A slurry shield slurry chamber pressure control experiment system and method

Abstract

The present application relates to a kind of slurry shield slurry chamber pressure control experimental system and method, slurry shield slurry chamber pressure control experimental system physical execution layer includes air cushion chamber, pressure maintaining system and circulation system, pressure maintaining system is used to adjust air cushion chamber pressure, and circulation system is adjusted by adjusting slurry amount, slurry amount adjustment air cushion chamber liquid level;Upper computer monitoring layer includes virtual slurry chamber module and slurry chamber pressure control module, virtual slurry chamber module simulates the change of virtual slurry chamber pressure, and slurry chamber pressure control module is used to carry the slurry chamber pressure control algorithm to be tested.The present application constructs experimental system by "real and virtual combination", avoids the cost and safety risk existing in field experiment, guarantees that a large number of, sufficient, even destructive algorithm test can be safely carried out under the condition of limited laboratory;It can solve the technical problems that new type control algorithm with slurry chamber pressure as direct control target lacks sufficient, reliable test verification platform.

Description

Technical Field

[0001] This invention relates to the field of slurry pressure testing technology for shield tunnels, and more specifically, to an experimental system and method for controlling the pressure of a slurry chamber in a slurry shield tunnel. Background Technology

[0002] During slurry shield tunneling, the key to maintaining the stability of the excavation face (working face) is to maintain a dynamic balance between the pressure of the slurry chamber and the pressure of the soil and water in the strata. The pressure stabilization principle is as follows: the shield air cushion chamber and the slurry chamber are connected at the bottom, and the pressure-maintaining system indirectly acts on the slurry in the slurry chamber by controlling the pressure of the compressed air in the upper part of the air cushion chamber, thereby achieving the support effect on the excavation face.

[0003] The current mainstream pressure control system for slurry shield tunneling adopts the "air cushion indirect pressure stabilization" mode. The operator sets a fixed target value for the air cushion chamber pressure based on theoretical calculations. The pressure holding system stabilizes the actual pressure of the air cushion chamber near the set target value by adjusting the air inlet valve and the air outlet valve, hoping to indirectly maintain the slurry chamber pressure. However, the above pressure stabilization technology has significant defects: (1) Misalignment of control target: The pressure holding system directly controls the air cushion chamber pressure, but the actual requirement to maintain the stability of the excavation face is to ensure the stability of the slurry chamber pressure. Due to the changes in the advance speed and the changes in the stratum conditions during the tunneling process, the slurry chamber pressure will be continuously and randomly disturbed, causing the actual pressure of the slurry chamber to frequently deviate from the ideal value. The traditional pressure control system takes the constant air cushion chamber pressure as the target and cannot respond effectively to the above disturbances in a timely manner. (2) Low system integration: Most of the existing pressure holding systems are independent all-pneumatic control systems, which are difficult to deeply integrate with the shield tunneling main control system and realize real-time and automatic adjustment based on the slurry chamber pressure feedback. Pressure control in slurry chambers relies on manual observation and intervention, which is inefficient and has a delayed response, increasing the risk of instability at the excavation face.

[0004] To overcome the above-mentioned shortcomings, it is urgent to develop a new intelligent control system for slurry shield tunneling pressure that takes the slurry chamber as the direct control target. However, if the development of the control algorithm and parameter tuning of the system are implemented directly on the actual shield machine, the cost will be high and the risk will be huge. Moreover, it is difficult to conduct sufficient and safe testing and verification due to the limitations of construction progress and geological conditions. The new control algorithm that takes the slurry chamber pressure as the direct control target lacks sufficient and reliable testing and verification methods and platforms. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to propose an experimental system for controlling the pressure of a slurry chamber in a slurry shield tunnel, which can solve the technical problem of the lack of a sufficient and reliable testing and verification platform for novel control algorithms that take the pressure of the slurry chamber as the direct control target.

[0006] The present invention also aims to propose an experimental method for controlling the pressure of the slurry chamber in a slurry shield tunnel, which can solve the technical problem that there is a lack of sufficient and reliable testing and verification methods for novel control algorithms that take the pressure of the slurry chamber as the direct control target.

[0007] This invention provides the following technical solution: An experimental system for controlling the pressure of a slurry chamber in a slurry shield tunnel includes a host computer monitoring layer, a data interaction layer, and a physical execution layer. The physical execution layer mainly consists of an air cushion chamber, a pressure holding system, and a circulation system. The pressure holding system is connected to the top of the air cushion chamber and is used to regulate the air cushion chamber pressure. The circulation system is connected to the bottom of the air cushion chamber and regulates the air cushion chamber liquid level by adjusting the slurry inlet and outlet rates. The data interaction layer connects the physical execution layer and the host computer monitoring layer, realizing data transmission between the physical execution layer and the host computer monitoring layer. The host computer monitoring layer includes a virtual slurry tank module and a slurry tank pressure control module. The virtual slurry tank module is used to carry a virtual slurry tank pressure sensor model to simulate the pressure changes in the virtual slurry tank. The virtual slurry tank pressure sensor model processes the detection data from the physical execution layer to calculate the monitored value of the virtual slurry tank pressure sensor. P vitual The slurry tank pressure control module is used to carry the pressure control algorithm of the slurry tank under test, and to control the virtual slurry tank pressure target value SP and the virtual slurry tank pressure sensor monitoring value. P vitual The system performs calculations and outputs the target pressure value AP of the air cushion chamber and control commands to the pressure holding system in real time, and adjusts the pressure of the air cushion chamber.

[0008] Furthermore, the pressure-maintaining system includes an air compressor, an intake valve, an exhaust valve, and a pressure sensor installed on the top of the air cushion chamber.

[0009] Furthermore, the circulation system includes a level gauge, a density meter, a circulation pipeline, a slurry inlet pump, and a slurry outlet pump. The level gauge and the density meter are installed inside the air cushion chamber. The level gauge is used to measure the liquid level inside the air cushion chamber, and the density meter is used to monitor the slurry density.

[0010] Furthermore, the virtual slurry tank pressure sensor monitoring value P vitual The calculation formula is: P vitual =P air -ρg(R-Δh)+ΔP in, P air The pressure value of the air cushion chamber monitored by the air pressure sensor. Dh The vertical height of the liquid level in the air cushion chamber relative to the tunnel boring machine's axis. rThe installation height of the virtual slurry chamber pressure sensor is for the slurry density value monitored by the densitometer. R To set a constant, ΔP This is a disturbance signal.

[0011] The present invention also provides the following technical solutions: An experimental method for controlling the pressure of a slurry tank in a slurry shield tunneling machine, implemented based on an experimental system for controlling the pressure of a slurry tank in a slurry shield tunneling machine according to the present invention, includes the following steps: S1: Experimental system construction and parameter calibration; S2: Deployment and initial parameter settings of the pressure control algorithm for the mud-water chamber to be tested; S3: Static pressure tracking test: Set a step-changing target value SP for the virtual slurry tank pressure and evaluate the response performance of the pressure control algorithm of the slurry tank under test to the changes in the target value SP. Anti-interference capability test: Set the virtual mud-water tank pressure target value SP to a fixed value, and evaluate the robustness and anti-interference performance of the mud-water tank pressure control algorithm under test by introducing simulated disturbances and / or changing the liquid level of the air cushion tank. S4: Adjust the parameters of the pressure control algorithm of the mud-water chamber under test or switch the algorithm model based on the test data from step S3; S5: Repeat steps S3-S4 until the performance of the pressure control algorithm of the mud and water chamber to be tested meets the predetermined index requirements. S6: Generate test reports and encapsulate the algorithm.

[0012] Furthermore, step S1 specifically includes: setting up the experimental equipment in the host computer monitoring layer, data interaction layer, and physical execution layer, and connecting all hardware; calibrating the pressure sensor and liquid level sensor, and connecting the air cushion chamber pressure value in the virtual mud-water chamber module. P air Vertical height of the liquid level in the air cushion chamber relative to the shield tunnel axis Dh mud density value r Set the installation height R of the virtual mud and water chamber pressure sensor and superimpose the initial disturbance signal. ΔP.

[0013] Furthermore, step S2 specifically includes: loading the pressure control algorithm of the mud-water silo to be tested into the pressure control module of the upper computer monitoring layer; and setting a set of initial control parameters for the pressure control algorithm of the mud-water silo to be tested based on theoretical models or experience.

[0014] Furthermore, in step S3: In the static pressure tracking test, a target pressure value SP of a virtual slurry chamber with step-changing pressure was set, and the monitored values ​​of the virtual slurry chamber pressure sensor were observed and recorded. P vitualThe system response includes rise time, overshoot, steady-state error, and the adjustment process of air cushion chamber pressure, to evaluate the ability of the tested slurry chamber pressure control algorithm to track changes in setpoint. In the anti-interference capability test, the disturbance signal in the virtual slurry chamber pressure sensor model was adjusted. ΔP The amplitude and spectrum of the data were used to simulate tunneling disturbances of varying intensities. The liquid level in the air cushion chamber was manually changed by adjusting the speeds of the feed and discharge pumps to simulate disturbances caused by sudden changes in the amount of excavated soil. After applying disturbances and / or changing the liquid level in the air cushion chamber to the virtual slurry chamber pressure sensor model, the monitored values ​​of the virtual slurry chamber pressure sensor under the disturbances were observed and recorded. P vitual The system response, including the maximum deviation, recovery time, and number of oscillations, is used to evaluate the robustness and anti-interference performance of the pressure control algorithm of the mud silo under test.

[0015] Furthermore, step S4 specifically includes: based on the test data from step S3, analyzing whether the control effect of the pressure control algorithm of the slurry tank under test has shortcomings such as slow response, large overshoot, and steady-state fluctuations; returning to step S2 to adjust the parameters of the pressure control algorithm of the slurry tank under test or switching to a more advanced algorithm model based on the analysis results.

[0016] Furthermore, in step S6, test data including set values, actual values, control outputs, and key events from all previous test steps are automatically recorded, and performance curves and analysis reports are generated. The pressure control algorithm of the slurry chamber to be tested and its parameter set, which have been fully tested and optimized and meet the predetermined index requirements, are encapsulated for subsequent practical application in a real shield tunneling control system. Beneficial effects

[0017] (1) This invention combines safety and economy: by constructing an experimental system in a “virtual-real combination” manner, the cost and safety risks of actually constructing strata and mud chambers during the experiment are avoided, ensuring that a large number of, sufficient and even destructive algorithm tests can be safely carried out in a laboratory with limited space. (2) The present invention has both high fidelity and repeatability: the real circulation system and air cushion chamber in the physical execution layer provide accurate physical dynamic characteristics, and the constructed virtual mud and water chamber pressure sensor model is convenient for flexibly and repeatably simulating various formation conditions and extreme disturbances. The test conditions are controllable and the test results are highly comparable. (3) Development forms a closed loop: It provides a complete equipment and method theoretical basis for testing, optimization and verification of the pressure control algorithm of the mud and water chamber to be tested, supports the rapid application and iteration of the algorithm, and greatly accelerates the process of current control algorithm from theory to engineering application; (4) Wide range of applications and forward-looking: It can provide an essential training and testing data source and verification environment for next-generation intelligent control algorithms based on artificial intelligence, digital twins and other technologies. Attached Figure Description

[0018] Figure 1 This is a control principle diagram of a specific embodiment 1 of the slurry chamber pressure control experimental system for slurry shield tunneling according to the present invention; Figure 2 This is a schematic diagram of the mechanical principle of a specific embodiment 1 of the slurry shield tunnel slurry chamber pressure control experimental system of the present invention.

[0019] 1-Air cushion chamber; 2-Inlet pump; 3-Outlet pump; 4-Pressure holding system; 5-Inlet valve; 6-Outlet valve. Detailed Implementation

[0020] The present invention will now be described in detail with reference to the accompanying drawings.

[0021] Specific embodiment 1 of the experimental system for pressure control of slurry chamber in slurry shield tunneling according to the present invention: like Figure 1 As shown, the slurry shield tunneling slurry chamber pressure control experimental system of the present invention mainly consists of a host computer monitoring layer, a data interaction layer, and a physical execution layer.

[0022] The physical execution layer includes an air cushion chamber 1, a pressure holding system 4, and a circulation system. The pressure holding system 4 is connected to the top of the air cushion chamber 1 and is used to regulate the pressure of the air cushion chamber 1. The pressure holding system 4 includes a pressure holding system PLC, an air compressor, an inlet valve 5, an exhaust valve 6, and a pressure sensor installed on the top of the air cushion chamber 1. The pressure holding system PLC is electrically connected to the air compressor, inlet valve 5, exhaust valve 6, and pressure sensor. In this embodiment, the pressure holding system can adopt a fully electrically controlled intelligent interconnected shield tunneling pressure holding system disclosed in patent publication number CN216811688U.

[0023] The circulation system includes a tunnel boring machine PLC, a level gauge, a density meter, circulation pipelines, a slurry inlet pump 2, and a slurry outlet pump 3. The level gauge and density meter are installed inside the air cushion chamber 1. The circulation system is connected to the bottom of the air cushion chamber 1 and adjusts the slurry inlet and outlet rates to regulate the slurry level in the air cushion chamber. The level gauge is used to measure the slurry level inside the air cushion chamber, and the density meter is used to monitor the slurry density. r The PLC of the tunnel boring machine is electrically connected to components such as the level gauge, density gauge, circulation pipeline, grout pump 2, and grout discharge pump 3.

[0024] The host computer monitoring layer includes a virtual slurry tank module and a slurry tank pressure control module. The virtual slurry tank module is used to carry a virtual slurry tank pressure sensor model and simulate the pressure changes in the virtual slurry tank. The virtual slurry tank pressure sensor model processes the detection data from the physical execution layer to calculate the monitored value of the virtual slurry tank pressure sensor.P vitual .like Figure 2 As shown, the pressure sensor monitoring value of the virtual slurry tank. P vitual The calculation principle is as follows: In actual slurry shield tunneling, the slurry chamber and the air cushion chamber are connected by a bottom mud gate, forming a U-shaped communicating vessel. The pressure in the air cushion chamber is transferred to the slurry chamber through the mud, creating support pressure on the tunnel face. Ideally, based on the principles of communicating vessels and fluid statics, the pressure at the top of the slurry chamber... P 上 It can be represented as: P 上 =P air -ρg(R-Δh) in, P air The pressure of the air cushion chamber is monitored by a barometric pressure sensor. r The density value of the mud as monitored by the densitometer. R The installation height of the virtual slurry chamber pressure sensor is set to a constant. Dh This refers to the vertical height of the liquid level in the air cushion chamber relative to the tunnel boring machine's axis.

[0025] During tunnel boring machine (TBM) excavation, the pressure at the top of the slurry chamber fluctuates due to various factors such as changes in the tunneling speed and the geological conditions. ΔP Then the pressure data actually collected by the sensor can be expressed as: P 上 =P air -ρg(R-Δh)+ΔP Based on the above principle, under experimental conditions, without constructing a real geological environment and mud-water chamber, a virtual mud-water chamber pressure sensor model is established and represented as follows: P vitual =P air -ρg(R-Δh)+ΔP ΔP As a perturbation signal, a perturbation signal with configurable amplitude and spectral characteristics is superimposed during calculation. ΔP It can simulate pressure fluctuations during real tunneling.

[0026] The slurry tank pressure control module is used to carry the pressure control algorithm of the slurry tank under test, and to control the virtual slurry tank pressure target value SP and the virtual slurry tank pressure sensor monitoring value. P vitualThe system performs calculations and outputs the target pressure value AP of the air cushion chamber and control commands to the pressure holding system in real time, and adjusts the pressure of the air cushion chamber.

[0027] The data interaction layer connects the physical execution layer and the host computer monitoring layer, enabling data transmission between them. The data interaction layer includes the pressure-holding system PLC and the tunnel boring machine PLC, and is responsible for reading the pressure value of the air cushion chamber. P air Vertical height of the liquid level in the air cushion chamber relative to the shield tunnel axis Δh、 mud density value r The system collects and transmits the data to the virtual slurry tank module. Simultaneously, it sends the air cushion chamber pressure target value (AP) and control commands output by the slurry tank pressure control algorithm module to the pressure holding system actuators, driving the intake / exhaust valves to operate and maintain the air cushion chamber pressure. P air The target value has been achieved.

[0028] Based on the above-mentioned slurry shield tunneling slurry chamber pressure control experimental system, this invention provides a method for slurry shield tunneling slurry chamber pressure control experimental method, but this method is not limited to the above-mentioned slurry shield tunneling slurry chamber pressure control experimental system, and includes the following steps: S1: Experimental System Construction and Parameter Calibration: Build the experimental equipment in the host computer monitoring layer, data interaction layer, and physical execution layer, and connect all hardware; calibrate the pressure sensor and liquid level sensor, and connect the air cushion chamber pressure value in the virtual mud chamber module. P air Vertical height of the liquid level in the air cushion chamber relative to the shield tunnel axis P air mud density value r Set the installation height R of the virtual mud and water chamber pressure sensor and superimpose the initial disturbance signal. ΔP.

[0029] S2: Deployment and initial parameter setting of the pressure control algorithm for the mud silo under test: Load the pressure control algorithm for the mud silo under test into the pressure control module of the upper computer monitoring layer; set a set of initial control parameters for the pressure control algorithm for the mud silo under test based on theoretical models or experience.

[0030] S3: Static Pressure Tracking Test: Set a target pressure value SP for the virtual slurry chamber with a stepped variation, observe and record the values ​​monitored by the virtual slurry chamber pressure sensor. P vitual The system response, including rise time, overshoot, steady-state error, and the adjustment process of the air cushion chamber pressure, is evaluated to assess the ability of the tested slurry chamber pressure control algorithm to track changes in the setpoint. Anti-interference capability test: Set the target pressure value SP of the virtual slurry chamber to a fixed value. The disturbance signal in the virtual slurry chamber pressure sensor model can be adjusted. ΔP The amplitude and spectrum of the data were used to simulate tunneling disturbances of varying intensities. The liquid level in the air cushion chamber could be manually changed by adjusting the speeds of the feed and discharge pumps to simulate disturbances caused by sudden changes in the amount of excavated soil. After applying disturbances and / or changing the liquid level in the air cushion chamber to the virtual slurry chamber pressure sensor model, the monitored values ​​of the virtual slurry chamber pressure sensor under the disturbance were observed and recorded. P vitual The system response, including the maximum deviation, recovery time, and number of oscillations, is used to evaluate the robustness and anti-interference performance of the pressure control algorithm of the mud silo under test.

[0031] S4: Based on the test data analysis in step S3, analyze whether the control effect of the pressure control algorithm of the slurry tank under test has shortcomings such as slow response, large overshoot, and steady-state fluctuation. Return to step S2 and adjust the parameters of the pressure control algorithm of the slurry tank under test (such as the Kp, Ki, Kd values ​​of PID) or switch to a more advanced algorithm model (such as introducing feedforward compensation, fuzzy tuning, etc.) according to the analysis results.

[0032] S5: Repeat steps S3-S4 to form an iterative cycle of "test-analysis-optimization" until the performance of the pressure control algorithm of the mud-water silo under test meets the predetermined index requirements.

[0033] S6: Generate test reports and encapsulate algorithms: Automatically record test data from all previous test steps, including set values, actual values, control outputs, and key events, and generate performance curves and analysis reports; encapsulate the pressure control algorithm for the slurry chamber under test and its parameter set, which has been fully tested and optimized and meets the predetermined index requirements, for subsequent practical application in a real shield tunneling control system.

[0034] The advantages of this invention are: (1) It combines safety and economy: By constructing the experimental system in a “virtual-real combination” manner, the cost and safety risks of actually constructing the strata and mud chamber during the experiment are avoided, ensuring that a large number of, sufficient and even destructive algorithm tests can be safely carried out in a laboratory with limited space; (2) This invention has both high fidelity and repeatability: the real circulation system and air cushion chamber in the physical execution layer provide accurate physical dynamic characteristics, and the constructed virtual mud and water chamber pressure sensor model is convenient for flexibly and repeatably simulating various geological conditions and extreme disturbances. The test conditions are controllable and the test results are highly comparable. (3) The research and development forms a closed loop: it provides a complete theoretical basis for the equipment, methods and methods for testing, optimizing and verifying the mud and water chamber pressure control algorithm to be tested, supports the rapid application and iteration of the algorithm, and greatly accelerates the process of current control algorithms from theory to engineering application. (4) It has a wide range of applications and is forward-looking: it can provide an essential training and testing data source and verification environment for next-generation intelligent control algorithms based on artificial intelligence, digital twins and other technologies.

[0035] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. An experimental system for controlling the pressure of a slurry chamber in a slurry shield tunnel, characterized in that, It includes the host computer monitoring layer, the data interaction layer, and the physical execution layer; The physical execution layer mainly consists of an air cushion chamber, a pressure holding system, and a circulation system. The pressure holding system is connected to the top of the air cushion chamber and is used to regulate the air cushion chamber pressure. The circulation system is connected to the bottom of the air cushion chamber and regulates the air cushion chamber liquid level by adjusting the slurry inlet and outlet rates. The data interaction layer connects the physical execution layer and the host computer monitoring layer, realizing data transmission between the physical execution layer and the host computer monitoring layer. The host computer monitoring layer includes a virtual slurry tank module and a slurry tank pressure control module. The virtual slurry tank module is used to carry a virtual slurry tank pressure sensor model to simulate the pressure changes in the virtual slurry tank. The virtual slurry tank pressure sensor model processes the detection data from the physical execution layer to calculate the monitored value of the virtual slurry tank pressure sensor. P vitual The slurry tank pressure control module is used to carry the pressure control algorithm of the slurry tank under test, and to control the virtual slurry tank pressure target value SP and the virtual slurry tank pressure sensor monitoring value. P vitual The system performs calculations and outputs the target pressure value AP of the air cushion chamber and control commands to the pressure holding system in real time, and adjusts the pressure of the air cushion chamber.

2. The slurry shield tunneling pressure control experimental system as described in claim 1, characterized in that, The pressure-maintaining system includes an air compressor, an intake valve, an exhaust valve, and a pressure sensor located on the top of the air cushion chamber.

3. The slurry shield tunneling slurry chamber pressure control experimental system as described in claim 2, characterized in that, The circulation system includes a level gauge, a density meter, a circulation pipeline, a slurry inlet pump, and a slurry outlet pump. The level gauge and the density meter are installed inside the air cushion chamber. The level gauge is used to measure the liquid level inside the air cushion chamber, and the density meter is used to monitor the slurry density.

4. The experimental system for pressure control of the slurry chamber in a slurry shield tunnel as described in claim 3, characterized in that, The virtual slurry tank pressure sensor monitored the value P vitual The calculation formula is: P vitual =P air -ρg(R-Δh)+ΔP in, P air The pressure value of the air cushion chamber monitored by the air pressure sensor. Δh The vertical height of the liquid level in the air cushion chamber relative to the tunnel boring machine's axis. ρ The installation height of the virtual slurry chamber pressure sensor is for the slurry density value monitored by the densitometer. R To set a constant, ΔP This is a disturbance signal.

5. An experimental method for controlling the pressure of the slurry chamber in a slurry shield tunnel, characterized in that, The experimental system for pressure control of slurry chamber in slurry shield tunneling, as described in any one of claims 1-4, includes the following steps: S1: Experimental system construction and parameter calibration; S2: Deployment and initial parameter settings of the pressure control algorithm for the mud-water silo under test; S3: Static pressure tracking test: Set a step-changing target value SP for the virtual slurry tank pressure and evaluate the response performance of the pressure control algorithm of the slurry tank under test to the changes in the target value SP. Anti-interference capability test: Set the virtual mud and water tank pressure target value SP to a fixed value, and evaluate the robustness and anti-interference performance of the mud and water tank pressure control algorithm under test by introducing simulated disturbances and / or changing the liquid level of the air cushion tank. S4: Adjust the parameters of the pressure control algorithm of the mud-water chamber under test or switch the algorithm model based on the test data from step S3; S5: Repeat steps S3-S4 until the performance of the pressure control algorithm of the mud and water chamber to be tested meets the predetermined index requirements. S6: Generate test reports and encapsulate the algorithm.

6. The experimental method for controlling the pressure of the slurry chamber in a slurry shield tunnel as described in claim 5, characterized in that, Step S1 specifically includes: setting up the experimental equipment in the host computer monitoring layer, data interaction layer, and physical execution layer, and connecting all hardware; calibrating the pressure sensor and liquid level sensor, and connecting the air cushion chamber pressure value in the virtual mud chamber module. P air Vertical height of the liquid level in the air cushion chamber relative to the shield tunnel axis Δh mud density value ρ Set the installation height R of the virtual mud and water chamber pressure sensor and superimpose the initial disturbance signal. ΔP.

7. The experimental method for controlling the pressure of the slurry chamber in a slurry shield tunnel as described in claim 5, characterized in that, Step S2 specifically includes: loading the pressure control algorithm of the mud silo to be tested into the pressure control module of the upper computer monitoring layer; and setting a set of initial control parameters for the pressure control algorithm of the mud silo to be tested based on theoretical models or experience.

8. The experimental method for controlling the pressure of the slurry chamber in a slurry shield tunnel as described in claim 5, 6, or 7, characterized in that, In step S3: In the static pressure tracking test, a target pressure value SP of a virtual slurry chamber with step-changing pressure was set, and the monitored values ​​of the virtual slurry chamber pressure sensor were observed and recorded. P vitual The system response includes rise time, overshoot, steady-state error, and the adjustment process of air cushion chamber pressure, to evaluate the ability of the tested slurry chamber pressure control algorithm to track changes in setpoint. In the anti-interference capability test, the disturbance signal in the virtual slurry chamber pressure sensor model was adjusted. ΔP The amplitude and spectrum of the data were used to simulate tunneling disturbances of varying intensities. The liquid level in the air cushion chamber was manually changed by adjusting the speeds of the feed and discharge pumps to simulate disturbances caused by sudden changes in the amount of excavated soil. After applying disturbances and / or changing the liquid level in the air cushion chamber to the virtual slurry chamber pressure sensor model, the monitored values ​​of the virtual slurry chamber pressure sensor under the disturbances were observed and recorded. P vitual The system response, including the maximum deviation, recovery time, and number of oscillations, is used to evaluate the robustness and anti-interference performance of the pressure control algorithm of the mud silo under test.

9. The experimental method for controlling the pressure of the slurry chamber in a slurry shield tunnel as described in claim 5, 6, or 7, characterized in that, Step S4 specifically includes: based on the test data from step S3, analyzing whether the pressure control algorithm of the slurry tank under test has shortcomings such as slow response, large overshoot, and steady-state fluctuations; returning to step S2 to adjust the parameters of the pressure control algorithm of the slurry tank under test or switching to a more advanced algorithm model based on the analysis results.

10. The experimental method for controlling the pressure of the slurry chamber in a slurry shield tunnel as described in claim 5, 6, or 7, characterized in that, In step S6, test data including set values, actual values, control outputs, and key events from all previous test steps are automatically recorded, and performance curves and analysis reports are generated. The pressure control algorithm of the slurry chamber to be tested and its parameter set, which have been fully tested and optimized and meet the predetermined index requirements, are encapsulated for subsequent practical application in a real shield tunneling control system.

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