stored in the storage medium can
It executes instruction, the executable instruction makes processor execute the corresponding behaviour of optimization method such as the control of above-mentioned shield machine earth pressure balance
Make.
In accordance with a further aspect of the present invention, a kind of terminal is provided, comprising: processor, memory, communication interface and communication
Bus, the processor, the memory and the communication interface complete mutual communication by the communication bus；
For the memory for storing an at least executable instruction, it is above-mentioned that the executable instruction executes the processor
The corresponding operation of optimization method of shield machine earth pressure balance control.
By above-mentioned technical proposal, technical solution provided in an embodiment of the present invention is at least had the advantage that
The present invention provides a kind of optimization method and devices of shield machine earth pressure balance control, with the prior art to sealed compartment
Earth pressure balance control is controlled merely by single argument using different Controlling model algorithms, and has ignored time lag to close
The influence of batten down earth pressure balance control effect is compared, and the embodiment of the present invention passes through sealed compartment soil pressure variable quantity is fast with propulsion respectively
Relationship between degree, screw conveyor revolving speed carries out time-domain and frequency-domain conversion process, and establishes shield machine in conjunction with lag time constant
The prediction model of earth pressure balance prediction function controller；It is determined according to sealed compartment soil pressure setting value close after the prediction model operation
The output reference locus of batten down soil pressure；According to rolling optimization mode to making in the shield machine earth pressure balance prediction function controller
Coefficient optimization correction process is carried out for the jump function of basic function, so that the sealed compartment soil pressure obtained after the prediction model operation
Amount is matched with the output reference locus；Join according to the sealed compartment soil pressure amount and the output obtained after the prediction model operation
Corresponding lag time determines the optimum control amount of the fltting speed, the screw conveyor revolving speed when examining path matching, real
The collaboration optimal control of shield machine earth pressure balance is showed, overshoot is smaller, control precision is high, can quickly track sealed compartment soil
Pressure set points effectively overcome time lag to influence brought by sealed compartment earth pressure balance, realize sealing lock pressure well
Force balance control.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And then it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage energy
It is enough clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 shows a kind of optimization method flow chart of shield machine earth pressure balance control provided in an embodiment of the present invention；
Fig. 2 shows a kind of balancing earth-pressure shielding machine structure charts provided in an embodiment of the present invention；
Fig. 3 shows a kind of balancing earth-pressure shielding machine Tunneling Principle figure provided in an embodiment of the present invention；
Fig. 4 shows a kind of sealed compartment soil pressure pfc controller structural block diagram provided in an embodiment of the present invention；
Fig. 5 shows a kind of PFC provided in an embodiment of the present invention and PID control sealed compartment pressure change comparison diagram；
Fig. 6 shows a kind of PFC provided in an embodiment of the present invention and PID control fltting speed changes comparison diagram；
Fig. 7 shows a kind of PFC provided in an embodiment of the present invention and PID control screw conveyor rotation speed change comparison diagram；
Fig. 8 shows a kind of optimization device block diagram of shield machine earth pressure balance control provided in an embodiment of the present invention；
Fig. 9 shows a kind of structural schematic diagram of terminal provided in an embodiment of the present invention.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
The embodiment of the invention provides a kind of optimization methods of shield machine earth pressure balance control, as shown in Figure 1, this method packet
It includes:
101, by sealed compartment soil pressure variable quantity, the relationship between fltting speed, screw conveyor revolving speed carries out time domain respectively
Frequency domain conversion process, and combination lag time constant establishes the prediction model of shield machine earth pressure balance prediction function controller.
In the embodiment of the present invention, balancing earth-pressure shielding machine is mainly by shield body, cutterhead and its drive system, screw conveyor system
System, propulsion system, pipe sheet assembling system, synchronous grouting system and tail sealing device of shield etc. are constituted.Balancing earth-pressure shielding machine knot
Composition is as shown in Fig. 2, balancing earth-pressure shielding machine includes 1 cutterhead, 2 sealed compartments, 3 sealed compartment partitions, 4 stirring rod, 5 helical feeds
Machine, 6 propelling hydraulic cylinders, 7 pipe sheet assemblings.Wherein, balancing earth-pressure shielding machine is mounted with a pressure-bearing partition in the front of shield body, with
Shield shell, cutterhead and screw conveyor have constituted a closed soil cabin.Cutterhead is being sealed in the front end of sealed compartment, screw conveyor
Bilge portion is connected with partition.In shield machine tunneling process, cutterhead excavates front soil layer, cuts the soil to get off full of sealed compartment
It with whole spaces inside screw conveyor, pushes shield body to move ahead by propelling hydraulic cylinder, while thrust being passed by pressure-bearing partition
The soil in sealed compartment is passed, in addition the lateral pressure that soil body dead weight generates, the two provide supporting pressure jointly to balance
The Water And Earth Pressures of excavation face；Then shield body is discharged in the soil in sealed compartment by screw conveyor, maintained into soil amount and amount of being unearthed
Balance it is as shown in Figure 3 therefore to obtain balancing earth-pressure shielding machine Tunneling Principle.
Wherein, the prediction model of foundation is Predictive function control (Predictive Functional Control, PFC)
In a part, specifically, Predictive function control specifically includes that basic function, prediction model, rolling optimization and feedback compensation four
Part, in the embodiment of the present invention, sealed compartment soil pressure pfc controller structural block diagram is as shown in Figure 4.
Further, in order to illustrate and refine, it is described by sealed compartment soil pressure variable quantity respectively with fltting speed, spiral
Relationship between conveyer revolving speed carries out time-domain and frequency-domain conversion process, and establishes shield machine earth pressure balance in conjunction with lag time constant
The prediction model of prediction function controller include: to using sealed compartment into soil pressure variable quantity within the Δ t time with fltting speed, spiral shell
The relational expression for revolving conveyer revolving speed carries out time-domain and frequency-domain conversion process, wherein the relational expression isThe Δ pbIt is sealed compartment soil pressure variable quantity, the EtIt (k) is soil deformation
Modulus, the A are shield machine cross-sectional areas, and the v is fltting speed, the AsIt is the effective casting area of screw conveyor, institute
Stating ω is screw conveyor revolving speed, and the η is casting efficiency, the VcFor the volume of sealed compartment, the h is screw conveyor
Screw pitch；Lag time constant τ is combined to establish shield machine earth pressure balance prediction function controller according to after time-domain and frequency-domain conversion process
Prediction model, wherein the prediction model isIt is describedInstitute
It statesThe TmFor propulsion system inertia time, the TnFor the screw conveyor system inertia time.
In the embodiment of the present invention, by analyzing sealed compartment pressure control mechanism it can be concluded that sealed compartment is long-pending in Δ into the soil body
The t time interior relationship with shield machine cross-sectional area and fltting speed are as follows: Vi=A ∫ ν dt=A ν Δ t, ViIt is soil body volume in cabin, A
It is shield machine cross-sectional area, v is fltting speed, within the Δ t time, by the dregs volume of screw conveyor discharge out of sealed compartment
Are as follows: Vo=∫ qdt=q Δ t,VoIt is discharge dregs volume, q is screw conveyor casting rate,rsIt is screw conveyor radius, rfIt is the radius of helical feed arbor.Then within the Δ t time, in sealed compartment
Soil body volume change are as follows: Δ V=Vi-Vo, the additional internal force born on unit area according to the soil body, sealed compartment volume
Variable quantity and the variable quantity of sealed compartment soil pressure can indicate are as follows: Δ pb=Et(k) Δ ε,It can be with
The expression formula obtained between sealed compartment soil pressure variable quantity and fltting speed and screw conveyor revolving speed isAnd time-domain and frequency-domain conversion process is carried out, by considering propulsion system and deslagging
The inertia time of system, and consider influence of the time lag to sealed compartment soil pressure, available prediction model ise-τsFor delay component, τ is lag time constant；TmAnd TnRespectively promote system
System and screw conveyor system inertia time.
In addition, the process channel of each system is the form of transmission function, transmission function expression formula can be indicated are as follows:Then the prediction output of model may be expressed as:ymTable
What is shown is the soil pressure value of sealed compartment；u1What is indicated is fltting speed；u2What is indicated is the revolving speed of screw conveyor.τ=0 is taken first
When prediction model, it may be assumed thatIt then predicts to export are as follows:It is logical
It crosses plus a zero-order holder exports prediction and carries out sliding-model control, available difference equation are as follows: y 'm(k+1)=(α1+
α2)y′m(k)-α1α2y′m(k-1)+km1(1-α2)[u1(k)-α2u2(k-1)]-km2(1-α2)[u2(k)-α1u2(k-1)],TsFor the sampling time.When using jump function as basic function, by the property of jump function
Available: u (k+i)=u (k) i=1 2 ..., can derive the model prediction of the following P step finally by mathematical induction
Output valve:
102, determined the output of sealed compartment soil pressure after the prediction model operation with reference to rail according to sealed compartment soil pressure setting value
Mark.
It is described that institute is determined according to sealed compartment soil pressure setting value in order to further explain and refine in the embodiment of the present invention
The output reference locus for stating sealed compartment soil pressure after prediction model operation includes: sealed compartment soil pressure reality output according to current time
Value, sealed compartment soil pressure prediction output valve establish the output amendment relationship of the prediction module, and according to sealed compartment soil pressure setting value
And the output amendment relationship carries out first order exponential processing, obtains output reference locus, wherein the output amendment relationship isThe output reference locus is yr(k+i)=yc(k+i)-λi[yc(k)-yp(k)], institute
State e (k+i)=yp(k)-ym(k), the ypIt (k) is the sealed compartment soil pressure real output value at current time；ym(k) for it is current when
The sealed compartment soil pressure at quarter predicts output valve, the yrTo export reference locus；ycFor sealed compartment soil pressure setting value；λ be softening because
Son,TrTo export reference locus time constant.
Since prediction model and reality output can have error, the reality output at current time and the prediction at current time are defeated
Difference out come indicate prediction error, it may be assumed that e (k+i)=yp(k)-ym(k), ypIt (k) is the real output value at current time；ym(k)
For the prediction output valve at current time, then following prediction output valve is corrected for: yr(k+i)=yc(k+i)-λi[yc(k)-yp
(k)], yrFor reference locus；ycFor setting value；λ is the softening factor,TrFor reference locus time constant.
103, according to rolling optimization mode in the shield machine earth pressure balance prediction function controller as basic function
Jump function carries out coefficient and optimizes correction process.
The embodiment of the present invention, it is flat to the shield machine soil pressure according to rolling optimization mode in order to further optimize
Jump function in weighing apparatus prediction function controller as basic function carries out coefficient and optimizes correction process, so that the prediction model is transported
The sealed compartment soil pressure obtained after calculation is matched with the output reference locus.
It is described to be put down according to rolling optimization mode to described in order to further explain and refine for the embodiment of the present invention
Jump function in weighing apparatus earth pressure shield tunneling machine prediction function controller as basic function carries out coefficient optimization correction process
Quadratic performance index is chosen in the way of rolling optimization as objective function, establishes the sealed compartment soil pressure prediction
The error sum of squares minimum value optimizing of output valve and the output reference locus as the coefficient in the jump function of basic function,
In, the sealed compartment soil pressure prediction output valve and the error sum of squares minimum value of the output reference locus are
It wherein, is the coefficient μ for finding each basic function the purpose of rolling optimization in Predictive function control1,μ2,…μMMake
Prediction output ym(k+i) as close to reference locus yr(k+i), quadratic performance index is usually chosen in PFC optimization algorithm
As objective function, i.e., the error sum of squares minimum with reference locus is exported with prediction to indicate:It enables respectivelyFltting speed and helical feed when can acquire τ=0
The optimum control amount of machine revolving speed.
104, when being matched according to the sealed compartment soil pressure obtained after the prediction model operation with the output reference locus pair
The lag time answered determines the optimum control amount of the fltting speed, the screw conveyor revolving speed.
It is described to be obtained according to after the prediction model operation in order to further explain and refine for the embodiment of the present invention
To sealed compartment soil pressure matched with the output reference locus when corresponding lag time determine the fltting speed, the spiral
The optimum control amount of conveyer revolving speed includes: the error when sealed compartment soil pressure prediction output valve and the output reference locus
In quadratic sum minimum valueWhen, when to calculate the lag time be zero, the optimum control amount of the fltting speed
For The optimum control amount of the screw conveyor revolving speed is It is describedTsFor the sampling time；When the sealing
Cabin soil pressure is predicted in output valve and the error sum of squares minimum value of the output reference locusWhen, described in calculating
Actual measured value, the helical feed when lag time is not zero, using Smith Prediction Control method to the fltting speed
The actual measured value of machine revolving speed is according to ypav(k)=yp(k)+ym(k)-ym(k-D) it is modified, obtains the fltting speed most
Excellent control amount is The optimum control amount of the screw conveyor revolving speed is Wherein, the ypavIt (k) is revised the output of process
Value；D=τ/Ts。
Specifically, enablingIt can acquire, the optimum control of fltting speed and screw conveyor revolving speed when τ=0
Rule are as follows: As τ ≠ 0, according to the thought of Smith Prediction Control, Predictive function control is still to actual survey
Magnitude is modified, and modification method is as follows: ypav(k)=yp(k)+ym(k)-ym(k-D), ypavIt (k) is revised the output of process
Value；D=τ/Ts.By yp(k) by correction value ypav(k) it replaces, then the fltting speed lagged when considering and screw conveyor revolving speed
Optimum control amount are as follows:
For the embodiment of the present invention, specific application scenarios can be as follows, but not limited to this, comprising: due to sealing
The parameters such as lock pressure power and cutterhead revolving speed, propulsive force, fltting speed and screw conveyor revolving speed have close connection, it is assumed that
In the case that cutterhead revolving speed and propulsive force remain unchanged, only sealed by adjusting fltting speed and screw conveyor revolving speed to control
Cabin earth pressure balance, and emulation experiment is carried out using PID controller and designed prediction function controller by matlab
Comparison predicts time domain p=20 such as the shield machine parameter in table 1, controls time domain m=2, sampling time Ts=1, fltting speed u1
(k) value range is 0-80mm/min, screw conveyor revolving speed u2(k) value range is 0-15r/min.Firstly, pre-
It surveys in function control simulation process by adjusting fltting speed and screw conveyor revolving speed Collaborative Control sealed compartment earth pressure balance, it is preceding
600s balancing earth-pressure shielding machine is tunneled forward with the speed of 10mm/min, and shield machine sealed compartment pressure remained steady exists at this time
0.15MPa, screw conveyor revolving speed are 3r/min.In 600s due in shield tunneling process operating condition change, seal
Lock pressure power rises to 0.18MPa by 0.15MPa step, and prediction function controller as shown in Figure 5 can quickly track sealed compartment
Soil pressure setting value, at this time optimal fltting speed smoothly rise to 15mm/min as shown in fig. 6, and screw conveyor revolving speed along with
The change of fltting speed, which also changes, rises to 5r/min by 3r/min, and restores rapidly in a short time steady such as Fig. 7 institute
Show.It is sealed on just beginning controller just tracks after biggish overshoot as seen in Figure 5 under traditional PID control
Cabin pressure set points, in 600s due in tunneling process operating condition change, sealed compartment pressure set points occur step become
When change, PID controller could can track again upper soil pressure setting value after longer time, and fltting speed can be by 10mm/min
Be optimal fltting speed 15mm/min after lesser fluctuation as shown in fig. 6, and screw conveyor revolving speed can pass through it is longer
It is as shown in Figure 7 to reach stable state after the fluctuation of time.It can be seen by PFC control and simulation comparison Fig. 5-7 of PID control
Out, prediction function controller has overshoot smaller, and control precision is high, and effect is good, can fast and effectively track sealed compartment pressure
The advantages of setting value, it is possible to reduce land upheaval and the accident collapsed occur.
1 shield machine parameter of table
The present invention provides a kind of optimization methods of shield machine earth pressure balance control, and the embodiment of the present invention is by by sealed compartment
The relationship between fltting speed, screw conveyor revolving speed carries out time-domain and frequency-domain conversion process to soil pressure variable quantity respectively, and combines
Lag time constant establishes the prediction model of shield machine earth pressure balance prediction function controller；It is true according to sealed compartment soil pressure setting value
The output reference locus of sealed compartment soil pressure after the fixed prediction model operation；According to rolling optimization mode to the shield machine soil pressure
Coefficient is carried out as the jump function of basic function in balance forecast function controller and optimizes correction process, so that the prediction model
The sealed compartment soil pressure obtained after operation is matched with the output reference locus；According to the sealing obtained after the prediction model operation
Cabin soil pressure when being matched with the output reference locus corresponding lag time determine the fltting speed, the screw conveyor turn
The optimum control amount of speed, realizes the collaboration optimal control of shield machine earth pressure balance, and overshoot is smaller, control precision is high, can be with
Quickly tracking sealed compartment soil pressure setting value, effectively overcomes time lag on influence brought by sealed compartment earth pressure balance, very
Good realizes sealed compartment pressure balance control.
Further, as the realization to method shown in above-mentioned Fig. 1, the embodiment of the invention provides a kind of shield machine soil pressures
Balance control optimization device, as shown in figure 8, the device include: establish unit 21, the first determination unit 22, processing unit 23,
Second determination unit 24.
Establish unit 21, for by sealed compartment soil pressure variable quantity respectively between fltting speed, screw conveyor revolving speed
Relationship carries out time-domain and frequency-domain conversion process, and establishes shield machine earth pressure balance prediction function controller in conjunction with lag time constant
Prediction model；
First determination unit 22, it is native for sealed compartment after determining the prediction model operation according to sealed compartment soil pressure setting value
The output reference locus of pressure；
Processing unit 23, for according to rolling optimization mode to making in the shield machine earth pressure balance prediction function controller
Coefficient optimization correction process is carried out for the jump function of basic function, so that the sealed compartment soil pressure obtained after the prediction model operation
It is matched with the output reference locus；
Second determination unit 24, for joining according to the sealed compartment soil pressure and the output that are obtained after the prediction model operation
Corresponding lag time determines the optimum control amount of the fltting speed, the screw conveyor revolving speed when examining path matching.
The present invention provides a kind of optimization devices of shield machine earth pressure balance control, and the embodiment of the present invention is by by sealed compartment
The relationship between fltting speed, screw conveyor revolving speed carries out time-domain and frequency-domain conversion process to soil pressure variable quantity respectively, and combines
Lag time constant establishes the prediction model of shield machine earth pressure balance prediction function controller；It is true according to sealed compartment soil pressure setting value
The output reference locus of sealed compartment soil pressure after the fixed prediction model operation；According to rolling optimization mode to the shield machine soil pressure
Coefficient is carried out as the jump function of basic function in balance forecast function controller and optimizes correction process, so that the prediction model
The sealed compartment soil pressure obtained after operation is matched with the output reference locus；According to the sealing obtained after the prediction model operation
Cabin soil pressure when being matched with the output reference locus corresponding lag time determine the fltting speed, the screw conveyor turn
The optimum control amount of speed, realizes the collaboration optimal control of shield machine earth pressure balance, and overshoot is smaller, control precision is high, can be with
Quickly tracking sealed compartment soil pressure setting value, effectively overcomes time lag on influence brought by sealed compartment earth pressure balance, very
Good realizes sealed compartment pressure balance control.
A kind of storage medium is provided according to an embodiment of the present invention, and it is executable that the storage medium is stored at least one
The optimization side of the control of the shield machine earth pressure balance in above-mentioned any means embodiment can be performed in instruction, the computer executable instructions
Method.
Fig. 9 shows a kind of structural schematic diagram of the terminal provided according to an embodiment of the present invention, and the present invention is specifically real
Example is applied not limit the specific implementation of terminal.
As shown in figure 9, the terminal may include: processor (processor) 302, communication interface (Communications
Interface) 304, memory (memory) 306 and communication bus 308.
Wherein: processor 302, communication interface 304 and memory 306 complete mutual lead to by communication bus 308
Letter.
Communication interface 304, for being communicated with the network element of other equipment such as client or other servers etc..
Processor 302 can specifically execute the optimization side of above-mentioned shield machine earth pressure balance control for executing program 310
Correlation step in method embodiment.
Specifically, program 310 may include program code, which includes computer operation instruction.
Processor 302 may be central processor CPU or specific integrated circuit ASIC (Application
Specific Integrated Circuit), or be arranged to implement the integrated electricity of one or more of the embodiment of the present invention
Road.The one or more processors that terminal includes can be same type of processor, such as one or more CPU；It is also possible to
Different types of processor, such as one or more CPU and one or more ASIC.
Memory 306, for storing program 310.Memory 306 may include high speed RAM memory, it is also possible to further include
Nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.
Program 310 specifically can be used for so that processor 302 executes following operation:
By sealed compartment soil pressure variable quantity, the relationship between fltting speed, screw conveyor revolving speed carries out time-domain and frequency-domain respectively
Conversion process, and combination lag time constant establishes the prediction model of shield machine earth pressure balance prediction function controller；
The output reference locus of sealed compartment soil pressure after the prediction model operation is determined according to sealed compartment soil pressure setting value；
According to rolling optimization mode to the step in the shield machine earth pressure balance prediction function controller as basic function
Function carries out coefficient and optimizes correction process, so that the sealed compartment soil pressure obtained after the prediction model operation and the output refer to
Path matching；
It is corresponding when being matched according to the sealed compartment soil pressure obtained after the prediction model operation with the output reference locus
Lag time determines the optimum control amount of the fltting speed, the screw conveyor revolving speed.
Obviously, those skilled in the art should be understood that each module of the above invention or each step can be with general
Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
It is performed by computing device in the storage device, and in some cases, it can be to be different from shown in sequence execution herein
Out or description the step of, perhaps they are fabricated to each integrated circuit modules or by them multiple modules or
Step is fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific hardware and softwares to combine.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all include within protection scope of the present invention.
Claims (8)
1. a kind of optimization method of shield machine earth pressure balance control characterized by comprising
By sealed compartment soil pressure variable quantity, the relationship between fltting speed, screw conveyor revolving speed carries out time-domain and frequency-domain conversion respectively
It handles, and establishes the prediction model of shield machine earth pressure balance control forecasting function controller in conjunction with lag time constant；
The output reference locus of sealed compartment soil pressure after the prediction model operation is determined according to sealed compartment soil pressure setting value；
According to rolling optimization mode to the step in the shield machine earth pressure balance control forecasting function controller as basic function
Function carries out coefficient and optimizes correction process, so that the sealed compartment soil pressure obtained after the prediction model operation and the output refer to
Path matching；
Corresponding lag when being matched according to the sealed compartment soil pressure obtained after the prediction model operation with the output reference locus
Time determines the optimum control amount of the fltting speed, the screw conveyor revolving speed.
2. the method according to claim 1, wherein described that sealed compartment soil pressure variable quantity is fast with propulsion respectively
Relationship between degree, screw conveyor revolving speed carries out time-domain and frequency-domain conversion process, and establishes shield machine in conjunction with lag time constant
The prediction model of earth pressure balance prediction function controller includes:
To the relational expression using sealed compartment into soil pressure variable quantity within the Δ t time with fltting speed, screw conveyor revolving speed
Carry out time-domain and frequency-domain conversion process, wherein the relational expression isIt is described
ΔpbIt is sealed compartment soil pressure variable quantity, the EtIt (k) is soil deformation modulus, the A is shield machine cross-sectional area, and the v is to push away
Into speed, the AsIt is the effective casting area of screw conveyor, the ω is screw conveyor revolving speed, and the η is casting efficiency,
The VcFor the volume of sealed compartment, the h is the screw pitch of screw conveyor；
Lag time constant τ is combined to establish shield machine earth pressure balance prediction function controller according to after time-domain and frequency-domain conversion process
Prediction model, wherein the prediction model isIt is describedIt is describedThe TmFor propulsion system inertia time, the TnFor the screw conveyor system inertia time.
3. according to the method described in claim 2, it is characterized in that, described determine the prediction according to sealed compartment soil pressure setting value
The output reference locus of sealed compartment soil pressure includes: after model calculation
The prediction module is established according to the sealed compartment soil pressure real output value at current time, sealed compartment soil pressure prediction output valve
Amendment relationship is exported, and first order exponential processing is carried out according to sealed compartment soil pressure setting value and the output amendment relationship, is obtained defeated
Reference locus out, wherein the output amendment relationship isThe output reference locus is
yr(k+i)=yc(k+i)-λi[yc(k)-yp(k)], e (the k+i)=yp(k)-ym(k), the ypIt (k) is the close of current time
Batten down soil pressure real output value；ym(k) output valve, the y are predicted for the sealed compartment soil pressure at current timerTo export reference locus；
ycFor sealed compartment soil pressure setting value；λ is the softening factor,TrTo export reference locus time constant.
4. according to the method described in claim 3, it is characterized in that, it is described according to rolling optimization mode to the soil pressure balance shielding
Carrying out coefficient optimization correction process as the jump function of basic function in structure machine prediction function controller includes:
Quadratic performance index is chosen in the way of rolling optimization as objective function, establishes the sealed compartment soil pressure prediction output
Value is with the error sum of squares minimum value optimizing for exporting reference locus as the coefficient in the jump function of basic function, wherein
The sealed compartment soil pressure prediction output valve and the error sum of squares minimum value of the output reference locus are
5. according to the method described in claim 4, it is characterized in that, described according to the sealing obtained after the prediction model operation
Cabin soil pressure when being matched with the output reference locus corresponding lag time determine the fltting speed, the screw conveyor turn
Speed optimum control amount include:
When in sealed compartment soil pressure prediction output valve and the error sum of squares minimum value of the output reference locusWhen, when to calculate the lag time be zero, the optimum control amount of the fltting speed is The optimum control amount of the screw conveyor revolving speed is It is describedTsFor the sampling time；
When in sealed compartment soil pressure prediction output valve and the error sum of squares minimum value of the output reference locusWhen, calculate the lag time be not zero when, using Smith Prediction Control method to the reality of the fltting speed
Border measured value, the screw conveyor revolving speed actual measured value according to ypav(k)=yp(k)+ym(k)-ym(k-D) it is repaired
Just, the optimum control amount for obtaining the fltting speed is The optimum control amount of the screw conveyor revolving speed is Wherein, the ypavIt (k) is amendment
The output of process value afterwards；D=τ/Ts。
6. a kind of optimization device of shield machine earth pressure balance control characterized by comprising
Establish unit, for by sealed compartment soil pressure variable quantity respectively the relationship between fltting speed, screw conveyor revolving speed into
Row time-domain and frequency-domain conversion process, and combination lag time constant establishes the prediction mould of balancing earth-pressure shielding machine prediction function controller
Type；
First determination unit, for determining the defeated of sealed compartment soil pressure after the prediction model operation according to sealed compartment soil pressure setting value
Reference locus out；
Processing unit, for according to rolling optimization mode in the balancing earth-pressure shielding machine prediction function controller be used as base letter
Several jump function carries out coefficients and optimizes correction process so that the sealed compartment soil pressure obtained after the prediction model operation with it is described
Export reference locus matching；
Second determination unit, for according to the sealed compartment soil pressure and the output reference locus obtained after the prediction model operation
Corresponding lag time determines the optimum control amount of the fltting speed, the screw conveyor revolving speed when matching.
7. a kind of storage medium, it is stored with an at least executable instruction in the storage medium, the executable instruction makes to handle
Device executes the corresponding operation of optimization method of shield machine earth pressure balance control according to any one of claims 1 to 5.
8. a kind of terminal, comprising: processor, memory, communication interface and communication bus, the processor, the memory and
The communication interface completes mutual communication by the communication bus；
The memory executes the processor as right is wanted for storing an at least executable instruction, the executable instruction
The corresponding operation of optimization method for asking shield machine earth pressure balance described in any one of 1-5 to control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910857969.3A CN110486029B (en) | 2019-09-09 | 2019-09-09 | Optimization method and device for earth pressure balance control of shield machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910857969.3A CN110486029B (en) | 2019-09-09 | 2019-09-09 | Optimization method and device for earth pressure balance control of shield machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110486029A true CN110486029A (en) | 2019-11-22 |
| CN110486029B CN110486029B (en) | 2021-10-29 |
Family
ID=68557385
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910857969.3A Active CN110486029B (en) | 2019-09-09 | 2019-09-09 | Optimization method and device for earth pressure balance control of shield machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110486029B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113847049A (en) * | 2021-10-13 | 2021-12-28 | 中交天和机械设备制造有限公司 | Earth pressure intelligent control system of earth pressure balance shield machine |
| CN114017041A (en) * | 2021-09-26 | 2022-02-08 | 深圳市市政工程总公司 | Monitoring method for shield tail pressure balance |
| CN114706322A (en) * | 2022-03-30 | 2022-07-05 | 西南交通大学 | Automatic control simulation system for attitude of shield machine |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0598139A4 (en) * | 1992-06-22 | 1998-01-07 | Komatsu Mfg Co Ltd | Control apparatus for excavators. |
| CN106481344A (en) * | 2016-10-25 | 2017-03-08 | 华中科技大学 | A kind of balancing earth-pressure shielding machine tunnel piercing parameter intelligent control method |
| CN110135882A (en) * | 2019-03-26 | 2019-08-16 | 口口相传(北京)网络技术有限公司 | Business checks and writes off the integration method and device, storage medium, terminal of data |
-
2019
- 2019-09-09 CN CN201910857969.3A patent/CN110486029B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0598139A4 (en) * | 1992-06-22 | 1998-01-07 | Komatsu Mfg Co Ltd | Control apparatus for excavators. |
| CN106481344A (en) * | 2016-10-25 | 2017-03-08 | 华中科技大学 | A kind of balancing earth-pressure shielding machine tunnel piercing parameter intelligent control method |
| CN110135882A (en) * | 2019-03-26 | 2019-08-16 | 口口相传(北京)网络技术有限公司 | Business checks and writes off the integration method and device, storage medium, terminal of data |
Non-Patent Citations (2)
| Title |
|---|
| 邵诚俊: "大型掘进装备地质适应性控制与纠偏控制", 《中国博士学位论文全文数据库 信息科技辑》 * |
| 邵诚俊等: "基于多系统协调的密封舱压力智能化控制", 《机械工程学报》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114017041A (en) * | 2021-09-26 | 2022-02-08 | 深圳市市政工程总公司 | Monitoring method for shield tail pressure balance |
| CN114017041B (en) * | 2021-09-26 | 2024-01-30 | 深圳市政集团有限公司 | Monitoring method for shield tail pressure balance |
| CN113847049A (en) * | 2021-10-13 | 2021-12-28 | 中交天和机械设备制造有限公司 | Earth pressure intelligent control system of earth pressure balance shield machine |
| CN114706322A (en) * | 2022-03-30 | 2022-07-05 | 西南交通大学 | Automatic control simulation system for attitude of shield machine |
| CN114706322B (en) * | 2022-03-30 | 2023-06-23 | 西南交通大学 | Automatic control simulation system for posture of shield tunneling machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110486029B (en) | 2021-10-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110486029A (en) | The optimization method and device of shield machine earth pressure balance control | |
| Zakeri et al. | Optimal interval type-2 fuzzy fractional order super twisting algorithm: A second order sliding mode controller for fully-actuated and under-actuated nonlinear systems | |
| Stanford et al. | Aeroelastic benefits of tow steering for composite plates | |
| Zhang et al. | Multi-round surrogate-based optimization for benchmark aerodynamic design problems | |
| JP2023516213A (en) | Method and device for correcting deviation of shield digging attitude | |
| WO2020173064A1 (en) | Predictive thrust control method and system of arbitrary double vector model for linear induction motor | |
| CN111006693B (en) | Intelligent aircraft track planning system and method thereof | |
| CN106217128A (en) | Variable working condition bottom tool state of wear Forecasting Methodology based on big data mining | |
| CN104218788A (en) | Network side power factor sliding-mode self-adaptive control method of matrix rectifier | |
| CN108468549B (en) | The optimization method and device of earth pressure balanced shield, EPBS | |
| CN109858780A (en) | A kind of Steelmaking-Continuous Casting Production Scheduling optimization method | |
| Jiang et al. | Combined composites layup architecture and mechanical evaluation of type IV pressure vessels: a novel analytical approach | |
| Hu et al. | One-loop Feynman integral reduction by differential operators | |
| Wang et al. | Language models are good translators | |
| Van den Brink et al. | Buckling-optimized variable stiffness laminates for a composite fuselage window section | |
| Zhang et al. | Intelligent real-time prediction of multi-region thrust of EPB shield machine based on SSA-LSTM | |
| Fainekos et al. | Inverse design of airfoils based on a novel formulation of the ant colony optimization method | |
| CN109901622A (en) | A kind of autonomous underwater robot prediction face S control method based on mechanism model | |
| Fusato et al. | Multidisciplinary design optimization for aeromechanics and handling qualities | |
| Shuang et al. | Research on the multi-loop control system for swing process of cutter suction dredger | |
| Sun et al. | Multi-objective trajectory planning for segment assembly robots using a B-spline interpolation-and infeasible-updating non-dominated sorting-based method | |
| Sun et al. | Partially saturated nonlinear control for gantry cranes with hardware experiments | |
| CN116263109A (en) | Synchronous assembly control method for segments of shield machine and shield machine | |
| CN104794589A (en) | Analytical hierarchy process based dredging operation efficiency analytical method | |
| CN113419426B (en) | AUV communication delay active compensation method based on data driving state predictor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |