Dynamic coordination controlling system for full-section large-scale digging device

Abstract

The invention provides a dynamically-coordinated control system for a large full-face excavating device, which relates to the technical field of automatic control on tunnel excavating and resolves the problem of multi-systematic coordination and control of an excavating device under multi-field coupling. The invention comprises a coordinated control system, a propulsion system, a cutter-head system, a slag discharge system, a post measurement system and a sealed-cabin pressure graded distribution model. The invention is characterized in that by adopting methods of predictive functional control and fuzzy control, the coordinated control system provides the best operation control strategy for each subsystem respectively and modifies real-time setting values of operational parameters for the propulsion system, the cutter-head system and the slag discharge system based on the real-time changes of each parameter. The invention has the advantages of that: the three subsystems of propulsion, cutter-head and slag discharge can be harmoniously controlled, and the purposes of sealed-cabin pressure balance and shield directing rectification can be achieved, thereby ensuring the whole excavating process is safe and efficient.

Description

technical field [0001] The invention belongs to the technical field of automatic control of tunnel excavation, and relates to a dynamic coordination control system of excavation equipment under the action of multi-field coupling. Background technique [0002] At present, the safety, efficiency, reliability and geological adaptability of tunneling equipment are still major international technical problems that have not yet been resolved. The pressure imbalance of the sealed cabin is the main cause of catastrophic accidents such as surface subsidence. Due to the influence of factors such as the composition of the phase medium, the speed of excavation and slag removal, the law of the influence of the composition of the slag and its mechanical properties on the pressure of the sealed cabin has not been revealed, so it is difficult to comprehensively coordinate through multiple subsystems such as propulsion, excavation, and cutterhead. Control to achieve airtight pressure balanc...

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Problems solved by technology

[0003] The existing research mainly has the following problems: the influence of variable composition medium and flow characteristics on the pressure of the sealed cabin is not clear; the analysis of the dynamic pressure field and the characteristics of pressure imbalance in the sealed cabin under the multi-field coupling have not been studied; the relationship between the tunneling parameters and the sealed cabin There is a lack of theoretical research on the mapping relationship of the state parameters of the pressure field, and it is mostly expressed by empirical formulas; the theoretical research on the coordinated control of the airtight cabin pressure in the process of excavation in complex strata has not been reported yet

Therefore, it seriously affects the effect and accuracy of tunneling

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