Earth pressure balance shield tunneling machine propelling speed control method, modeling method and device

Abstract

The invention discloses an earth pressure balance shield tunneling machine propelling speed control method, a modeling method and a modeling device. Aiming at a propelling speed subsystem of an earth pressure balance shield tunneling machine, with a propelling speed control quantity used as a control input variable, a soil bin pressure, a total propelling force and a cutter head rotating speed used as measurable interference variables, and the actual propelling speed of the shield tunneling machine used as an output variable, an RBF-ARX model of the propelling speed subsystem is constructed. The optimal RBF-ARX model parameters and structure for describing the dynamic characteristics of the propelling speed of the shield tunneling machine are obtained by minimizing the sum of squares of errors between predicted output of the RBF-ARX model and the actual value of the propelling speed under the constraint condition of a propelling speed dynamic response mode through utilizing actual sampling data of the propelling system of the earth pressure balance shield tunneling machine. A propelling speed prediction controller is designed based on the RBF-ARX model, and technical support is provided for achieving automatic control over the propelling speed of the earth pressure balance shield tunneling machine.

Description

technical field [0001] The invention relates to the field of modeling and predictive control of the dynamic characteristics of the propulsion speed of an earth pressure balance shield machine, in particular to a method for controlling the propulsion speed of an earth pressure balance shield machine, a modeling method and a device. Background technique [0002] The earth pressure balance shield machine is a large-scale comprehensive construction equipment dedicated to tunnel excavation engineering. It has the functions of excavating and cutting soil, transporting soil muck, and assembling tunnel lining. The propulsion system of the earth pressure balance shield machine undertakes the excavation task of the entire shield machine, mainly to complete functions such as propulsion force, propulsion speed control, and propulsion direction adjustment under the support of the hydraulic power of the shield machine group cylinder, so that the shield machine Being able to set an appropr...

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Problems solved by technology

For this kind of shield machine propulsion system with time-varying, strong nonlinearity, strong coupling, and large load mutation, its operating parameters will be different due to changes in working geological conditions, it is difficult to accurately establish its mechanism model, and traditional control methods are difficult Applied in the propulsion speed control of the shield machine

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