Pressure closed-loop control method and system for shield propulsion system

Abstract

The present invention relates to a closed-loop pressure control method and system for a shield propulsion system, the method comprising: obtaining the total thrust, horizontal resultant moment and vertical resultant moment of the propulsion system; establishing a global coordinate system, and calculating the moment angle of the total thrust moment point; obtaining the corresponding jack by dividing the moment angle by the center angle of two jacks; establishing a local coordinate system in the global coordinate system, allowing the negative half axis of the y-axis of the local coordinate system to pass through the center of the corresponding jack obtained, defining the side of the x-axis corresponding to the positive direction of the y-axis as a decompression zone, and defining the side of the x-axis corresponding to the negative direction of the y-axis as a pressurization zone; calculating the corresponding pressurization zone and decompression zone using the vertical resultant moment; and calculating the corresponding target thrust of the jack using the force increment and the total thrust. The present invention adjusts the pressurization zone and the decompression zone of the propulsion system in real time according to the horizontal resultant moment and the vertical resultant moment, thereby realizing precise control of the pressure of the propulsion system.

Description

Technical Field

[0001] The invention relates to the field of shield construction engineering, and in particular to a shield propulsion system pressure closed-loop control method and system. Background Art

[0002] Since the development of shield machine design and manufacturing technology, the shield machine propulsion system has been divided into 4 zones and 6 zones according to factors such as the cross-sectional size of the shield machine, the total number of oil cylinders, and the principle of partition symmetry. The actual shield construction is based on the analogy method to roughly estimate the shield propulsion parameters based on the static soil pressure. The shield driver repeatedly changes the opening of the proportional pressure reducing valve of each propulsion zone through the knob or target pressure input to control the posture, so that it presents an approximate movement trend. Therefore, this method of controlling the shield posture is based on the principle of trend, and the control means are relatively rough. With the development of a new generation of intelligent shields and the continuous emergence of efficient shield construction technologies, the requirements for high-quality shield construction are also constantly increasing. In the past, traditional shield driving methods could not meet the actual requirements, so there is an urgent need to provide a new solution. Summary of the invention

[0003] The purpose of the present invention is to overcome the defects of the prior art and provide a shield propulsion system pressure closed-loop control method and system to solve the problem that traditional control means are relatively rough and have low precision.

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

[0005] The present invention provides a shield propulsion system pressure closed-loop control method, comprising the following steps:

[0006] Obtain the total thrust, horizontal resultant moment and vertical resultant moment of the propulsion system;

[0007] A global coordinate system is established based on the obtained horizontal resultant moment and vertical resultant moment, and the angle between the line connecting the total thrust moment point and the origin and the line rotating counterclockwise to the positive half axis of the Y axis of the global coordinate system is calculated in the global coordinate system as the moment angle;

[0008] The corresponding jack is obtained by dividing the torque angle by the central angle of the two jacks;

[0009] A local coordinate system is established in the global coordinate system, and the negative half axis of the y-axis of the local coordinate system passes through the center of the corresponding jack. The side of the x-axis corresponding to the positive direction of the y-axis is defined as the decompression zone, and the side of the x-axis corresponding to the negative direction of the y-axis is defined as the pressurization zone;

[0010] The vertical resultant moment is used to calculate the jacking force increments corresponding to the pressurized area and the decompressed area;

[0011] The target jacking force of the corresponding jack is calculated using the jacking force increment and the total jacking force.

[0012] The closed-loop control method for the thrust system pressure of the present invention adjusts the pressurization area and the decompression area of ​​the thrust system in real time according to the horizontal resultant torque and the vertical resultant torque, thereby realizing precise control of the thrust system pressure and improving the control accuracy compared with traditional control means.

[0013] A further improvement of the shield propulsion system pressure closed-loop control method of the present invention is that the step of calculating the target top force includes:

[0014] The total thrust force is evenly distributed according to the total number of jacks to obtain the initial force value of each jack;

[0015] Calculate the jacking force increment according to the following formula:

[0016]

[0017] Where, ΔF i is the jacking force increment, n total is the total number of jacks, R 0 is the calculation radius of the shield propulsion system, α i M is the angle of the line from the positive half axis of the Y axis to the coordinate origin of the jack in clockwise rotation; v is the vertical resultant moment, where the increment of the top force in the pressurized area is positive, and the increment of the top force in the decompressed area is negative;

[0018] The corresponding target jacking force is obtained by summing the initial force value of each jack and the jacking force increment.

[0019] A further improvement of the shield propulsion system pressure closed-loop control method of the present invention is that it also includes: calculating the corresponding target pressure according to the target jacking force corresponding to the jack.

[0020] A further improvement of the shield propulsion system pressure closed-loop control method of the present invention is that when calculating the target jacking force of the jack, if the jack falls on the x-axis of the local coordinate system, the total jacking force is evenly distributed to obtain the corresponding target jacking force.

[0021] The present invention also provides a shield propulsion system pressure closed-loop control system, comprising:

[0022] An acquisition unit, used for acquiring the total thrust, horizontal resultant moment and vertical resultant moment of the propulsion system;

[0023] A coordinate establishing unit, connected to the acquisition unit, and used to establish a global coordinate system according to the acquired horizontal resultant moment and vertical resultant moment;

[0024] A jack selection unit, connected to the coordinate establishment unit and the acquisition unit, is used to calculate the angle between the line connecting the total thrust moment point and the origin and rotating counterclockwise to the positive half axis of the Y axis of the global coordinate system as the moment angle in the global coordinate system, and is also used to obtain the corresponding jack by dividing the moment angle by the central angle of the two jacks;

[0025] A region division unit, connected to the coordinate establishment unit and the jack selection unit, is used to establish a local coordinate system in the global coordinate system, so that the negative half axis of the y-axis of the local coordinate system passes through the center of the corresponding jack, and the side of the x-axis corresponding to the positive direction of the y-axis is defined as a decompression zone, and the side of the x-axis corresponding to the negative direction of the y-axis is defined as a pressurization zone;

[0026] An increment calculation unit, connected to the area division unit and the acquisition unit, for calculating the top force increments corresponding to the pressurization area and the decompression area using the vertical resultant moment;

[0027] The jacking force calculation unit is connected to the increment calculation unit and is used to calculate the target jacking force of the corresponding jack using the jacking force increment and the total jacking force.

[0028] A further improvement of the shield propulsion system pressure closed-loop control system of the present invention is that when the increment calculation unit calculates the top force increment,

[0029] Calculate the jacking force increment according to the following formula:

[0030]

[0031] Where, ΔF i is the jacking force increment, n total is the total number of jacks, R 0 is the calculation radius of the shield propulsion system, α i M is the angle of the line from the positive half axis of the Y axis to the coordinate origin of the jack in clockwise rotation; v is the vertical resultant moment, where the increment of the top force in the pressurized area is positive, and the increment of the top force in the decompressed area is negative;

[0032] When calculating the target jacking force, the jacking force calculation unit evenly distributes the total jacking force according to the total number of jacks to obtain the initial force value of each jack; and obtains the corresponding target jacking force by summing the initial force value of each jack and the jacking force increment.

[0033] A further improvement of the shield propulsion system pressure closed-loop control system of the present invention is that it also includes a pressure calculation unit, which is connected to the jacking force calculation unit and is used to calculate the corresponding target pressure according to the target jacking force corresponding to the jack.

[0034] A further improvement of the shield propulsion system pressure closed-loop control system of the present invention is that when the jacking force calculation unit calculates the target jacking force of the jack, if the jack falls on the x-axis of the local coordinate system, the total jacking force is evenly distributed to obtain the corresponding target jacking force. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 The present invention is a flow chart of the shield propulsion system pressure closed-loop control method.

[0036] Figure 2 This is a system diagram of the pressure closed-loop control system of the shield propulsion system of the present invention.

[0037] Figure 3 It is a schematic diagram of the pressure closed-loop control method of the shield propulsion system of the present invention and the distribution of the total thrust torque points of the propulsion system in the system.

[0038] Figure 4 It is a schematic diagram of the shield propulsion system pressure closed-loop control method of the present invention and the propulsion system partition calculation model in the system.

[0039] Figure 5 It is a schematic diagram of a partition calculation model of the shield propulsion system pressure closed-loop control method and system of the present invention under a specific example. DETAILED DESCRIPTION

[0040] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0041] See also Figure 1 The present invention provides a closed-loop pressure control method and system for a shield propulsion system, which is used to solve the problem of rough control means and low precision in the attitude control of traditional shield machines based on the experience of the shield driver. The closed-loop control method and system of the present invention adjust the pressure increase and decrease zone of the propulsion system in real time according to the horizontal resultant torque and the vertical resultant torque, thereby realizing precise control of the pressure of the propulsion system and improving the control precision. The closed-loop pressure control method and system of the shield propulsion system of the present invention are described below in conjunction with the accompanying drawings.

[0042] See also Figure 2 , showing the system diagram of the pressure closed-loop control system of the shield propulsion system of the present invention. Figure 2 , the pressure closed-loop control system of the shield propulsion system of the present invention is explained.

[0043] like Figure 2As shown, the shield propulsion system pressure closed-loop control system of the present invention includes an acquisition unit 21, a coordinate establishment unit 22, a jack selection unit 23, an area division unit 24, an increment calculation unit 25 and a jacking force calculation unit 26, wherein the acquisition unit 21 is connected to the coordinate establishment unit 22, the coordinate establishment unit 22 and the acquisition unit 21 are both connected to the jack selection unit 23, the area division unit 24 is connected to the jack selection unit 23 and the coordinate establishment unit 22, the increment calculation unit 25 is connected to the area division unit 24 and the acquisition unit 21, and the jacking force calculation unit 26 is connected to the increment calculation unit 25; the acquisition unit 21 is used to obtain the total jacking force, horizontal resultant torque and vertical resultant torque of the propulsion system; the total jacking force, horizontal resultant torque and vertical resultant torque of the propulsion system can be provided by the shield intelligent module according to the current excavation posture of the shield machine. The coordinate establishment unit 22 is used to establish a global coordinate system according to the acquired horizontal resultant torque and vertical resultant torque; combined with Figure 3 As shown, the horizontal moment M h As the X-axis, the vertical moment M v As the Y axis, a global coordinate system OXY is formed. There are multiple jacks in the propulsion system, and they are arranged at intervals along the contour of the pipe segment. The center of the arrangement position of the multiple jacks is aligned with the center of the global coordinate system OXY, so that the multiple jacks can be displayed in the global coordinate system according to their arrangement positions; the jack selection unit 23 is used to calculate the angle between the total thrust moment point and the origin and rotate counterclockwise to the positive half axis of the Y axis of the global coordinate system under the global coordinate system OXY as the moment angle θ, and is also used to obtain the corresponding jack by dividing the moment angle by the center angle of the two jacks; the total thrust moment point d i (M h ,M v ), in the global coordinate system, the moment point d i Connect the origin O to form a line (Od i ) forms a clockwise rotation from the positive half axis of the Y axis to Od i The propulsion system has multiple jacks, and the corresponding jacks are selected according to the torque angle, and then the pressure increase and pressure reduction areas are divided according to the selected jacks. The area division unit 24 is used to establish a local coordinate system Oxy in the global coordinate system OXY, let the negative half axis of the y-axis of the local coordinate system pass through the center of the corresponding jack, let the local coordinate system and the global coordinate system share an origin, define the side of the x-axis corresponding to the positive direction of the y-axis as the pressure reduction area, and define the side of the x-axis corresponding to the negative direction of the y-axis as the pressure increase area; combined Figure 4As shown, the jack selection unit 23 selects the 24th jack, and the negative half axis of the y-axis of the local coordinate system Oxy passes through the center of the 24th jack, and then the side of the x-axis corresponding to the positive direction of the y-axis is the decompression zone, and the jacks located in this area are decompressed, and the side of the x-axis corresponding to the negative direction of the y-axis is the pressurization zone, and the jacks located in this area are pressurized. The increment calculation unit 25 is used to calculate the corresponding pressurization zone and decompression zone using the vertical resultant moment; the jacking force calculation unit 26 is used to calculate the corresponding jacking target force of the jack using the jacking force increment and the total jacking force.

[0044] In a specific embodiment of the present invention, the moment angle θ is related to the total thrust force, horizontal resultant moment and vertical resultant moment obtained. The value of the moment angle θ has several cases, combined with Figure 3 As shown, when M h =0,M v >0, the total thrust moment point d1 is on the positive half axis of the Y axis, θ=360°; when M h >0,M v >0, the total thrust moment point d2 or d3 is located in the first quadrant, When M h >0,M v = 0, the total thrust moment point d4 is located on the positive half axis of the X axis, θ = 90°; when M h >0,M v When <0, the total thrust moment point d5 is located in the fourth quadrant. When M h =0,M v <0, the total thrust moment point d6 is located on the negative half axis of the Y axis, θ=180°; when M h <0, M v When <0, the total thrust moment point d7 is located in the third quadrant. When M h <0, M v = 0, the total thrust moment point d8 is located on the negative half axis of the X axis, θ = 270°; when M h <0, M v >0, the total thrust moment point d9 is located in the second quadrant,

[0045] The central angle formed by the line connecting the centers of the two jacks and the origin O is n total is the total number of cylinders in the propulsion system.

[0046] The jack selection unit 23 establishes the relationship between the moment angle θ and n max The discriminant relationship between them is used to obtain n max , the n maxRepresents the selected jack. The discriminant relation is:

[0047]

[0048] The jack selection unit 23 first calculates the specific value of the torque angle according to the above situation, and then divides the value of the torque angle by the central angle of the two jacks to obtain n. max The value is used to select the jack.

[0049] In a specific implementation of the present invention, when calculating the jacking force increment, the increment calculation unit 25 calculates the jacking force increment according to the following formula:

[0050]

[0051] Where, ΔF i is the jacking force increment, n total is the total number of jacks, R 0 is the calculation radius of the shield propulsion system, α i M is the angle of the line from the positive half axis of the Y axis to the coordinate origin of the jack in clockwise rotation; v is the vertical resultant moment, where the increment of the top force in the pressurized area is positive, and the increment of the top force in the decompressed area is negative;

[0052] When calculating the target jacking force, the jacking force calculation unit 26 evenly distributes the total jacking force according to the total number of jacks to obtain the initial force value of each jack; the even distribution of the total jacking force is achieved by the following formula:

[0053] F i =F T / n total , (i=1~n total )

[0054] In this formula, F i is the initial force value of the i-th jack, F T is the total thrust, n total is the total number of jacks.

[0055] The jacking force calculation unit 26 also obtains the corresponding target jacking force by summing the initial force value of each jack and the jacking force increment.

[0056] Preferably, the jacking force increments of each jack are set to -ΔF and +ΔF according to the decompression zone and the pressure increase zone, respectively.

[0057] Calculate the target jacking force F in the decompression zone and the pressurization zone i 'Respectively:

[0058] Decompression zone: F i '=F i-ΔF; pressurization area: F i '=F i +ΔF;

[0059] In a specific embodiment of the present invention, the control system of the present invention further includes a pressure calculation unit connected to the jacking force calculation unit, and used to calculate the corresponding target pressure according to the target jacking force corresponding to the jack. Preferably, the pressure calculation unit calculates the target pressure P by the following formula: i ':

[0060]

[0061] Among them, S cylinder is the rodless cavity area of ​​the jack.

[0062] In a specific embodiment of the present invention, when calculating the target jacking force of the jack, the jacking force calculation unit 26 determines whether the jack falls on the x-axis of the local coordinate system. If the jack falls on the x-axis of the local coordinate system, the total jacking force is evenly distributed to obtain the corresponding target jacking force, that is, the total jacking force is evenly distributed according to the total number of jacks to obtain the corresponding target jacking force of the jack.

[0063] When the jack selected by the jack selection unit 23 is located exactly on the x-axis, the pressure increase and decrease area division is not performed, and the total jacking force can be directly allocated.

[0064] like Figure 3 and Figure 5 As shown, an example of a propulsion system having 34 jacks is shown. The control process of the control system of the present invention is explained below using this example as an example.

[0065] In this example, the radius R of the propulsion system 0 is 6.525 meters, and the total thrust F T is 54465kN, horizontal moment M h is -1736.8 kN·m, vertical moment M v It is -100008.8kN·m.

[0066] Since both the horizontal resultant moment and the vertical resultant moment are less than 0, the total thrust moment point is located in the third quadrant of the global coordinate system, and the moment angle θ is:

[0067] According to the moment angle θ and n max The relationship between the two is calculated to get n max =17, the negative half axis of the y-axis passes through the center of the 17th jack, and the local coordinate system established is as follows Figure 5 shown.

[0068] The initial force values ​​of each jack are:

[0069] The jacking force increments of the decompression zone and the pressure zone are -ΔF and +ΔF respectively.

[0070]

[0071] ΔF=71.04kN,

[0072] Pressurized area: F i '=F i +ΔF=1601.90kN+71.04kN=1672.94kN,

[0073] Decompression zone: F i '=F i -ΔF=1601.90kN-71.04kN=1530.86kN.

[0074] The present invention also provides a shield propulsion system pressure closed-loop control method, and the control method is described below.

[0075] like Figure 1 As shown, the control method of the present invention comprises the following steps:

[0076] Execute step S11 to obtain the total thrust, horizontal resultant moment and vertical resultant moment of the propulsion system; then execute step S12;

[0077] Execute step S12, establish a global coordinate system according to the obtained horizontal resultant moment and vertical resultant moment, and calculate the angle between the line connecting the total thrust moment point and the origin and rotating counterclockwise to the positive half axis of the Y axis of the global coordinate system in the global coordinate system as the moment angle; then execute step S13;

[0078] Execute step S13, divide the torque angle by the central angle of the two jacks to obtain the corresponding jack; then execute step S14;

[0079] Execute step S14, establish a local coordinate system in the global coordinate system, let the negative half axis of the y-axis of the local coordinate system pass through the center of the corresponding jack, define the side of the x-axis corresponding to the positive direction of the y-axis as the decompression zone, and define the side of the x-axis corresponding to the negative direction of the y-axis as the pressurization zone; then execute step S15;

[0080] Execute step S15, calculate the jacking force increments corresponding to the pressurized area and the decompressed area using the vertical resultant moment; then execute step S16;

[0081] Execute step S16 to calculate the corresponding target jacking force of the jack using the jacking force increment and the total jacking force.

[0082] The closed-loop control method for the thrust system pressure of the present invention adjusts the pressurization area and the decompression area of ​​the thrust system in real time according to the horizontal resultant torque and the vertical resultant torque, thereby realizing precise control of the thrust system pressure and improving the control accuracy compared with traditional control means.

[0083] In a specific embodiment of the present invention, the step of calculating the target top force includes:

[0084] The total thrust force is evenly distributed according to the total number of jacks to obtain the initial force value of each jack;

[0085] Calculate the jacking force increment according to the following formula:

[0086]

[0087] Where, ΔF i is the jacking force increment, n total is the total number of jacks, R 0 is the calculation radius of the shield propulsion system, α i M is the angle of the line from the positive half axis of the Y axis to the coordinate origin of the jack in clockwise rotation; v is the vertical resultant moment, where the increment of the top force in the pressurized area is positive, and the increment of the top force in the decompressed area is negative;

[0088] The corresponding target jacking force is obtained by summing the initial force value of each jack and the jacking force increment.

[0089] In a specific implementation of the present invention, it also includes: calculating the corresponding target pressure according to the target jacking force corresponding to the jack.

[0090] In a specific implementation of the present invention, when calculating the target jacking force of the jack, if the jack falls on the x-axis of the local coordinate system, the total jacking force is evenly distributed to obtain the corresponding target jacking force.

[0091] The present invention is described in detail above in conjunction with the embodiments of the drawings, and those 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 constitute limitations of the present invention, and the scope of protection of the present invention shall be defined by the scope of the attached claims.

Claims

1. A shield propulsion system pressure closed-loop control method, characterized in that: The steps include: Obtain the total thrust, horizontal resultant moment and vertical resultant moment of the propulsion system; A global coordinate system is established based on the obtained horizontal resultant moment and vertical resultant moment, and the angle between the line connecting the total thrust moment point and the origin and the line rotating counterclockwise to the positive half axis of the Y axis of the global coordinate system is calculated in the global coordinate system as the moment angle; The corresponding jack is obtained by dividing the torque angle by the central angle of the two jacks; A local coordinate system is established in the global coordinate system, and the negative half axis of the y-axis of the local coordinate system passes through the center of the corresponding jack. The side of the x-axis corresponding to the positive direction of the y-axis is defined as the decompression zone, and the side of the x-axis corresponding to the negative direction of the y-axis is defined as the pressurization zone; The vertical resultant moment is used to calculate the jacking force increments corresponding to the pressurized area and the decompressed area; The target jacking force of the corresponding jack is calculated by using the jacking force increment and the total jacking force; The steps for calculating the incremental force and the target force include: The total thrust force is evenly distributed according to the total number of jacks to obtain the initial force value of each jack; Calculate the jacking force increment according to the following formula: Where, ΔF i is the jacking force increment, n total is the total number of jacks, R0 is the calculation radius of the shield propulsion system, α i M is the angle of the line from the positive half axis of the Y axis to the coordinate origin of the jack in clockwise rotation; v is the vertical resultant moment, where the increment of the top force in the pressurized area is positive, and the increment of the top force in the decompressed area is negative; The corresponding target jacking force is obtained by summing the initial force value of each jack and the jacking force increment.

2. The shield propulsion system pressure closed-loop control method according to claim 1, characterized in that: Also includes: Calculate the corresponding target pressure based on the target jacking force of the jack.

3. The shield propulsion system pressure closed-loop control method according to claim 1, characterized in that: When calculating the target jacking force of the jack, if the jack falls on the x-axis of the local coordinate system, the total jacking force is evenly distributed to obtain the corresponding target jacking force.

4. A shield propulsion system pressure closed-loop control system, characterized in that: include: An acquisition unit, used for acquiring the total thrust, horizontal resultant moment and vertical resultant moment of the propulsion system; A coordinate establishing unit, connected to the acquisition unit, and used to establish a global coordinate system according to the acquired horizontal resultant moment and vertical resultant moment; A jack selection unit, connected to the coordinate establishment unit and the acquisition unit, is used to calculate the angle between the line connecting the total thrust moment point and the origin and rotating counterclockwise to the positive half axis of the Y axis of the global coordinate system as the moment angle in the global coordinate system, and is also used to obtain the corresponding jack by dividing the moment angle by the central angle of the two jacks; A region division unit, connected to the coordinate establishment unit and the jack selection unit, is used to establish a local coordinate system in the global coordinate system, so that the negative half axis of the y-axis of the local coordinate system passes through the center of the corresponding jack, and the side of the x-axis corresponding to the positive direction of the y-axis is defined as a decompression zone, and the side of the x-axis corresponding to the negative direction of the y-axis is defined as a pressurization zone; An increment calculation unit, connected to the area division unit and the acquisition unit, for calculating the top force increments corresponding to the pressurization area and the decompression area using the vertical resultant moment; A jacking force calculation unit, connected to the increment calculation unit, for calculating the corresponding target jacking force of the jack using the jacking force increment and the total jacking force; When the increment calculation unit calculates the jacking force increment, Calculate the jacking force increment according to the following formula: Where, ΔF i is the jacking force increment, n total is the total number of jacks, R0 is the calculation radius of the shield propulsion system, α i M is the angle of the line from the positive half axis of the Y axis to the coordinate origin of the jack in clockwise rotation; v is the vertical resultant moment, where the increment of the top force in the pressurized area is positive, and the increment of the top force in the decompressed area is negative; When calculating the target jacking force, the jacking force calculation unit evenly distributes the total jacking force according to the total number of jacks to obtain the initial force value of each jack; The corresponding target jacking force is obtained by summing the initial force value of each jack and the jacking force increment.

5. The shield propulsion system pressure closed-loop control system according to claim 4, characterized in that: It also includes a pressure calculation unit, which is connected to the jacking force calculation unit and is used to calculate the corresponding target pressure according to the target jacking force corresponding to the jack.

6. The shield propulsion system pressure closed-loop control system according to claim 4, characterized in that: When the jacking force calculation unit calculates the target jacking force of the jack, if the jack falls on the x-axis of the local coordinate system, the total jacking force is evenly distributed to obtain the corresponding target jacking force.

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