Pressure control method and system based on same block and same pressure in shield pushing and assembling synchronization

Abstract

The present invention relates to a pressure control method and system based on the same block and same pressure in the synchronous pushing and splicing of a shield machine, and the method comprises the following steps: in the process of synchronous pushing and splicing of the shield machine, obtaining the target total thrust, target horizontal resultant torque and target vertical resultant torque of the propulsion system; establishing a three-dimensional coordinate system at the end of the segment; converting the obtained resultant torque to the three-dimensional coordinate system at the end of the segment to obtain the corresponding distributed horizontal resultant torque and distributed vertical resultant torque; calculating the jacking force of each segment block according to the target total thrust, the distributed horizontal resultant torque and the distributed vertical resultant torque; and evenly distributing the corresponding jacking force according to the number of cylinders at each segment block. The present invention can calculate the jacking force of each cylinder, and can ensure that the jacking force of the cylinder at each segment block is evenly distributed, so as to ensure the safety of the segment force during the synchronous pushing and splicing of the shield machine.

Description

Technical Field

[0001] The invention relates to the field of shield construction engineering, and in particular to a pressure control method and system based on same block and same pressure in synchronous shield pushing and splicing. Background Art

[0002] When using the traditional shield method for construction, the shield driver's most common operation method is to change the opening of the proportional pressure reducing valves in each partition of the propulsion system according to the movement trend of the shield machine, thereby guiding the shield machine to move in the target direction. In recent years, with the continuous increase in the demand for efficient shield tunneling, the shield push-and-splice synchronization technology has emerged. Among them, the shield push-and-splice synchronization technology, which is based on the principle of fully utilizing the excess stroke of the propulsion cylinder generated by the axial insertion of the capping block to assemble the pipe segments, has the least modification to conventional shield machines and can theoretically shorten the construction period by more than 30%. During the application of this shield push-and-splice synchronization technology, some cylinders retract to provide operating space for the pipe segments to be assembled, and the corresponding jacking force will be missing. If the jacking force of the remaining working cylinders does not change, the posture of the shield machine will have a huge deviation, which is very likely to cause engineering accidents. Therefore, the missing jacking force must be redistributed to the working cylinders to ensure that the total jacking force of the shield machine remains unchanged. Furthermore, if the top force of the oil cylinder within the same segment is uneven and inconsistent, the differential top force will produce a more unfavorable stress state for the installed segments, and the segment's compressive safety risk is high. Therefore, a new solution is needed to ensure the segment's stress safety during the synchronous shield pushing process. Summary of the invention

[0003] The purpose of the present invention is to overcome the defects of the prior art and provide a pressure control method and system based on the same block and the same pressure in the synchronization of shield pushing and splicing, so as to solve the problem that the adjustment of the existing shield machine propulsion system is based on the experience of the shield machine driver, and it is difficult to ensure the uniform top force of the same segment block, resulting in a higher risk of segment compression safety.

[0004] The technical solution to achieve the above purpose is:

[0005] The present invention provides a pressure control method based on the same block and the same pressure in the synchronous pushing and splicing of a shield machine, comprising the following steps:

[0006] During the process of shield pushing and assembling synchronization, the target total thrust, target horizontal resultant moment and target vertical resultant moment of the propulsion system are obtained;

[0007] The segment end three-dimensional coordinate system is established with the capping block center of the segment at the current shield tail as the Y' axis, the center of the segment as the origin O', and the shield tunneling direction as the Z axis;

[0008] The obtained target horizontal resultant moment and target vertical resultant moment are converted to the three-dimensional coordinate system of the segment end to obtain the corresponding distributed horizontal resultant moment and distributed vertical resultant moment;

[0009] It is assumed that the thrust force of each segment block of the segment at the shield tail is located on the center line of the corresponding segment block, and the thrust force distribution of each segment block follows the linear increase principle, and then the thrust force of each segment block is calculated according to the target total thrust, the distributed horizontal resultant moment, and the distributed vertical resultant moment;

[0010] The corresponding thrust force is evenly distributed according to the number of cylinders at each segment block.

[0011] The pressure control method of the present invention can accurately calculate the jacking force of each cylinder according to the input target total thrust, target horizontal resultant moment and target vertical resultant moment, and can ensure that the jacking force of the cylinder at each segment block is evenly distributed, thereby ensuring the safety of the segment force during the synchronous pushing and splicing process of the shield.

[0012] A further improvement of the pressure control method based on the same block and the same pressure in the synchronous pushing and splicing of the shield machine according to the present invention is that, in the process of assembling the pipe segments, the thrust force of the corresponding assembled pipe segments is distributed to the remaining pipe segment blocks to obtain corresponding incremental force values, and the incremental force value of each pipe segment block is evenly distributed according to the number of cylinders.

[0013] A further improvement of the pressure control method based on the same block and same pressure in the synchronous pushing and splicing of the shield machine according to the present invention is that the step of calculating the incremental force value includes:

[0014] Rotate the propulsion system until the center of the assembled segment faces downward, and establish a rectangular coordinate system xoy with the center of the assembled segment as the y-axis and the top of the propulsion system as the origin;

[0015] The incremental force application points of the remaining segments except the assembled segments are classified into a first-class area located on the left side of the y-axis and a second-class area located on the right side of the y-axis, wherein the first-class area includes the incremental force application points located on the positive half axis of the y-axis. Assuming that the incremental force value of the first-class area is x i Δt0+y i Δt1, the incremental force value of the second type area is x i Δt0+y i Δt2,x i and i is a manually set distribution coefficient, the value range of i is 1 to k-1, k is the number of segments;

[0016] Assuming that the number of pipe segments in the first type of area is a, and the number of pipe segments in the second type of area is k-1-a, then:

[0017]

[0018]

[0019] In formulas 1 to 3, ΔF is the thrust force of the assembled segments, ni is the distance from the incremental force action point of each segment to the y-axis, L i is the distance from the incremental force action point of each segment block to the x-axis, and L is the distance from the thrust action point of the assembled segment to the x-axis;

[0020] The values ​​of Δt0, Δt1, and Δt2 are obtained by solving equations 1 to 3, thereby obtaining the incremental force value corresponding to each segment block.

[0021] A further improvement of the pressure control method based on the same block and the same pressure in the synchronous pushing and splicing of the shield machine according to the present invention is that the step of calculating the top thrust of each segment block includes:

[0022] Assume that the number of segment blocks is k, and the thrust action point of each segment block is located on the symmetry axis of the segment block;

[0023] The thrust application points of each segment block are classified into a first partition located on the left side of the Y' axis and a second partition located on the right side of the Y' axis, wherein the first partition includes the thrust application points located on the Y' axis, and the thrust of the first partition is set as x i t0+y i t1, the top thrust of the second partition is x i t0+y i t2,x i and i is the artificially set distribution coefficient, and the value range of i is 1 to k;

[0024] Assuming that the number of segments in the first partition is e and the number of segments in the second partition is ke, we have:

[0025]

[0026] In formulas 4 to 5, F T is the target total thrust, N i M is the distance from the thrust point of each segment to the Y' axis, Th cosβ+M Tv sinβ is the distributed horizontal resultant moment;

[0027] Assume that the number of the jacking force application points of the segment block in the first quadrant of the rectangular coordinate system of the O'X'Y' plane in the segment end three-dimensional coordinate system is a, the number of the jacking force application points of the segment block in the second quadrant is b, wherein the jacking force application points of the segment block in the second quadrant include the jacking force application points located on the positive semi-axis of the Y' axis and the negative semi-axis of the X' axis, the number of the jacking force application points of the segment block in the third quadrant is c, wherein the jacking force application points of the segment block in the third quadrant include the jacking force application points located on the negative semi-axis of the Y' axis, and the number of the jacking force application points of the segment block in the fourth quadrant is d, wherein a+b+c+d=k, then:

[0028]

[0029] In formula 6, m i M is the distance from the thrust point of each segment to the X' axis, Tv cosβ-M Th sinβ is the distributed vertical resultant moment;

[0030] Equations 4 to 6 are used to solve the values ​​of t0, t1, and t2, thereby obtaining the jacking force of each segment block.

[0031] A further improvement of the pressure control method based on the same block and same pressure in the synchronous pushing and splicing of the shield machine according to the present invention is that, in the process of converting the target horizontal resultant moment and the target vertical resultant moment into the three-dimensional coordinate system of the segment end, it also includes:

[0032] The three-dimensional coordinate system O-XYZ of the propulsion end is established with the shield tunneling direction as the Z axis and the center of the circle at the front end of the propulsion system as the origin O. The coordinates of the target moment point A of the target total thrust in the rectangular coordinate system of the OXY plane in the three-dimensional coordinate system of the propulsion end are (M cosα, M sinα), which satisfies the following relationship:

[0033]

[0034] M cos α = M Th Formula 8

[0035] M sinα=M Tv Formula 9

[0036] In formulas 7 to 9, M Th is the target horizontal moment, M Tv is the target vertical resultant torque, α is the angle of the line between the X-axis in the three-dimensional coordinate system of the propulsion end rotating counterclockwise to the target torque point and the coordinate origin O;

[0037] The target moment point A is projected onto the rectangular coordinate system of the OX'Y' plane in the three-dimensional coordinate system of the segment end to obtain the projection point A'. The coordinates of the projection point A' are M cos(α-β), M sin(α-β). Combining equations 1 to 3, we can obtain:

[0038] M cos(α-β)=M Th cosβ+M Tv sinβ formula

[0039] M sin(α-β)=M Tv cosβ-M Th sinβ formula 11

[0040] In Equations 10 and 11, β is the rotation angle of the three-dimensional coordinate system at the segment end relative to the three-dimensional coordinate system at the thrust end, Mcos(α-β) is the distributed horizontal resultant moment, and M sin(α-β) is the distributed vertical resultant moment.

[0041] The present invention also provides a pressure control system based on the same block and the same pressure in the synchronous pushing and splicing of a shield machine, comprising:

[0042] An acquisition unit is used to acquire the target total thrust, target horizontal resultant moment and target vertical resultant moment of the propulsion system during the process of shield pushing and assembling synchronization;

[0043] The coordinate establishment unit is used to establish a three-dimensional coordinate system of the segment end with the center of the capping block of the segment at the current shield tail as the Y' axis, the center of the segment as the origin O', and the shield tunneling direction as the Z axis;

[0044] A moment conversion unit, connected to the acquisition unit and the coordinate establishment unit, is used to convert the acquired target horizontal resultant moment and target vertical resultant moment into the three-dimensional coordinate system of the segment end to obtain the corresponding distributed horizontal resultant moment and distributed vertical resultant moment;

[0045] a thrust calculation unit connected to the acquisition unit and the torque conversion unit, wherein the thrust calculation unit calculates the thrust of each segment block based on the assumption that the thrust of each segment block of the segment at the shield tail is located on the center line of the corresponding segment block, and the thrust distribution of each segment block follows a linear increase principle, and according to the target total thrust, the distributed horizontal resultant moment, and the distributed vertical resultant moment; and

[0046] The thrust distribution unit is connected to the thrust calculation unit and is used to evenly distribute the corresponding jacking thrust according to the number of oil cylinders at each segment block.

[0047] A further improvement of the pressure control system based on the same block and same pressure in the synchronous pushing and splicing of the shield machine of the present invention is that it also includes a force increase calculation unit, which is connected to the thrust distribution unit and is used to distribute the top thrust of the corresponding assembled segment to the remaining segment blocks during the segment assembly process to obtain corresponding incremental force values;

[0048] The thrust distribution unit is used to evenly distribute the incremental force value of each segment block according to the number of cylinders.

[0049] A further improvement of the pressure control system based on the same block and same pressure in the synchronous pushing and splicing of the shield machine of the present invention is that, when calculating the incremental force value, the force increasing calculation unit rotates the propulsion system to the point where the center of the assembled segment faces downward, and establishes a rectangular coordinate system xoy with the center position of the assembled segment as the y-axis and the top of the propulsion system as the origin;

[0050] The incremental force application points of the remaining segments except the assembled segments are classified into a first-class area located on the left side of the y-axis and a second-class area located on the right side of the y-axis, wherein the first-class area includes the incremental force application points located on the positive half axis of the y-axis. Assuming that the incremental force value of the first-class area is x i Δt0+y i Δt1, the incremental force value of the second type area is x i Δt0+y i Δt2,x i and i is a manually set distribution coefficient, the value range of i is 1 to k-1, k is the number of segments;

[0051] Assuming that the number of pipe segments in the first type of area is a, and the number of pipe segments in the second type of area is k-1-a, then:

[0052]

[0053]

[0054]

[0055] In formulas 1 to 3, ΔF is the thrust force of the assembled segments, n i is the distance from the incremental force action point of each segment to the y-axis, L i is the distance from the incremental force action point of each segment block to the x-axis, and L is the distance from the thrust action point of the assembled segment to the x-axis;

[0056] The values ​​of Δt0, Δt1, and Δt2 are obtained by solving equations 1 to 3, thereby obtaining the incremental force value corresponding to each segment block.

[0057] A further improvement of the pressure control system based on the same block and the same pressure in the synchronous pushing and splicing of the shield machine according to the present invention is that, when the thrust calculation unit calculates the top thrust of the segment block, it is assumed that the number of the segment blocks is k, and the top thrust action point of each segment block is located on the symmetry axis of the segment block;

[0058] The thrust application points of each segment block are classified into a first partition located on the left side of the Y' axis and a second partition located on the right side of the Y' axis, wherein the first partition includes the thrust application points located on the Y' axis, and the thrust of the first partition is set as x i t0+y i t1, the top thrust of the second partition is x i t0+y i t2,x i and i is the artificially set distribution coefficient, and the value range of i is 1 to k;

[0059] Assuming that the number of segments in the first partition is e and the number of segments in the second partition is ke, we have:

[0060]

[0061] In formulas 4 to 5, F T is the target total thrust, N i M is the distance from the thrust point of each segment to the Y' axis, Th cosβ+M Tv sinβ is the distributed horizontal resultant moment;

[0062] Assume that the number of the jacking force application points of the segment block in the first quadrant of the rectangular coordinate system of the O'X'Y' plane in the segment end three-dimensional coordinate system is a, the number of the jacking force application points of the segment block in the second quadrant is b, wherein the jacking force application points of the segment block in the second quadrant include the jacking force application points located on the positive semi-axis of the Y' axis and the negative semi-axis of the X' axis, the number of the jacking force application points of the segment block in the third quadrant is c, wherein the jacking force application points of the segment block in the third quadrant include the jacking force application points located on the negative semi-axis of the Y' axis, and the number of the jacking force application points of the segment block in the fourth quadrant is d, wherein a+b+c+d=k, then:

[0063]

[0064] In formula 6, m i M is the distance from the thrust point of each segment to the X' axis, Tv cosβ-M Th sinβ is the distributed vertical resultant moment;

[0065] Equations 4 to 6 are used to solve the values ​​of t0, t1, and t2, thereby obtaining the jacking force of each segment block.

[0066] A further improvement of the pressure control system based on the same block and same pressure in the shield pushing and splicing synchronization of the present invention is that when the torque conversion unit converts the distributed horizontal resultant torque and the distributed vertical resultant torque, a three-dimensional coordinate system O-XYZ of the propulsion end is established with the shield excavation direction as the Z axis and the center of the circle at the front end of the propulsion system as the origin O, and the coordinates of the target torque point A of the target total thrust in the OXY plane rectangular coordinate system in the three-dimensional coordinate system of the propulsion end are (M cosα, M sinα), satisfying the following relationship:

[0067]

[0068] M cos α = M Th Formula 8

[0069] M sinα=M Tv Formula 9

[0070] In formulas 7 to 9, M Th is the target horizontal moment, M Tv is the target vertical resultant torque, α is the angle of the line between the target torque point and the coordinate origin O in the three-dimensional coordinate system of the propulsion end when the X axis rotates counterclockwise;

[0071] The target moment point A is projected onto the rectangular coordinate system of the OX'Y' plane in the three-dimensional coordinate system of the segment end to obtain the projection point A'. The coordinates of the projection point A' are M cos(α-β), M sin(α-β). Combining equations 1 to 3, we can obtain:

[0072] M cos(α-β)=M Th cosβ+M Tv sinβ formula

[0073] M sin(α-β)=M Tv cosβ-M Th sinβ formula 11

[0074] In Equations 10 and 11, β is the rotation angle of the three-dimensional coordinate system at the segment end relative to the three-dimensional coordinate system at the thrust end, Mcos(α-β) is the distributed horizontal resultant moment, and M sin(α-β) is the distributed vertical resultant moment. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] Figure 1 The present invention is a flow chart of the pressure control method based on the same block and the same pressure in the synchronous pushing and splicing of the shield machine.

[0076] Figure 2 It is a system diagram of the pressure control system based on the same block and same pressure in the synchronous pushing and splicing of the shield machine according to the present invention.

[0077] Figure 3 It is a schematic diagram of coordinate transformation of the target total thrust in the system and the pressure control method based on the same block and the same pressure in the synchronous pushing and splicing of the shield machine according to the present invention.

[0078] Figure 4 It is a schematic diagram of an example of a segment assembly working condition in the pressure control method based on the same block and the same pressure in the synchronous pushing and splicing of the shield machine according to the present invention and the system.

[0079] Figure 5 It is a schematic diagram of the jacking force distribution in the full-cylinder propulsion mode of a preferred example of the pressure control method and system based on the same block and the same pressure in the shield pushing and splicing synchronization of the present invention.

[0080] Figure 6 It is a calculation model diagram of missing top force redistribution of a preferred example of a pressure control method and system based on the same block and same pressure in the synchronous pushing and splicing of shield machines of the present invention. DETAILED DESCRIPTION

[0081] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0082] See also Figure 1 The present invention provides a pressure control method and system based on the same block and the same pressure in the synchronous pushing and splicing of a shield machine, which is used to ensure that the top force of each oil cylinder on the same segment block is evenly distributed, ensure that the segment block is evenly stressed, and ensure that the segment is stressed safely. The pressure control method and system based on the same block and the same pressure in the synchronous pushing and splicing of a shield machine of the present invention are described below in conjunction with the accompanying drawings.

[0083] See also Figure 2 , shows the system diagram of the pressure control system based on the same block and same pressure in the synchronous shield pushing and splicing of the present invention. Figure 2 , the pressure control system based on the same block and the same pressure in the synchronous pushing and splicing of the shield machine of the present invention is explained.

[0084] like Figure 2 As shown, the pressure control system based on the same block and the same pressure in the shield pushing and splicing synchronization of the present invention includes an acquisition unit 21, a coordinate establishment unit 22, a torque conversion unit 23, a thrust calculation unit 24 and a thrust distribution unit 25. The acquisition unit 21 and the coordinate establishment unit 22 are connected with the torque conversion unit 23, the thrust calculation unit 24 is connected with the acquisition unit 21 and the torque conversion unit 23, and the thrust distribution unit 25 is connected with the thrust calculation unit 24. The acquisition unit 21 is used for acquiring the target total thrust, target horizontal resultant torque and target vertical resultant torque of the propulsion system during the shield pushing and splicing synchronization process; the target total thrust, target horizontal resultant torque and target vertical resultant torque of the propulsion system are preferably input by the shield machine driver or given by the shield intelligent control module. The coordinate establishment unit 22 is used to establish a three-dimensional coordinate system for the segment end with the center of the capping block of the segment at the current shield tail as the Y' axis, the center of the segment as the origin O', and the shield excavation direction as the Z axis; according to the different positions of the capping blocks, the n groups of propulsion cylinders of the shield propulsion system will produce n kinds of segment assembly conditions. In order to ensure that the top force of the cylinders within the same segment block is consistent, a unified top force distribution calculation method is established when the capping blocks are located at different angles, that is, the top force of the cylinders at each segment block is calculated according to the established three-dimensional coordinate system of the segment end. The torque conversion unit 23 is used to convert the acquired target horizontal resultant torque and target vertical resultant torque to the three-dimensional coordinate system of the segment end to obtain the corresponding distributed horizontal resultant torque and distributed vertical resultant torque; combined with Figure 3As shown, the excavation direction along the axis of the shield machine is the positive direction of the Z axis, and the three-dimensional coordinate system O-XYZ of the propulsion end is established with the center of the shield propulsion system as the circle point. The rotation angle of the three-dimensional coordinate system of the segment end relative to the three-dimensional coordinate system of the propulsion end is β. If it rotates counterclockwise, the rotation angle is positive, and if it rotates clockwise, the rotation angle is negative. The torque conversion unit 23 converts the target horizontal resultant torque and the target vertical resultant torque to the three-dimensional coordinate system of the segment end according to the rotation angle β. The thrust calculation unit 24 is based on the assumption that the thrust at each segment block of the segment at the shield tail is located on the center line of the corresponding segment block, and the thrust distribution of each segment block follows the principle of linear increase, and the thrust of each segment block is calculated according to the target total thrust, the distributed horizontal resultant torque, and the distributed vertical resultant torque; the thrust distribution unit 25 evenly distributes the corresponding thrust according to the number of cylinders at each segment block.

[0085] The shield machine includes two propulsion modes in the push-and-splice synchronization process, one is the full-cylinder propulsion module and the push-and-splice synchronization mode, that is, from the completion of the current segment assembly to the assembly of the next segment, the shield machine needs to enter the full-cylinder propulsion mode to wait for the preparation of the segment assembly, and during the segment assembly process, the cylinder at the current segment block is in a state of jacking lack. The thrust calculation unit 24 of the present invention is used to calculate the jacking thrust of each segment block in the full-cylinder propulsion mode.

[0086] In a specific embodiment of the present invention, the control system of the present invention further includes a force calculation unit, which is connected to the thrust distribution unit and is used to distribute the top thrust of the corresponding assembled segment to the remaining segment blocks to obtain corresponding incremental force values ​​during the segment assembly process; the thrust distribution unit is used to evenly distribute the incremental force value of each segment block according to the number of cylinders. In the push-and-segment synchronization mode, the top force missing at the assembled segment is distributed to the remaining segments through the force calculation unit and the thrust distribution unit to ensure that the shield machine maintains the excavation posture and avoids deviation of the shield machine.

[0087] Specifically, when calculating the incremental force value, the force calculation unit rotates the propulsion system so that the center of the assembled segment faces downward, and establishes a rectangular coordinate system xoy with the center position of the assembled segment as the y-axis and the top of the propulsion system as the origin, and the positive semi-axis of the x-axis is horizontal to the right; Figure 6 , establish a rectangular coordinate system xoy, rotate the propulsion system a certain angle to the middle position of the assembled segment block in the negative half-axis direction of the y-axis, that is, the assembled segment block B1 is rotated to the negative half-axis direction of the y-axis. The cylinders in the range of other segment blocks are set to independent zones, each zone will be allocated with a corresponding incremental force value, and then the incremental force value will be evenly divided according to the number of cylinders, thus becoming the target incremental force of the corresponding cylinder. The zone incremental force point formed by each segment block is also located on the symmetry axis of the segment block, that is Figure 6 Middle × point.

[0088] The incremental force application points of the remaining segments except the assembled segments are classified into a first-class area located on the left side of the y-axis and a second-class area located on the right side of the y-axis, wherein the first-class area includes the incremental force application points located on the positive half axis of the y-axis. Assuming that the incremental force value of the first-class area is x i Δt0+y i Δt1, the incremental force value of the second type area is x i Δt0+y i Δt2,x i and i is a manually set distribution coefficient, the value range of i is 1 to k-1, k is the number of segments;

[0089] Assuming that the number of segments in the first type of area is a, the number of segments in the second type of area is k-1-a, the corresponding serial numbers of the thrust application points of the segments in the first type of area range from 1 to a, and the corresponding serial numbers of the thrust application points of the segments in the second type of area range from a+1 to k-1, then:

[0090] The total thrust meets the following requirements:

[0091]

[0092] The horizontal resultant moment satisfies:

[0093]

[0094] The vertical resultant moment meets the following requirements:

[0095]

[0096] In formulas 1 to 3, ΔF is the thrust force of the assembled segments, n i is the distance from the incremental force action point of each segment to the y-axis, L i is the distance from the incremental force action point of each segment block to the x-axis, and L is the distance from the thrust action point of the assembled segment to the x-axis;

[0097] The values ​​of Δt0, Δt1, and Δt2 are obtained by solving equations 1 to 3, thereby obtaining the incremental force value corresponding to each segment block.

[0098] After the incremental force values ​​corresponding to each segment block are calculated, the incremental force values ​​are distributed according to the number of cylinders at each segment block and added to the jacking force in the full-cylinder propulsion mode.

[0099] In a specific embodiment of the present invention, when the thrust calculation unit calculates the jacking force of the segment block, it is assumed that the number of the segment blocks is k, and the jacking force application point of each segment block is located on the symmetry axis of the segment block;

[0100] The thrust application points of each segment block are classified into a first partition located on the left side of the Y' axis and a second partition located on the right side of the Y' axis, wherein the first partition includes the thrust application points located on the Y' axis, and the thrust of the first partition is set as x i t0+y i t1, the top thrust of the second partition is x i t0+y i t2,x i and i is the artificially set distribution coefficient, the value range of i is 1~k; t0, t1, t2 are the values ​​to be solved;

[0101] Assuming that the number of segments in the first partition is e, the number of segments in the second partition is ke, the sequence numbers of the thrust application points in the first partition correspond to the range 1 to e, and the sequence numbers of the thrust application points in the second partition correspond to the range e+1 to k; then:

[0102]

[0103] In formulas 4 to 5, F T is the target total thrust, N i M is the distance from the thrust point of each segment to the Y' axis, Th cosβ+M Tv sinβ is the distributed horizontal resultant moment;

[0104] Assume that the number of the jacking force application points of the segment block in the first quadrant of the rectangular coordinate system of the O'X'Y' plane in the three-dimensional coordinate system of the segment end is a, the number of the jacking force application points of the segment block in the second quadrant (including the positive semi-axis of the Y' axis and the negative semi-axis of the X' axis) is b, the number of the jacking force application points of the segment block in the third quadrant (including the negative semi-axis of the Y' axis) is c, and the number of the jacking force application points of the segment block in the fourth quadrant is d, where a+b+c+d=k, the corresponding range of the jacking force point sequence number in the first quadrant is 1 to a, the corresponding range of the jacking force point sequence number in the second quadrant is a+1 to a+b, the corresponding range of the jacking force point sequence number in the third quadrant is a+b+1 to a+b+c, and the corresponding range of the jacking force point sequence number in the fourth quadrant is a+b+c+1 to k; then:

[0105]

[0106] In formula 6, m i M is the distance from the thrust point of each segment to the X' axis, Tv cosβ-M Th sinβ is the distributed vertical resultant moment;

[0107] Equations 4 to 6 are used to solve the values ​​of t0, t1, and t2, thereby obtaining the jacking force of each segment block.

[0108] In a specific implementation of the present invention, when the torque conversion unit converts the distributed horizontal resultant torque and the distributed vertical resultant torque, a three-dimensional coordinate system O-XYZ of the propulsion end is established with the shield tunneling direction as the Z axis and the center of the circle at the front end of the propulsion system as the origin O. The coordinates of the target torque point A of the target total thrust in the OXY plane rectangular coordinate system in the three-dimensional coordinate system of the propulsion end are (M cosα, M sinα), satisfying the following relationship:

[0109]

[0110] M cos α = M Th Formula 8

[0111] M sinα=M Tv Formula 9

[0112] In formulas 7 to 9, M Th is the target horizontal moment, M Tv is the target vertical resultant torque, α is the angle of the line between the target torque point and the coordinate origin O in the three-dimensional coordinate system of the propulsion end when the X axis rotates counterclockwise;

[0113] Project the target moment point A to the rectangular coordinate system of the OX'Y' plane in the three-dimensional coordinate system of the segment end to obtain the projection point A'. The coordinates of the projection point A' are M cos(α-β), M sin(α-β). Combining equations 1 to 3, we can get:

[0114] M cos(α-β)=M Th cosβ+M Tv sinβ formula

[0115] M sin(α-β)=M Tv cosβ-M Th sinβ formula 11

[0116] In Equations 10 and 11, β is the rotation angle of the three-dimensional coordinate system at the segment end relative to the three-dimensional coordinate system at the thrust end, Mcos(α-β) is the distributed horizontal resultant moment, and M sin(α-β) is the distributed vertical resultant moment.

[0117] Below Figures 4 to 6 Taking the example shown as an example, the thrust force calculation process of the control system of the present invention is explained.

[0118] Figure 4 A ring of segments consisting of 9 segments is shown, with a total of 34 cylinders. Figure 3 As shown in the figure, the rotation angle β between the three-dimensional coordinate system of the segment end and the three-dimensional coordinate system of the thrust end is determined according to the position of the capping block, and the target total thrust force F is obtained. T, target horizontal moment M Th , target vertical moment M Tv , the coordinates of the total thrust target moment point A in the plane XOY (M cosα, M sinα) satisfy the following corresponding relationship:

[0119]

[0120] M cos α = M Th

[0121] M sinα=M Tv

[0122] The coordinates of the projection point A' of point A in the plane X'O'Y' can be expressed as (M cos(α-β), M sin(α-β)), where,

[0123] M cos(α-β)=M cosαcosβ+M sinαsinβ=M Th cosβ+M Tv sinβ

[0124] M sin(α-β)=M sinαcosβ-M cosαsinβ=M Tv cosβ-M Th sinβ

[0125] The distributed horizontal resultant moment M cos(α-β) and the distributed vertical resultant moment Msin(α-β) used in the top force distribution calculation can be expressed as Equation 10 and Equation 11.

[0126] Combination Figure 5 As shown, the coordinate system X'O'Y' is rotated until the Y' axis is at the numerical position. The top force distribution of the 9 segment blocks follows the principle of linear increase. The thrust target torque point of the capping block F is 1 / 2t0, the thrust target torque point of the segment block L1 is t0+t1, the thrust target torque point of the segment block L2 is t0+t2, the thrust target torque point of the segment block B1 is t0+2t1, the thrust target torque point of the segment block B2 is t0+3t1, the thrust target torque point of the segment block B3 is t0+4t1, the thrust target torque point of the segment block B4 is t0+4t2, the thrust target torque point of the segment block B5 is t0+3t2, and the thrust target torque point of the segment block B6 is t0+2t2.

[0127] The total thrust force should meet the following requirements:

[0128] The distribution of horizontal moment should satisfy:

[0129] The distribution of vertical moment should satisfy:

[0130] In the formula, m B3 、m B2 、m B1 、m L1 、m F are the vertical distances from the top force resultant points of blocks B3, B2, B1, L1 and F to the X' axis, N B3 、N B2 、N B1 、N L1 are the horizontal distances from the combined points of the top forces of B3, B2, B1, and L1 to the Y' axis, and R F ~R L2 is the distance from the resultant point of the jacking force of each partition to the coordinate origin O'. The above three equations can be solved to obtain t0, t1, and t2, and the jacking force of each segment block can be calculated and then evenly distributed according to the number of cylinders to obtain the corresponding jacking force of each cylinder. At this time, it is the full cylinder propulsion mode.

[0131] In the push-and-assemble synchronous mode, take the segment B1 as an example for assembling the segment. Figure 6 As shown, a rectangular coordinate system xoy is established, and the entire propulsion system is rotated a certain angle to the middle position of the two blocks B1 in the positive semi-axis direction of the y axis. For the convenience of calculation, the F block and the L2 block are set as an incremental zone, and the remaining segments are set up as incremental zones separately. The thrust increment of each zone follows the linear distribution principle. The increment of each zone must satisfy the following three equations:

[0132] -7Δ t +6Δ1+6Δ2=F B1

[0133] (-Δ t +Δ1)n B6 +(-Δ t +2Δ1)n FL2 -(-Δ t ) B5 -(-Δ t +Δ2)n B4 -

[0134] (-Δ t +2Δ2)n B3 +(Δ1-Δ2)3n L1 =0

[0135] -Δ t L B5 +(-Δ t +Δ1)L B6 +(-Δ t +Δ2)L B4 +(-Δ t +2Δ1)LFL2 +

[0136] (-Δ t +2Δ2)L B3 +(-2Δ t +3Δ1+3Δ2)L L1 =F B1 L B1

[0137] In the formula, F B1 is the missing top force, L B5 , L B6 , L B4 , L FL2 , L B3 , L L1 The vertical distance from the point where the top force is assigned to each incremental area to the x-axis, n B6 、n FL2 、n B5 、n B4 、n B3 、n L1 The horizontal distance from the force point of the top force to the y-axis is assigned to each incremental area, L B1 is the distance from the missing top force point to the x-axis.

[0138] After calculation, we can get Δ t , Δ1, Δ2.

[0139] After calculating the incremental force of each zone, it is evenly distributed to each propulsion cylinder in this zone. After the distributed value is superimposed with the initial value in the full cylinder propulsion mode, it can become the target pushing force of each cylinder in the push-to-spin synchronization mode.

[0140] The present invention also provides a pressure control method based on the same block and the same pressure in the synchronous pushing and splicing of a shield machine, and the control method is described below.

[0141] like Figure 1 As shown, the control method includes the following steps:

[0142] Execute step S11, in the process of shield pushing and assembling synchronization, obtain the target total thrust, target horizontal resultant torque and target vertical resultant torque of the propulsion system; then execute step S12;

[0143] Execute step S12, establish a three-dimensional coordinate system of the segment end with the center of the capping block of the segment at the current shield tail as the Y' axis, the center of the segment as the origin O', and the shield tunneling direction as the Z axis; then execute step S13;

[0144] Execute step S13, convert the acquired target horizontal resultant moment and target vertical resultant moment into the three-dimensional coordinate system of the segment end to obtain the corresponding distributed horizontal resultant moment and distributed vertical resultant moment; then execute step S14;

[0145] Execute step S14, set the thrust force of each segment block of the segment at the shield tail to be located on the center line of the corresponding segment block, and the thrust force distribution of each segment block follows the linear increase principle, and then calculate the thrust force of each segment block according to the target total thrust, the distributed horizontal resultant moment, and the distributed vertical resultant moment; then execute step S15;

[0146] Step S15 is executed to evenly distribute the corresponding jacking force according to the number of oil cylinders at each segment block.

[0147] In a specific embodiment of the present invention, during the process of assembling pipe segments, the thrust force of the corresponding assembled pipe segments is distributed to the remaining pipe segment blocks to obtain corresponding incremental force values, and the incremental force value of each pipe segment block is evenly distributed according to the number of cylinders.

[0148] In a specific embodiment of the present invention, the step of calculating the incremental force value includes:

[0149] Rotate the propulsion system until the center of the assembled segment faces downward, and establish a rectangular coordinate system xoy with the center of the assembled segment as the y-axis and the top of the propulsion system as the origin;

[0150] The incremental force application points of the remaining segments except the assembled segments are classified into a first-class area located on the left side of the y-axis and a second-class area located on the right side of the y-axis, wherein the first-class area includes the incremental force application points located on the positive half axis of the y-axis. Assuming that the incremental force value of the first-class area is x i Δt0+y i Δt1, the incremental force value of the second type area is x i Δt0+y i Δt2,x i and i is a manually set distribution coefficient, the value range of i is 1 to k-1, k is the number of segments;

[0151] Assuming that the number of pipe segments in the first type of area is a, and the number of pipe segments in the second type of area is k-1-a, then:

[0152]

[0153] In formulas 1 to 3, ΔF is the thrust force of the assembled segments, n i is the distance from the incremental force action point of each segment to the y-axis, L i is the distance from the incremental force action point of each segment block to the x-axis, and L is the distance from the thrust action point of the assembled segment to the x-axis;

[0154] The values ​​of Δt0, Δt1, and Δt2 are obtained by solving equations 1 to 3, thereby obtaining the incremental force value corresponding to each segment block.

[0155] In a specific embodiment of the present invention, the step of calculating the jacking force of each segment block includes:

[0156] Assume that the number of segment blocks is k, and the thrust action point of each segment block is located on the symmetry axis of the segment block;

[0157] The thrust application points of each segment block are classified into a first partition located on the left side of the Y' axis and a second partition located on the right side of the Y' axis, wherein the first partition includes the thrust application points located on the Y' axis, and the thrust of the first partition is set as x i t0+y i t1, the top thrust of the second partition is x i t0+y i t2,x i and i is the artificially set distribution coefficient, and the value range of i is 1 to k;

[0158] Assuming that the number of segments in the first partition is e and the number of segments in the second partition is ke, we have:

[0159]

[0160] In formulas 4 to 5, F T is the target total thrust, N i M is the distance from the thrust point of each segment to the Y' axis, Th cosβ+M Tv sinβ is the distributed horizontal resultant moment;

[0161] Assume that the number of the jacking force application points of the segment block in the first quadrant of the rectangular coordinate system of the O'X'Y' plane in the segment end three-dimensional coordinate system is a, the number of the jacking force application points of the segment block in the second quadrant is b, wherein the jacking force application points of the segment block in the second quadrant include the jacking force application points located on the positive semi-axis of the Y' axis and the negative semi-axis of the X' axis, the number of the jacking force application points of the segment block in the third quadrant is c, wherein the jacking force application points of the segment block in the third quadrant include the jacking force application points located on the negative semi-axis of the Y' axis, and the number of the jacking force application points of the segment block in the fourth quadrant is d, wherein a+b+c+d=k, then:

[0162]

[0163] In formula 6, m i M is the distance from the thrust point of each segment to the X' axis, Tv cosβ-M Thsinβ is the distributed vertical resultant moment;

[0164] Equations 4 to 6 are used to solve the values ​​of t0, t1, and t2, thereby obtaining the jacking force of each segment block.

[0165] In a specific embodiment of the present invention, in the process of converting the target horizontal resultant moment and the target vertical resultant moment into the three-dimensional coordinate system of the segment end, it also includes:

[0166] The three-dimensional coordinate system O-XYZ of the propulsion end is established with the shield tunneling direction as the Z axis and the center of the circle at the front end of the propulsion system as the origin O. The coordinates of the target moment point A of the target total thrust in the rectangular coordinate system of the OXY plane in the three-dimensional coordinate system of the propulsion end are (M cosα, M sinα), which satisfies the following relationship:

[0167]

[0168] M cos α = M Th Formula 8

[0169] M sinα=M Tv Formula 9

[0170] In formulas 7 to 9, M Th is the target horizontal moment, M Tv is the target vertical resultant torque, α is the angle of the line between the X-axis in the three-dimensional coordinate system of the propulsion end rotating counterclockwise to the target torque point and the coordinate origin O;

[0171] The target moment point A is projected onto the rectangular coordinate system of the OX'Y' plane in the three-dimensional coordinate system of the segment end to obtain the projection point A'. The coordinates of the projection point A' are M cos(α-β), M sin(α-β). Combining equations 1 to 3, we can obtain:

[0172] M cos(α-β)=M Th cosβ+M Tv sinβ formula

[0173] M sin(α-β)=M Tv cosβ-M Th sinβ formula 11

[0174] In Equations 10 and 11, β is the rotation angle of the three-dimensional coordinate system at the segment end relative to the three-dimensional coordinate system at the thrust end, Mcos(α-β) is the distributed horizontal resultant moment, and M sin(α-β) is the distributed vertical resultant moment.

[0175] The present invention is described in detail above in conjunction with the embodiments of the accompanying drawings. A person skilled in the art can make various variations of the present invention according to the above description. Therefore, certain details in the embodiments should not be construed as limiting the present invention, and the scope of protection of the present invention shall be the scope defined by the attached claims.

Claims

1. A pressure control method based on the same block and same pressure in the synchronous pushing and splicing of a shield machine, characterized in that: The steps include: During the process of shield pushing and assembling synchronization, the target total thrust, target horizontal resultant moment and target vertical resultant moment of the propulsion system are obtained; The segment end three-dimensional coordinate system is established with the capping block center of the segment at the current shield tail as the Y' axis, the center of the segment as the origin O', and the shield tunneling direction as the Z axis; The obtained target horizontal resultant moment and target vertical resultant moment are converted to the three-dimensional coordinate system of the segment end to obtain the corresponding distributed horizontal resultant moment and distributed vertical resultant moment; It is assumed that the thrust force of each segment block of the segment at the shield tail is located on the center line of the corresponding segment block, and the thrust force distribution of each segment block follows the linear increase principle, and then the thrust force of each segment block is calculated according to the target total thrust, the distributed horizontal resultant moment, and the distributed vertical resultant moment; The corresponding thrust force is evenly distributed according to the number of oil cylinders at each segment block; The steps to calculate the thrust force of each segment include: Assume that the number of segment blocks is k, and the thrust action point of each segment block is located on the symmetry axis of the segment block; The thrust application points of each segment block are classified into a first partition located on the left side of the Y' axis and a second partition located on the right side of the Y' axis, wherein the first partition includes the thrust application points located on the Y' axis, and the thrust of the first partition is set as x i t0+y i t1, the top thrust of the second partition is x i t0+y i t2,x i and i is a manually set distribution coefficient, and the value range of i is 1 to k; Assuming that the number of segments in the first partition is e and the number of segments in the second partition is ke, we have: In formulas 4 to 5, F T is the target total thrust, N i M is the distance from the thrust point of each segment to the Y' axis, Th cosβ+M Tv sinβ is the distributed horizontal resultant moment; Assume that the number of the jacking force application points of the segment block in the first quadrant of the rectangular coordinate system of the O'X'Y' plane in the segment end three-dimensional coordinate system is a, the number of the jacking force application points of the segment block in the second quadrant is b, wherein the jacking force application points of the segment block in the second quadrant include the jacking force application points located on the positive semi-axis of the Y' axis and the negative semi-axis of the X' axis, the number of the jacking force application points of the segment block in the third quadrant is c, wherein the jacking force application points of the segment block in the third quadrant include the jacking force application points located on the negative semi-axis of the Y' axis, and the number of the jacking force application points of the segment block in the fourth quadrant is d, wherein a+b+c+d=k, then: In formula 6, m i M is the distance from the thrust point of each segment to the X' axis, Tv cosβ-M Th sinβ is the distributed vertical resultant moment; The values ​​of t0, t1, and t2 are obtained by solving equations 4 to 6, thereby obtaining the thrust force of each segment block; The process of converting the target horizontal resultant moment and the target vertical resultant moment to the three-dimensional coordinate system of the segment end also includes: The three-dimensional coordinate system O-XYZ of the propulsion end is established with the shield tunneling direction as the Z axis and the center of the circle at the front end of the propulsion system as the origin O. The coordinates of the target moment point A of the target total thrust in the rectangular coordinate system of the OXY plane in the three-dimensional coordinate system of the propulsion end are (M cosα, M sinα), which satisfies the following relationship: M cos α = M Th Formula 8 M sinα=M Tv Formula 9 In formulas 7 to 9, M Th is the target horizontal moment, M Tv is the target vertical resultant torque, α is the angle of the line between the X-axis in the three-dimensional coordinate system of the propulsion end rotating counterclockwise to the target torque point and the coordinate origin O; The target moment point A is projected onto the rectangular coordinate system of the OX'Y' plane in the three-dimensional coordinate system of the segment end to obtain the projection point A'. The coordinates of the projection point A' are M cos(α-β), M sin(α-β). Combining equations 7 to 9, we can obtain: M cos(α-β) = M Th cosβ + M Tv sinβ Equation Ten M sin(α - β) = M Tv cosβ - M Th sinβ Equation Eleven In Equations 10 and 11, β is the rotation angle of the three-dimensional coordinate system at the segment end relative to the three-dimensional coordinate system at the thrust end, M cos(α-β) is the distributed horizontal resultant moment, and M sin(α-β) is the distributed vertical resultant moment.

2. The method for controlling the pressure based on the same block and the same pressure in the synchronous pushing and splicing of the shield machine according to claim 1 is characterized in that: During the process of assembling the segments, the thrust force of the corresponding assembled segments is distributed to the remaining segment blocks to obtain corresponding incremental force values, and the incremental force value of each segment block is evenly distributed according to the number of cylinders.

3. The method for controlling the pressure based on the same block and the same pressure in the synchronous pushing and splicing of the shield machine as claimed in claim 2 is characterized in that: The steps to calculate the incremental force value include: Rotate the propulsion system until the center of the assembled segment faces downward, and establish a rectangular coordinate system xoy with the center of the assembled segment as the y-axis and the top of the propulsion system as the origin; The incremental force application points of the remaining segments except the assembled segments are classified into a first-class area located on the left side of the y-axis and a second-class area located on the right side of the y-axis, wherein the first-class area includes the incremental force application points located on the positive half axis of the y-axis. Assuming that the incremental force value of the first-class area is x i Δt0+y i Δt1, the incremental force value of the second type area is x i Δt0+y i Δt2,x i and i is a manually set distribution coefficient, the value range of i is 1 to k-1, k is the number of segments; Assuming that the number of pipe segments in the first type of area is a, and the number of pipe segments in the second type of area is k-1-a, then: In equations 1 to 3, ΔF is the thrust force of the assembled segments, n i is the distance from the incremental force action point of each segment to the y-axis, L i is the distance from the incremental force action point of each segment block to the x-axis, and L is the distance from the thrust action point of the assembled segment to the x-axis; The values ​​of Δt0, Δt1, and Δt2 are obtained by solving equations 1 to 3, thereby obtaining the incremental force value corresponding to each segment block.

4. A pressure control system based on the same block and same pressure in the synchronous pushing and splicing of shield machines, characterized in that: include: An acquisition unit is used to acquire the target total thrust, target horizontal resultant moment and target vertical resultant moment of the propulsion system during the process of shield pushing and assembling synchronization; The coordinate establishment unit is used to establish a three-dimensional coordinate system of the segment end with the center of the capping block of the segment at the current shield tail as the Y' axis, the center of the segment as the origin O', and the shield tunneling direction as the Z axis; A moment conversion unit, connected to the acquisition unit and the coordinate establishment unit, is used to convert the acquired target horizontal resultant moment and target vertical resultant moment into the three-dimensional coordinate system of the segment end to obtain the corresponding distributed horizontal resultant moment and distributed vertical resultant moment; a thrust calculation unit connected to the acquisition unit and the torque conversion unit, wherein the thrust calculation unit calculates the thrust of each segment block based on the assumption that the thrust of each segment block of the segment at the shield tail is located on the center line of the corresponding segment block, and the thrust distribution of each segment block follows a linear increase principle, and calculates the thrust of each segment block according to the target total thrust, the distributed horizontal resultant moment, and the distributed vertical resultant moment; as well as A thrust distribution unit, connected to the thrust calculation unit, is used to evenly distribute the corresponding jacking thrust according to the number of oil cylinders at each segment block; When calculating the thrust of the segment block, the thrust calculation unit assumes that the number of the segment blocks is k, and the thrust action point of each segment block is located on the symmetry axis of the segment block; The thrust application points of each segment block are classified into a first partition located on the left side of the Y' axis and a second partition located on the right side of the Y' axis, wherein the first partition includes the thrust application points located on the Y' axis, and the thrust of the first partition is set as x i t0+y i t1, the top thrust of the second partition is x i t0+y i t2,x i and i is a manually set distribution coefficient, and the value range of i is 1 to k; Assuming that the number of segments in the first partition is e and the number of segments in the second partition is ke, we have: In formulas 4 to 5, F T is the target total thrust, N i M is the distance from the thrust point of each segment to the Y' axis, Th cosβ+M Tv sinβ is the distributed horizontal resultant moment; Assume that the number of the jacking force application points of the segment block in the first quadrant of the rectangular coordinate system of the O'X'Y' plane in the segment end three-dimensional coordinate system is a, the number of the jacking force application points of the segment block in the second quadrant is b, wherein the jacking force application points of the segment block in the second quadrant include the jacking force application points located on the positive semi-axis of the Y' axis and the negative semi-axis of the X' axis, the number of the jacking force application points of the segment block in the third quadrant is c, wherein the jacking force application points of the segment block in the third quadrant include the jacking force application points located on the negative semi-axis of the Y' axis, and the number of the jacking force application points of the segment block in the fourth quadrant is d, wherein a+b+c+d=k, then: In formula 6, m i M is the distance from the thrust point of each segment to the X' axis, Tv cosβ-M Th sinβ is the distributed vertical resultant moment; The values ​​of t0, t1, and t2 are obtained by solving equations 4 to 6, thereby obtaining the thrust force of each segment block; When the moment conversion unit converts the distributed horizontal resultant moment and the distributed vertical resultant moment, a three-dimensional coordinate system O-XYZ of the propulsion end is established with the shield tunneling direction as the Z axis and the center of the circle at the front end of the propulsion system as the origin O. The coordinates of the target moment point A of the target total thrust in the rectangular coordinate system of the OXY plane in the three-dimensional coordinate system of the propulsion end are (M cosα, M sinα), which satisfies the following relationship: M cos α = M Th Formula 8 M sinα=M Tv Formula 9 In formulas 7 to 9, M Th is the target horizontal moment, M Tv is the target vertical resultant torque, α is the angle of the line between the target torque point and the coordinate origin O in the three-dimensional coordinate system of the propulsion end when the X axis rotates counterclockwise; The target moment point A is projected onto the rectangular coordinate system of the OX'Y' plane in the three-dimensional coordinate system of the segment end to obtain the projection point A'. The coordinates of the projection point A' are M cos(α-β), M sin(α-β). Combining equations 7 to 9, we can obtain: M cos(α-β) = M Th cosβ + M Tv sinβ Equation ten M sin(α - β) = M Tv cosβ - M Th sinβ Equation XI In Equations 10 and 11, β is the rotation angle of the three-dimensional coordinate system at the segment end relative to the three-dimensional coordinate system at the thrust end, M cos(α-β) is the distributed horizontal resultant moment, and M sin(α-β) is the distributed vertical resultant moment.

5. The pressure control system based on the same block and same pressure in the synchronous pushing and splicing of the shield as claimed in claim 4 is characterized in that: It also includes a force calculation unit, which is connected to the thrust distribution unit and is used to distribute the top thrust of the corresponding assembled segment to the remaining segment blocks to obtain corresponding incremental force values ​​during the segment assembly process; The thrust distribution unit is used to evenly distribute the incremental force value of each segment block according to the number of cylinders.

6. The pressure control system based on the same block and same pressure in the synchronous shield pushing and splicing as claimed in claim 5 is characterized in that: When calculating the incremental force value, the force calculation unit rotates the propulsion system to the point where the center of the assembled segment faces downward, and establishes a rectangular coordinate system xoy with the center of the assembled segment as the y-axis and the top of the propulsion system as the origin; The incremental force application points of the remaining segments except the assembled segments are classified into a first-class area located on the left side of the y-axis and a second-class area located on the right side of the y-axis, wherein the first-class area includes the incremental force application points located on the positive half axis of the y-axis. Assuming that the incremental force value of the first-class area is x i Δt0+y i Δt1, the incremental force value of the second type area is x i Δt0+y i Δt2,x i and i is a manually set distribution coefficient, the value range of i is 1 to k-1, k is the number of segments; Assuming that the number of pipe segments in the first type of area is a, and the number of pipe segments in the second type of area is k-1-a, then: In equations 1 to 3, ΔF is the thrust force of the assembled segments, n i is the distance from the incremental force action point of each segment to the y-axis, L i is the distance from the incremental force action point of each segment block to the x-axis, and L is the distance from the thrust action point of the assembled segment to the x-axis; The values ​​of Δt0, Δt1, and Δt2 are obtained by solving equations 1 to 3, thereby obtaining the incremental force value corresponding to each segment block.

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