Thrust Force Distribution Method and Thrust Force Distribution Device for Shield Machine Propulsion System

Abstract

The present application discloses a thrust force distribution method and a thrust force distribution device for a shield machine propulsion system. By constructing a group of thrust force distribution groups that generate unit total thrust, a group of thrust force distribution groups that generate unit horizontal deviation correction moment, and a group of thrust force distribution groups that generate unit vertical deviation correction moment, and obtaining the thrust force of each cylinder partition according to the three thrust force distribution groups and the target total thrust and target deviation correction moment in the current working mode, so as to adjust the propulsion force of each cylinder partition and adjust the total thrust and deviation correction moment to the respective target values. The thrust force distribution method of the present application can be applied to the thrust force distribution in each working mode of the shield machine, thereby realizing the adjustment of the shield machine attitude and the adjustment of the propulsion speed.

Description

Technical Field

[0001] This application relates to a thrust distribution method and a thrust distribution device for a shield machine propulsion system. Background Art

[0002] A shield machine is the main equipment for tunnel construction. In order to improve the efficiency and application range of the shield machine, the shield machine is developing in the directions of automation, intelligence, large depth, large cross-section, and long distance.

[0003] In order to better control the tunneling speed and attitude adjustment of the shield machine, how to better distribute the thrust to each cylinder of the propulsion system is an urgent problem to be solved. Summary of the Invention

[0004] This application provides a thrust distribution method and a thrust distribution device for a shield machine propulsion system, so as to be applicable to thrust distribution in various working modes.

[0005] The first aspect of this application provides a thrust distribution method for a shield machine propulsion system. The shield machine propulsion system includes a plurality of cylinder partitions arranged at intervals in the circumferential direction, and at least one cylinder point is arranged in each cylinder partition. The method includes the following steps:

[0006] Obtain the target total thrust, the target horizontal deviation correction moment, and the target vertical deviation correction moment in the current working mode;

[0007] Construct a first thrust distribution group so that the first thrust distribution group generates a unit thrust. The first thrust distribution group includes a first thrust corresponding to a plurality of cylinder partitions; construct a second thrust distribution group so that the second thrust distribution group generates a unit horizontal deviation correction moment. The second thrust distribution group includes a second thrust corresponding to a plurality of cylinder partitions; and construct a third thrust distribution group so that the third thrust distribution group generates a unit vertical deviation correction moment. The third thrust distribution group includes a third thrust corresponding to a plurality of cylinder partitions. The first thrust distribution group, the second thrust distribution group, and the third thrust distribution group are linearly independent;

[0008] Obtain the thrust of each cylinder partition according to the first thrust distribution group, the second thrust distribution group, the third thrust distribution group, the target thrust, the target horizontal deviation correction moment, and the target vertical deviation correction moment.

[0009] In some embodiments, constructing a first thrust distribution group so that the first thrust distribution group generates a unit thrust includes: constructing a first initial thrust distribution group F step1 =[F11 F12F1 3 ··· F1 i , F1 i is the set thrust of the i-th cylinder partition; obtain the value F total of the total thrust generated by the first initial thrust distribution group, and the value Ftotal Obtained by calculating ∑(F1 i ∑n ij F state-ij ); and normalizing the initial first thrust distribution group according to the value of the total thrust to obtain the first thrust distribution group F unitFtotal , F unitFtotal = F step1 / F total .

[0010] In some embodiments, F1 i = α i (∑n ij F state-ij ), where α i is an adjustment coefficient and is configured to be related to the shape of the shield machine, n ij is the number of cylinders at the jth point in the ith cylinder section, F state-ij is the propulsion state of the cylinder group at the jth point in the ith cylinder section. When the cylinder retracts and is not working, F state-ij is 0. When the cylinder is in the propulsion state, F state-ij is 1; or, F1 i = α i (∑F state-ij ), α i is an adjustment coefficient and is configured to be related to the shape of the shield machine, F state-ij is the propulsion state of the cylinder group at the jth point in the ith cylinder section. When the cylinder retracts and is not working, F state-ij is 0. When the cylinder is in the propulsion state, F state-ij is 1.

[0011] In some embodiments, constructing a second thrust distribution group such that the second thrust distribution group generates a unit horizontal correction moment includes: constructing an initial second thrust distribution group F step2 = [F21 F22F2 3 ··· F2 i , F2 i is the set thrust of the ith cylinder section; obtaining the value M ytotal of the horizontal correction moment generated by the initial second thrust distribution group. The value M ytotal of the horizontal correction moment is obtained by calculating ∑(F2 i ∑n ij R ij sinθ ij F state-ij ); and normalizing the initial second thrust distribution group according to the value of the horizontal correction moment to obtain the second thrust distribution group F unitMy , F unitMy = F step2 / M ytotal .

[0012] In some embodiments, F2 i = α i (∑ n ij R ij sinθ ij F state-ij ), where α i is an adjustment coefficient and is configured to be related to the shape of the shield machine, F state-ij is the propulsion state of the cylinder group at the jth point of the ith cylinder section. When the cylinder retracts and is not working, F state-ij is 0. When the cylinder is in the propulsion state, F state-ij is 1, R ij is the distance between the center point of the cylinder group at the jth point of the ith cylinder section and the shield center, θ ij is the angle between the line connecting the center point of the cylinder group at the jth point of the ith cylinder section and the shield center and the y-axis; or, F2 i = α i (∑R ij sinθ ij F state-ij ), α i is an adjustment coefficient and is configured to be related to the shape of the shield machine, F state-ij is the propulsion state of the cylinder group at the jth point of the ith cylinder section. When the cylinder retracts and is not working, F state-ij is 0. When the cylinder is in the propulsion state, F state-ij is 1.

[0013] In some embodiments, constructing a third thrust distribution group such that the third thrust distribution group generates a unit vertical deviation correction moment includes: constructing an initial third thrust distribution group F step3 = [F31 F32F3 3 ··· F3 i , F3 i is the set thrust of the ith cylinder section, obtaining the value M xtotal of the vertical deviation correction moment generated by the initial third thrust distribution group; the value M xtotal of the vertical deviation correction moment is calculated by ∑(F3 i ∑n ij R ij cosθ ij F state-ij ); and normalizing the initial third thrust distribution group according to the vertical deviation correction moment to obtain the third thrust distribution group F unitMx， F unitMx = F step3 / M xtotal .

[0014] In some embodiments, F3i = α i (∑n ij R ij cosθ ij F state-ij ), where α i is an adjustment coefficient and is configured to be related to the shape of the shield machine, and F state-ij is the propulsion state of the cylinder group at the jth point of the ith cylinder section. When the cylinder retracts and is not working, F state-ij is 0. When the cylinder is in the propulsion state, F state-ij is 1, n ij is the number of cylinders at the jth point of the ith cylinder section, R ij is the distance between the center point of the cylinder group at the jth point of the ith cylinder section and the shield center, and θ ij is the angle between the line connecting the center point of the cylinder group at the jth point of the ith cylinder section and the shield center and the y-axis; or, F3 i = α i (∑R ij cosθ ij F state-ij ), α i is an adjustment coefficient and is configured to be related to the shape of the shield machine, and F state-ij is the propulsion state of the cylinder group at the jth point of the ith cylinder section. When the cylinder retracts and is not working, F state-ij is 0. When the cylinder is in the propulsion state, F state-ij is 1.

[0015] In some embodiments, the propulsion force distribution method further includes, after constructing the first thrust distribution group, the second thrust distribution group, and the third thrust distribution group, where, if the first thrust distribution group generates an additional horizontal correction moment and an additional vertical correction moment, then solving for the standard orthogonal basis in the vector space formed by the first thrust distribution group, the second thrust distribution group, and the third thrust distribution group, and obtaining the propulsion forces of each target cylinder section in the propulsion state according to the standard orthogonal basis; or, if the second thrust distribution group generates an additional thrust and an additional vertical correction moment, then solving for the standard orthogonal basis in the vector space formed by the first thrust distribution group, the second thrust distribution group, and the third thrust distribution group, and obtaining the propulsion forces of each target cylinder section in the propulsion state according to the standard orthogonal basis; or, if the third thrust distribution group generates an additional thrust and an additional horizontal correction moment, then solving for the standard orthogonal basis in the vector space formed by the first thrust distribution group, the second thrust distribution group, and the third thrust distribution group, and obtaining the propulsion forces of each target cylinder section in the propulsion state according to the standard orthogonal basis.

[0016] In some embodiments, a spatial rectangular coordinate system is established with the center of the cross-section of the propulsion system as the origin, the magnitude of the propulsion force as the z-axis, the vertical direction as the y-axis, and the direction perpendicular to both the vertical direction and the propulsion direction as the x-axis; the coordinate points of the cylinders at each cylinder position in the spatial rectangular coordinate system are obtained, and a first thrust distribution group, a second thrust distribution group, and a third thrust distribution group are constructed so that the coordinate points at each cylinder position are distributed near a set plane.

[0017] In some embodiments, it further includes obtaining the current working mode, where the working mode includes an alternating pushing and assembling mode and a synchronous pushing and assembling mode, and controlling the states of the cylinders in multiple cylinder partitions according to the working mode.

[0018] The second aspect of the present application provides a propulsion force distribution device for a shield machine propulsion system, including:

[0019] An acquisition module for acquiring the target total thrust, the target horizontal deviation correction moment, and the target vertical deviation correction moment in the current working mode;

[0020] A construction module for constructing a first thrust distribution group so that the first thrust distribution group generates a unit thrust; constructing a second thrust distribution group so that the second thrust distribution group generates a unit horizontal deviation correction moment; and constructing a third thrust distribution group so that the third thrust distribution group generates a unit vertical deviation correction moment;

[0021] A solution module for obtaining the propulsion forces of each cylinder partition according to the first thrust distribution group, the second thrust distribution group, the third thrust distribution group, the target total thrust, the target horizontal deviation correction moment, and the target vertical deviation correction moment.

[0022] Based on the technical solution provided by the present application, by constructing a group of thrust distribution groups that generate a unit total thrust, a group of thrust distribution groups that generate a unit horizontal deviation correction moment, and a group of thrust distribution groups that generate a unit vertical deviation correction moment, and obtaining the thrusts of each cylinder partition according to the above three thrust distribution groups and the target total thrust and target deviation correction moment in the current working mode, the propulsion forces of each cylinder partition are adjusted to adjust the total thrust and the deviation correction moment to each target value. The propulsion force distribution method of the present application can be applied to the propulsion force distribution in each working mode of the shield machine, thereby realizing the adjustment of the shield machine's attitude and the adjustment of the propulsion speed.

[0023] Through the following detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings, other features and advantages of the present application will become clear. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings described herein are used to provide a further understanding of the present application, and constitute a part of the present application. The exemplary embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0025] Figure 1 Cross-sectional view of the oil cylinder of the propulsion system according to an embodiment of the present application.

[0026] Figure 2 Cross-sectional view of the oil cylinder of the propulsion system according to another embodiment of the present application.

[0027] Figure 3 Step diagram of the propulsion force distribution method of the shield machine propulsion system according to an embodiment of the present application. Detailed implementation manners

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually illustrative only and in no way limits the present application, its application or use. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the scope of protection of the present application.

[0029] Unless otherwise specifically stated, the relative arrangements, numerical expressions and values of the components and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationship. Technologies, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods and devices should be regarded as part of the description. In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0030] For ease of description, spatial relative terms such as "above", "over", "on the upper surface", "upper" etc. can be used here to describe the spatial positional relationship of a device or feature shown in the figure with other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation described in the figure for the device. For example, if the device in the attached drawing is inverted, the device described as "above or over other devices or structures" will then be positioned "below or under other devices or structures". Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device can also be positioned in other different ways, and corresponding interpretations are made for the spatial relative descriptions used here.

[0031] When a shield machine conducts conventional shield construction, it generally adopts an alternating pushing and segment assembling mode, that is, first it advances, and after advancing a distance equal to the width of one ring of segments, it assembles the segments of this ring, enabling the tunnel to be formed in one go. After the assembly of one ring of segments is completed, the shield machine advances another ring distance, and then assembles another ring of segments, and so on, alternating repeatedly.

[0032] Since when constructing in the alternating pushing and segment assembling mode, the advancing process of the shield machine has to completely stop before the segment assembling process can start, this results in the various systems of the shield machine needing to be frequently started and stopped, fundamentally restricting the efficiency of tunnel construction. Therefore, the synchronous pushing and segment assembling mode emerged as the times require. In the synchronous pushing and segment assembling mode, while the cylinders push the shield machine forward, several adjacent cylinders are retracted for segment assembling, thereby achieving simultaneous advancing and assembling, which can greatly improve the tunneling efficiency. However, since some cylinders are retracted, the remaining cylinders must maintain the same resultant force point of the pushing force provided by the cylinders in the original alternating mode to avoid eccentric loading, and the total pushing force should also remain unchanged to ensure the tunneling power and tunneling speed. Therefore, keeping the resultant force point unchanged and the total thrust unchanged are the keys to the synchronous pushing and segment assembling mode.

[0033] In the related art known to the inventor, the thrust distribution method is aimed at the synchronous push-pushing mode, and two methods are mainly used. The first is to simultaneously close the oil cylinder symmetrical with the retracted oil cylinder in the synchronous push-pushing mode to overcome the eccentric load to maintain the original correcting torque, and then increase the thrust of the remaining oil cylinders to maintain the original total thrust. The second method is to maintain the original torque and total thrust when the retracted oil cylinder is closed, and solve the thrust distribution that makes the variable smaller based on the optimization algorithm. It can be seen that in the above thrust distribution method, the goal of its thrust distribution is to make the current total thrust and correcting torque the same as the total thrust and correcting torque before the synchronous push-pushing. However, it is impossible to solve the subsequent correction and speed regulation problems based on the target total thrust and target correcting torque. Moreover, the above thrust distribution methods are only for the synchronous push-pushing mode, and there is no thrust distribution for the alternating push-pushing mode, so it cannot be universal in various working modes of the shield machine propulsion system.

[0034] In response to the above problems, an embodiment of the present application provides a propulsion force distribution method for a shield machine propulsion system, which is suitable for propulsion force distribution in various working modes.

[0035] Before describing the propulsion force distribution method of the embodiment of the present application, the structure and working principle of the shield machine are briefly introduced. The shield machine includes a cutterhead and a cylinder. One end of the cylinder is connected to the cutterhead to drive the cutterhead to dig forward. When the cutterhead rotates and digs forward, the cut rock and soil are transported out through a conveyor. The other end of the cylinder is supported by the assembled pipe segment through the support shoe. The pipe segment provides a reaction force to the cylinder to make the shield machine move forward in the digging direction.

[0036] like Figure 1 The figure shows a cross-sectional view of a cylinder of a propulsion system of an embodiment. The shield machine propulsion system comprises a plurality of cylinder partitions spaced apart in the circumferential direction, and each cylinder partition comprises at least one cylinder point. Figure 1 Eight cylinder partitions are shown as an example. The first cylinder partition A1, the second cylinder partition A2, the third cylinder partition A3, etc. are shown in the figure. Each cylinder partition includes two cylinder points, wherein each cylinder point 100 includes two adjacently arranged cylinders 10. Figure 2 As shown, in another embodiment, some of the cylinder points may also include only one cylinder. The first point of the first cylinder partition is a double cylinder, the second point of the first cylinder partition is a single cylinder, and the first and second points of the third cylinder partition are both double cylinders. In other words, for each cylinder point, there is no restriction on the number of cylinders, and the number of cylinders of multiple cylinder points can be the same or different. For each cylinder partition, the center of its multiple cylinders is the coordinate of the cylinder point.

[0037] like Figure 3As shown in the figure, an embodiment of the present application provides a method for distributing the propulsion force of a shield machine propulsion system, including the following steps:

[0038] S210, obtaining the target total thrust, the target horizontal deviation correction moment, and the target vertical deviation correction moment in the current working mode;

[0039] S220, constructing a first thrust distribution group to generate a unit total thrust, the first thrust distribution group including first thrusts corresponding to multiple target oil cylinder partitions; constructing a second thrust distribution group to generate a unit horizontal deviation correction moment, the second thrust distribution group including second thrusts corresponding to multiple target oil cylinder partitions; and constructing a third thrust distribution group to generate a unit vertical deviation correction moment, the third thrust distribution group including third thrusts corresponding to multiple target oil cylinder partitions, and the first thrust distribution group, the second thrust distribution group, and the third thrust distribution group are linearly independent;

[0040] S230, obtaining the propulsion force of each oil cylinder partition according to the first thrust distribution group, the second thrust distribution group, the third thrust distribution group, the target total thrust, the target horizontal deviation correction moment, and the target vertical deviation correction moment.

[0041] The propulsion force distribution method of the embodiment of the present application constructs a thrust distribution group that generates a unit total thrust, a thrust distribution group that generates a unit horizontal deviation correction moment, and a thrust distribution group that generates a unit vertical deviation correction moment, and ensures that the above three thrust distribution groups are linearly independent during construction, so as to calculate and obtain the propulsion force of each oil cylinder partition in combination with the target total thrust and the target deviation correction moment in the current working mode. As can be seen from the above, the propulsion force distribution method of the embodiment of the present application can be applied to the propulsion force distribution in each working mode of the shield machine, so as to realize the adjustment of the shield machine attitude and the adjustment of the propulsion speed.

[0042] In some embodiments, constructing a first thrust distribution group to generate a unit thrust includes: constructing a first initial thrust distribution group F step1 =[F11 F12F1 3 ··· F1 i , F1 i is the set thrust of the i-th oil cylinder partition; obtaining the value F of the total thrust generated by the first initial thrust distribution group total , the value F of the total thrust total is calculated by ∑(F1 i ∑n ij F state-ij ); and normalizing the first initial thrust distribution group according to the value of the total thrust to obtain the first thrust distribution group F unitFtotal , F unitFtotal =F step1 / F totalThat is to say, the propulsion force distribution method of the embodiment of the present application constructs the first initial thrust distribution group F by giving a set thrust in advance step1 , F1 i is the set thrust of the i-th cylinder partition, and F step1 is a multi-dimensional vector formed by multiple set thrusts. Then, according to the formula ∑(F1 i ∑n ij F state-ij ), the value of the total thrust F total is calculated and obtained. F total is a dimensionless unit. Using F total to normalize F step1 , the first thrust capacity distribution group F unitFtotal for generating a unit thrust is obtained.

[0043] In the above embodiment, F1 i is the set thrust of the i-th cylinder partition, which can be constructed by a formula or formed by direct assignment.

[0044] In some embodiments, F1 i =α i (∑F state-ij ), where α i is an adjustment coefficient and is configured to be related to the shape of the shield machine. F state-ij is the propulsion state of the cylinder group at the j-th point of the i-th cylinder partition. When the cylinder retracts and is not working, F state-ij is 0. When the cylinder is in the propulsion state, F state-ij is 1. α i is an adjustment coefficient and is configured to be related to the shape of the shield machine. The construction method of this embodiment uses the adjustment coefficient α i to make the propulsion force distribution method applicable to circular shields and also to special-shaped shields. In a circular shield, α i is 1. In a special-shaped shield, the value of α i is appropriately adjusted according to its geometric structure. For example, for a rectangular shield, the values of α i corresponding to different cylinder partitions are different.

[0045] In other embodiments, especially for embodiments where there are single cylinders, double cylinders, or multiple cylinders at different points, such as Figure 2As shown, the first point of the first oil cylinder section has a double oil cylinder, the second point of the first oil cylinder section has a single oil cylinder, while the first and second points of the third oil cylinder section both have double oil cylinders. Therefore, under the same sectional pressure, the total thrust of the first oil cylinder section will be less than that of the third oil cylinder section. Then, due to the different numbers of oil cylinders at each point, the total thrust or torque generated by different oil cylinder sections is different. Under the condition of making the thrust distribution of each oil cylinder as uniform as possible, the oil cylinder section with stronger ability (providing greater total thrust) undertakes more. When constructing F1 i consider the number of oil cylinders at each point, and use F1 i =α i (∑n ij F state-ij )to construct F1 i , where n ij is the number of oil cylinders at the j-th point of the i-th oil cylinder section, and F state-ij is the propulsion state of the oil cylinder group at the j-th point of the i-th oil cylinder section. When the oil cylinder retracts and is not working, F state-ij is 0, and when the oil cylinder is in the propulsion state, F state-ij is 1.

[0046] In this embodiment, when constructing the first thrust distribution group, n ij is the number of oil cylinders at the j-th point of the i-th oil cylinder section. For example, for the A1 oil cylinder section in Figure 1 , there are two oil cylinders at its first point, n 11 =2, and there are also two oil cylinders at its second point. Then n 12 =2. In some other embodiments, n 11 =2, n 12 =1. That is, the number of oil cylinders at different oil cylinder points is different.

[0047] The above shows two embodiments for constructing and setting F1 i . In other embodiments, other construction methods can also be used to construct F1 i .

[0048] Similarly, in some embodiments, constructing the second thrust distribution group to make the second thrust distribution group generate a unit horizontal deviation correction torque includes: constructing the second initial thrust distribution group F step2 =[F21 F22F2 3 ··· F2 i , where F2 i is the set thrust of the i-th oil cylinder section; obtain the value M ytotal of the horizontal deviation correction torque generated by the second initial thrust distribution group. The value M ytotal of the horizontal deviation correction torque is obtained through ∑(F2 i ∑n ijR ij sinθ ij F state-ij Calculate and obtain; and normalize the second initial thrust distribution group according to the value of the horizontal deviation correction moment to obtain the second thrust distribution group F unitMy , F unitMy = F step2 / M ytotal .

[0049] The thrust distribution method of the embodiment of the present application gives a set thrust F2 in advance i to construct and form the second initial thrust distribution group F step2 , F2 i is the set thrust of the i-th cylinder partition, F step2 is a multi-dimensional vector formed by multiple set thrusts, and then according to the formula ∑(F2 i ∑n ij R ij sinθ ij F state-ij ) calculate and obtain the value M of the horizontal deviation correction moment ytotal , M ytotal dimensionless unit, use M ytotal to normalize F step2 and then obtain the first thrust capacity distribution group F that generates a unit thrust unitMy .

[0050] In some embodiments, F2 i =α i (∑R ij sinθ ij F state-ij ), where α i is an adjustment coefficient and is configured to be related to the shape of the shield machine, F state-ij is the propulsion state of the cylinder group at the j-th point of the i-th cylinder partition. When the cylinder retracts and is not working, F state-ij is 0. When the cylinder is in the propulsion state, F state-ij is 1, R ij is the distance between the center point of the cylinder group at the j-th point of the i-th cylinder partition and the shield center, θ ij is the angle between the line connecting the center point of the cylinder group at the j-th point of the i-th cylinder partition and the shield center and the y-axis. In some other embodiments, F2 i =α i (∑R ij sinθ ij F state-ij ). In some other embodiments, F2 i =α i (∑n ij R ijsinθ ij F state-ij ), n ij is the number of cylinders at the jth point in the ith cylinder partition. Here, when constructing F2 i , taking the number of cylinders n ij into account also makes the cylinder partitions with stronger capabilities (providing a larger horizontal correction moment) bear more while making the thrust distribution of each cylinder as uniform as possible.

[0051] For Figure 1 the illustrated embodiment, for the first cylinder partition A1, it includes two points, the first cylinder point and the second cylinder point. At this time, R ij is the distance between the cylinder and the origin of the coordinate system. Then R 11 and R 12 are equal, θ 11 = 2π / 16, θ 12 = 2π / 8. The calculations for other cylinder partitions are similar and will not be elaborated here.

[0052] Use the formula ∑(F 2i ∑n ij R ij sinθ ij F state-ij ) to calculate the value of the horizontal correction moment to normalize the thrust distribution, and further make the constructed second thrust distribution group generate a unit horizontal correction moment.

[0053] In some embodiments, constructing a third thrust distribution group to make the third thrust distribution group generate a unit vertical correction moment includes: constructing a third initial thrust distribution group F step3 = [F31 F32F3 3 ··· F3 i , F3 i is the set thrust of the ith cylinder partition, obtain the value M xtotal of the vertical correction moment generated by the third initial thrust distribution group. The value M xtotal of the vertical correction moment is calculated by ∑(F3 i ∑n ij R ij cosθ ij F state-ij ); and normalize the third initial thrust distribution group according to the vertical correction moment to obtain the third thrust distribution group F unitMx， F unitMx = F step3 / M xtotal .

[0054] In a specific embodiment, F3 i = α i (∑Rij cosθ ij F state-ij ), where α i is an adjustment coefficient and is configured to be related to the shape of the shield machine, and F state-ij is the propulsion state of the cylinder group at the jth point of the ith cylinder section. When the cylinder retracts and is not working, F state-ij is 0. When the cylinder is in the propulsion state, F state-ij is 1, and R ij is the distance between the center point of the cylinder group at the jth point of the ith cylinder section and the shield center, and θ ij is the angle between the line connecting the center point of the cylinder group at the jth point of the ith cylinder section and the shield center and the y-axis. In some other embodiments, F3 i = α i (∑n ij R ij cosθ ij F state-ij ), where n ij is the number of cylinders at the jth point of the ith cylinder section. Here, when constructing F3 i , taking the number of cylinders n ij into account is also to make the thrust distribution of each cylinder as uniform as possible, so that the cylinder sections with stronger capabilities (providing a greater vertical correction moment) bear more.

[0055] The construction of the third thrust distribution group is similar to that of the second thrust distribution group, and will not be elaborated here.

[0056] After constructing the above first thrust distribution group, second thrust distribution group and third thrust distribution group, it is necessary to ensure that the first thrust distribution group, second thrust distribution group and third thrust distribution group are linearly independent.

[0057] In order to make the thrust distribution of the cylinders uniform so that the shield body is evenly stressed, in some embodiments, a space rectangular coordinate system is established with the cross-section center of the propulsion system as the origin, the magnitude of the propulsion force as the z-axis, the vertical direction as the y-axis, and the direction perpendicular to both the vertical direction and the propulsion direction as the x-axis; the coordinate points of the cylinders at each cylinder position in the space rectangular coordinate system are obtained, and the first thrust distribution group, second thrust distribution group and third thrust distribution group are constructed so that the coordinate points of each cylinder position are distributed near the set plane.

[0058] The uniform thrust distribution described in the embodiments of the present application means that: the set plane can be a plane parallel to the cross-section of the propulsion system, or a plane inclined relative to the cross-section of the propulsion system. In the above description, the distribution of the coordinate points of each cylinder position near the set plane means that the coordinate points of each cylinder position are close to the set plane, and the closeness here also includes being located on the set plane or being evenly arranged on opposite sides of the set plane.

[0059] After constructing the first thrust distribution group, the second thrust distribution group, and the third thrust distribution group, due to the asymmetric vertical or horizontal distribution of the cylinders in the working state, the constructed F unitFtotal 、F unitMy and F unitMx will generate additional moments or additional total thrust. For example, when F unitFtotal generates a unit total thrust, it may generate additional horizontal correction moments and additional vertical correction moments. Therefore, it is necessary to find the standard orthogonal basis. Since the three groups of thrusts are linearly independent, the standard orthogonal basis must have a solution. When solving the standard orthogonal basis, methods such as the elementary transformation method, the Schmidt orthogonalization method, and the Givens transformation method can be used. Finally, after calculating the first thrust distribution group F unitFtotal 、the second thrust distribution group F unitMy and the third thrust distribution group F unitMx , F unitFtotal only generates a unit total thrust and has no additional moments; F unitMx only generates a unit vertical correction moment, the total thrust generated is 0, and the additional horizontal correction moment is 0; F unitMy only generates a horizontal correction moment, the total propulsion generated is 0, and the additional vertical correction moment is 0.

[0060] It should be noted here that the constructed F unitFtotal 、F unitMy and F unitMxThe generation of additional torque or additional total thrust means that at least one of the first thrust distribution group, the second thrust distribution group, and the third thrust distribution group generates additional torque or additional thrust. Specifically, if the first thrust distribution group generates additional horizontal deviation correction torque and additional vertical deviation correction torque, then find the standard orthogonal basis in the vector space formed by the first thrust distribution group, the second thrust distribution group, and the third thrust distribution group, and obtain the thrust of each target cylinder partition in the propulsion state according to the standard orthogonal basis. Or, if the second thrust distribution group generates additional thrust and additional vertical deviation correction torque, then find the standard orthogonal basis in the vector space formed by the first thrust distribution group, the second thrust distribution group, and the third thrust distribution group, and obtain the thrust of each target cylinder partition in the propulsion state according to the standard orthogonal basis. Or, if the third thrust distribution group generates additional thrust and additional horizontal deviation correction torque, then find the standard orthogonal basis in the vector space formed by the first thrust distribution group, the second thrust distribution group, and the third thrust distribution group, and obtain the thrust of each target cylinder partition in the propulsion state according to the standard orthogonal basis.

[0061] Finally, combine the target total thrust, the target horizontal deviation correction torque, and the target vertical deviation correction torque to obtain the thrust of each cylinder. Specifically, calculate the final propulsion force distribution F through the superposition method.

[0062] F = F total-aim F unitFtotal + M x-aim F unitMx + M y-aim F unitMy , where F total-aim is the target total thrust, M x-aim is the target vertical deviation correction torque, and M y-aim is the target horizontal deviation correction torque.

[0063] The embodiment of the present application also provides a propulsion force distribution device for a shield machine propulsion system. The propulsion force distribution device includes an acquisition module, a construction module, and a solution module.

[0064] Among them, the acquisition module is used to acquire the target total thrust, the target horizontal deviation correction torque, and the target vertical deviation correction torque in the current working mode, as well as the positions of multiple target cylinder partitions where the cylinder group is in the propulsion state. The construction module is used to construct the first thrust distribution group so that the first thrust distribution group generates a unit thrust; construct the second thrust distribution group so that the second thrust distribution group generates a unit horizontal deviation correction torque; and construct the third thrust distribution group so that the third thrust distribution group generates a unit vertical deviation correction torque. The solution module is used to obtain the thrust of each cylinder partition according to the first thrust distribution group, the second thrust distribution group, the third thrust distribution group, the standard orthogonal basis, the target thrust, the target horizontal deviation correction torque, and the target vertical deviation correction torque.

[0065] The beneficial effects achieved by the propulsion force distribution device provided by the embodiments of the present application are consistent with those achieved by the above-mentioned propulsion force distribution method, and will not be elaborated here.

[0066] In summary, adopting the above technical solution, the propulsion force distribution method of the shield propulsion system of the embodiments of the present application, based on the theories of mechanics and mathematics, adjusts the propulsion forces of each cylinder zone to adjust the total thrust and the deviation correction moment to their respective target values, and the pressure distribution is uniform. While achieving the target total thrust and the target deviation correction moment, the constructed thrust distribution has a uniform pressure distribution, enabling the shield body to be evenly stressed, which is beneficial to the smooth tunneling of the shield, thereby realizing the shield attitude adjustment and propulsion speed adjustment during normal construction tunneling, synchronous pushing and segment assembling mode construction tunneling, or other mode construction tunneling.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and not to limit them; although the present application has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that: it is still possible to modify the specific implementation manners of the present application or perform equivalent replacements for some technical features; without departing from the spirit of the technical solutions of the present application, they should all be covered within the scope of the technical solutions claimed in the present application.

Claims

1. A method for distributing the propulsion force of a shield machine propulsion system, the shield machine propulsion system including a plurality of oil cylinder partitions arranged at intervals in the circumferential direction, and at least one oil cylinder point being provided in each oil cylinder partition, characterized in that, It includes the following steps: Obtain the current working mode, where the working mode includes an alternating pushing and splicing mode and a synchronous pushing and splicing mode, and control the states of the cylinders in the multiple cylinder partitions according to the working mode; Obtain the target total thrust, the target horizontal deviation correction moment, and the target vertical deviation correction moment in the current working mode; Construct a first thrust distribution group to make the first thrust distribution group generate a unit thrust, where the first thrust distribution group includes a first thrust corresponding to the multiple cylinder partitions; construct a second thrust distribution group to make the second thrust distribution group generate a unit horizontal deviation correction moment, where the second thrust distribution group includes a second thrust corresponding to the multiple cylinder partitions; and construct a third thrust distribution group to make the third thrust distribution group generate a unit vertical deviation correction moment, where the third thrust distribution group includes a third thrust corresponding to the multiple cylinder partitions, and the first thrust distribution group, the second thrust distribution group, and the third thrust distribution group are linearly independent; Obtain the propulsion force of each cylinder partition according to the first thrust distribution group, the second thrust distribution group, the third thrust distribution group, the target thrust, the target horizontal deviation correction moment, and the target vertical deviation correction moment; Among them, constructing the first thrust distribution group so that the first thrust distribution group generates unit thrust includes: constructing an initial first thrust distribution group F step1 =[F11 F12 F13...F1 i , where F1 i is the set thrust of the i-th cylinder partition; obtaining the value F total of the total thrust generated by the initial first thrust distribution group, and the value F total of the total thrust is obtained by calculating ∑(F1 i ∑n ij F state-ij ); and normalizing the initial first thrust distribution group according to the value of the total thrust to obtain the first thrust distribution group F unitFtotal , F unitFtotal =F step1 / F total , where n ij is the number of cylinders at the j-th point of the i-th cylinder partition, and F state-ij is the propulsion state of the cylinder group at the j-th point of the i-th cylinder partition. When the cylinder retracts and is not working, F state-ij is 0, and when the cylinder is in the propulsion state, F state-ij is 1.

2. The thrust force distribution method of the shield machine propulsion system according to claim 1, characterized in that, F1 i = α i (∑n ij F state-ij ), where α i is an adjustment coefficient and is configured to be related to the shape of the shield machine; or, F1 i = α i (∑F state-ij ), α i is an adjustment coefficient and is configured to be related to the shape of the shield machine, and F state-ij is the propulsion state of the oil cylinder group at the jth point of the ith oil cylinder section. When the oil cylinder retracts and is not working, F state-ij is 0, and when the oil cylinder is in the propulsion state, F state-ij is 1.

3. The thrust force distribution method of the shield machine propulsion system according to claim 1, characterized in that Constructing a second thrust distribution group such that the second thrust distribution group generates a unit horizontal deviation correction moment includes: constructing an initial second thrust distribution group F step2 =[F21 F22F23...F2 i , where F2 i is the set thrust of the i-th oil cylinder partition; obtaining the value M ytotal of the horizontal deviation correction moment generated by the initial second thrust distribution group, and the value M ytotal of the horizontal deviation correction moment is calculated by ∑(F2 i ∑n ij R ij sinθ ij F state-ij ); and normalizing the initial second thrust distribution group according to the value of the horizontal deviation correction moment to obtain the second thrust distribution group F unitMy , where F unitMy =F step2 / M ytotal .

4. The thrust force distribution method of the shield machine propulsion system according to claim 3, characterized in that F2 i = α i (∑n ij R ij sinθ ij F state-ij ), where α i is an adjustment coefficient and is configured to be related to the shape of the shield machine, F state-ij is the propulsion state of the cylinder group at the jth point in the ith cylinder section. When the cylinder retracts and is not working, F state-ij is 0. When the cylinder is in the propulsion state, F state-ij is 1, R ij is the distance between the center point of the cylinder group at the jth point in the ith cylinder section and the shield center, θ ij is the angle between the line connecting the center point of the cylinder group at the jth point in the ith cylinder section and the shield center and the y-axis; or, F2 i = α i (∑R ij sinθ ij F state-ij ), α i is an adjustment coefficient and is configured to be related to the shape of the shield machine, F state-ij is the propulsion state of the cylinder group at the jth point in the ith cylinder section. When the cylinder retracts and is not working, F state-ij is 0. When the cylinder is in the propulsion state, F state-ij is 1.

5. The thrust force distribution method of the shield machine propulsion system according to claim 1, characterized in that Constructing a third thrust distribution group such that the third thrust distribution group generates a unit vertical deviation correction moment includes: constructing an initial third thrust distribution group F step3 =[F31 F32F33...F3 i , where F3 i is the set thrust of the i-th oil cylinder partition, obtaining the value M xtotal of the vertical deviation correction moment generated by the initial third thrust distribution group, and the value M xtotal of the vertical deviation correction moment is calculated by ∑(F3 i ∑n ij R ij cosθ ij F state-ij ); and normalizing the initial third thrust distribution group according to the vertical deviation correction moment to obtain a third thrust distribution group F unitMx， F unitMx =F step3 / M xtotal .

6. The propulsion force distribution method of the shield machine propulsion system according to claim 5, characterized in that F3 i = α i (∑n ij R ij cosθ ij F state-ij ), where α i is an adjustment coefficient and is configured to be related to the shape of the shield machine, F state-ij is the propulsion state of the cylinder group at the j-th point in the i-th cylinder section. When the cylinder retracts and is not working, F state-ij is 0. When the cylinder is in the propulsion state, F state-ij is 1, n ij is the number of cylinders in the cylinder group at the j-th point in the i-th cylinder section, R ij is the distance between the center point of the cylinder group at the j-th point in the i-th cylinder section and the shield center, θ ij is the angle between the line connecting the center point of the cylinder group at the j-th point in the i-th cylinder section and the shield center and the y-axis; or, F3 i = α i (∑R ij cosθ ij F state-ij ), α i is an adjustment coefficient and is configured to be related to the shape of the shield machine, F state-ij is the propulsion state of the cylinder group at the j-th point in the i-th cylinder section. When the cylinder retracts and is not working, F state-ij is 0. When the cylinder is in the propulsion state, F state-ij is 1.

7. The thrust force distribution method of the shield machine propulsion system according to claim 1, characterized in that, The propulsion force distribution method further includes, after constructing the first thrust distribution group, the second thrust distribution group, and the third thrust distribution group, where, if the first thrust distribution group generates an additional horizontal deviation correction moment and an additional vertical deviation correction moment, solve for an orthonormal basis in the vector space formed by the first thrust distribution group, the second thrust distribution group, and the third thrust distribution group, and obtain the propulsion force of each target cylinder partition in the propulsion state according to the orthonormal basis; or, if the second thrust distribution group generates an additional thrust and an additional vertical deviation correction moment, solve for an orthonormal basis in the vector space formed by the first thrust distribution group, the second thrust distribution group, and the third thrust distribution group, and obtain the propulsion force of each target cylinder partition in the propulsion state according to the orthonormal basis; or, if the third thrust distribution group generates an additional thrust and an additional horizontal deviation correction moment, solve for an orthonormal basis in the vector space formed by the first thrust distribution group, the second thrust distribution group, and the third thrust distribution group, and obtain the propulsion force of each target cylinder partition in the propulsion state according to the orthonormal basis.

8. The thrust force distribution method of the shield machine propulsion system according to claim 1, characterized in that Establish a spatial rectangular coordinate system with the cross-section center of the propulsion system as the origin, with the magnitude of the propulsion force as the z-axis, the vertical direction as the y-axis, and the direction perpendicular to both the vertical direction and the propulsion direction as the x-axis; obtain the coordinate points of the cylinders at each cylinder position in the spatial rectangular coordinate system, and construct the first thrust distribution group, the second thrust distribution group, and the third thrust distribution group to make the coordinate points of each cylinder position distribute near a set plane.

9. The thrust force distribution method of the shield machine propulsion system according to claim 1, characterized in that, It includes: An acquisition module for acquiring the current working mode and the target total thrust, the target horizontal deviation correction moment, and the target vertical deviation correction moment in the current working mode, where the working mode includes an alternating pushing and splicing mode and a synchronous pushing and splicing mode, and controlling the states of the cylinders in the multiple cylinder partitions according to the working mode; A building module for building a first thrust distribution group to make the first thrust distribution group generate unit thrust; building a second thrust distribution group to make the second thrust distribution group generate unit horizontal deviation correction moment; and building a third thrust distribution group to make the third thrust distribution group generate unit vertical deviation correction moment. A solving module for obtaining the propulsion forces of each cylinder partition according to the first thrust distribution group, the second thrust distribution group, the third thrust distribution group, the target total thrust, the target horizontal deviation correction moment, and the target vertical deviation correction moment.

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