A method and system for precisely correcting the attitude of a TBM tunneling machine

Abstract

The present invention discloses a method and system for precisely correcting the attitude of a TBM tunneling machine. The method includes: determining the target thrust of each partition where the propulsion cylinders are located according to the current attitude of the TBM tunneling machine; determining the cylinder chamber pressure corresponding to each propulsion cylinder according to the target thrust of each partition where the propulsion cylinders are located in the TBM tunneling machine; determining the target rodless chamber pressure of each propulsion cylinder according to the cylinder chamber pressure, the cylinder chamber area and the piston area in the TBM tunneling machine; based on the fuzzy proportional integral differential algorithm, determining the partition pressure percentage of each propulsion cylinder according to the target rodless chamber pressure; calculating the target total thrust according to the historical total thrust of the TBM tunneling machine, and decomposing the target total thrust according to the partition pressure percentage to obtain the correction thrust of each propulsion cylinder, and correcting the attitude of the TBM tunneling machine and controlling the propulsion according to the correction thrust. The attitude of the tunneling machine can be corrected in a timely and precise manner.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel excavation, and particularly to a method and system for accurately correcting the attitude of a TBM tunneling machine. Background Art

[0002] During the construction of roads, railways, etc., tunnel boring work is often encountered. During the construction of a long tunnel boring, in order to meet the construction requirements of deep and large vertical shafts, a vertical full-face hard rock tunnel boring machine (Tunnel Boring Machine, abbreviated as TBM) is required.

[0003] Similar to conventional full-face hard rock tunnel boring machines or shield machines, the attitude of a vertical full-face hard rock tunnel boring machine is related to the safety and quality of tunnel construction and is an important indicator during the tunneling process. However, its operation is difficult and there are few operators with rich operation experience, resulting in the on-site construction quality and construction progress being seriously affected by human factors. Once the adjustment is unreasonable during the operation, not only will the construction quality not meet the requirements and seriously affect the construction period, but also construction accidents may occur.

[0004] Therefore, it is necessary to correct the attitude of the vertical full-face hard rock tunnel boring machine to meet the attitude control requirements of the vertical full-face hard rock tunnel boring machine during the tunneling process. Summary of the Invention

[0005] In view of the technical problem that it is difficult to accurately correct the TBM tunneling machine in the prior art, the present invention provides a method and system for accurately correcting the attitude of a TBM tunneling machine.

[0006] To achieve the above object, the present invention is realized through the following technical solutions:

[0007] In the first aspect of the embodiment of the present invention, a method for accurately correcting the attitude of a TBM tunneling machine is provided, including:

[0008] Based on the principle that the thrust of each partition is evenly distributed on the cutter head and the thrust changes linearly, determine the target thrust of the partition where each group of propulsion cylinders is located according to the attitude of the TBM tunneling machine;

[0009] Determine the cylinder cavity pressure corresponding to each group of propulsion cylinders according to the target thrust of the partition where each group of propulsion cylinders is located in the TBM tunneling machine;

[0010] Determine the target pressure of the rodless cavity of each group of propulsion cylinders according to the cylinder cavity pressure, the cylinder cavity area and the piston area in the TBM tunneling machine;

[0011] Based on the fuzzy proportional integral derivative algorithm, determine the partition pressure percentage of each group of propulsion cylinders according to the target pressure of the rodless cavity;

[0012] Calculate the target total thrust according to the historical total thrust of the TBM tunneling machine, decompose the target total thrust according to the partition pressure percentage, obtain the deviation correction thrust of each group of propulsion cylinders, and generate a deviation correction control instruction for correcting the attitude of the TBM tunneling machine according to the deviation correction thrust.

[0013] In one implementation, based on the fuzzy proportional integral derivative algorithm, determining the partition pressure percentage of each group of propulsion cylinders according to the target rodless cavity pressure includes:

[0014] Input the target rodless cavity pressure into the partition pressure percentage analysis model constructed based on the fuzzy proportional integral derivative algorithm, and obtain the partition pressure percentage of each group of propulsion cylinders output by the partition pressure percentage analysis model;

[0015] Among them, the partition pressure percentage analysis model is trained in the following way:

[0016] Optimize the sample rodless cavity pressure of the TBM tunneling machine according to the partition pressure and tunneling stability to obtain the target sample rodless cavity pressure. The sample rodless cavity pressure optimization uses the particle swarm optimization algorithm. After training according to the number of particle swarms determined by the sample rodless cavity pressure, calculate the prediction result. Among them, a balance equation between the sample rodless cavity pressure and tunneling stability is established by the mechanism analysis method, and the fuzzy proportional integral derivative parameters of the partition pressure and the partition pressure percentage are selected to form the particles of the particle swarm optimization algorithm;

[0017] Obtain the balance equation under the action of the piston according to Newton's second law, construct the initial partition pressure percentage analysis model, and input the target sample rodless cavity pressure into the initial partition pressure percentage analysis model to train the partition pressure percentage analysis model.

[0018] In one implementation, calculate the target rodless cavity pressure F push of each group of propulsion cylinders through the following formula:

[0019]

[0020] Among them, P rodless cavity is the pressure of the first cylinder cavity that the piston in the propulsion cylinder has not passed through, P rod cavity is the pressure of the second cylinder cavity that the piston in the propulsion cylinder has passed through, the cylinder cavity pressure includes the pressure of the first cylinder cavity and the pressure of the second cylinder cavity, S cavity is the area of the cylinder cavity, and S push rod is the area of the piston;

[0021] In one implementation, the step of determining the target thrust of the partition where each group of propulsion cylinders is located according to the current attitude of the TBM tunneling machine includes:

[0022] Obtain an image of the rock and soil to be excavated by the TBM tunneling machine through a sensor, and perform rock and soil type analysis on the image to obtain rock and soil characteristic information, where the rock and soil types include rock and soil hardness grade, rock and soil humidity grade, and rock and soil looseness;

[0023] Determine the target thrust of each group of propulsion cylinders in the partition according to the rock and soil characteristic information and the current attitude of the TBM tunneling machine.

[0024] In one implementation manner, the step of calculating the target total thrust according to the historical total thrust of the TBM tunneling machine includes:

[0025] Screen the target historical total thrust from the historical total thrust table according to the rock and soil characteristic information, where the historical total thrust table is obtained by dividing the total thrust according to the rock and soil hardness grade, rock and soil humidity grade, and rock and soil looseness;

[0026] Calculate the average value of the target historical total thrust to obtain the target total thrust.

[0027] The second aspect of the embodiments of the present invention provides a system for accurately correcting the attitude of a TBM tunneling machine, including:

[0028] A host computer, which is used to generate a deviation correction control instruction through the method for accurately correcting the attitude of the TBM tunneling machine described in any item of the first aspect;

[0029] A programmable controller communicatively connected to the host computer, which is used to receive the deviation correction control instruction sent by the host computer and correct the attitude of the TBM tunneling machine and control the propulsion according to the deviation correction control instruction;

[0030] A vertical guiding system communicatively connected to the host computer, which is used to collect the tunneling machine position and attitude of the TBM tunneling machine and report the tunneling machine position and attitude to the programmable controller, so that the programmable controller forwards the tunneling machine position and attitude to the host computer.

[0031] In one implementation manner, the host computer is further used to monitor the communication status between the TBM tunneling machine and the programmable controller, and issue an alarm message and switch the control authority of the TBM tunneling machine to manual control when the communication status indicates that the communication between the TBM tunneling machine and the programmable controller is disconnected. Beneficial effects

[0032] Compared with the prior art, the following beneficial effects are achieved:

[0033] By determining the target thrust of each group of propulsion cylinders in the corresponding partition according to the current attitude of the TBM tunneling machine, determining the cylinder cavity pressure corresponding to each group of propulsion cylinders according to the target thrust of each group of propulsion cylinders in the partition of the TBM tunneling machine; determining the target rodless cavity pressure of each group of propulsion cylinders according to the cylinder cavity pressure, the cylinder cavity area and the piston area in the TBM tunneling machine; based on the fuzzy proportional integral derivative algorithm, determining the partition pressure percentage of each group of propulsion cylinders according to the target rodless cavity pressure; calculating the target total thrust according to the historical total thrust of the TBM tunneling machine, and decomposing the target total thrust according to the partition pressure percentage to obtain the deviation correction thrust of each group of propulsion cylinders, and correcting the attitude of the TBM tunneling machine and controlling the propulsion according to the deviation correction thrust. The attitude of the tunneling machine can be corrected timely and accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a flowchart of a method for accurately correcting the attitude of a tunneling machine provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0036] Please refer to Figure 1 , the present invention provides a technical solution: a method for accurately correcting the attitude of a tunneling machine, including the following steps:

[0037] In step S11, based on the principle that the thrust in each partition is evenly distributed on the cutter head and the thrust changes linearly, the target thrust of each group of propulsion cylinders in the corresponding partition is determined according to the attitude of the TBM tunneling machine;

[0038] In step S12, the cylinder cavity pressure corresponding to each group of propulsion cylinders is determined according to the target thrust of each group of propulsion cylinders in the partition of the TBM tunneling machine;

[0039] In step S13, the target rodless cavity pressure of each group of propulsion cylinders is determined according to the cylinder cavity pressure, the cylinder cavity area and the piston area in the TBM tunneling machine;

[0040] In step S14, based on the fuzzy proportional integral derivative algorithm, the partition pressure percentage of each group of propulsion cylinders is determined according to the target rodless cavity pressure;

[0041] In step S15, according to the historical total thrust of the TBM tunneling machine, calculate the target total thrust, decompose the target total thrust according to the partition pressure percentage, obtain the deviation correction thrust of each group of propulsion cylinders, and generate a deviation correction control instruction for correcting the attitude of the TBM tunneling machine according to the deviation correction thrust.

[0042] The above method determines the target thrust of each partition where each group of propulsion cylinders is located according to the current attitude of the TBM tunneling machine, determines the cylinder chamber pressure corresponding to each group of propulsion cylinders according to the target thrust of each partition where each group of propulsion cylinders is located in the TBM tunneling machine; determines the target rodless chamber pressure of each group of propulsion cylinders according to the cylinder chamber pressure, the cylinder chamber area and the piston area in the TBM tunneling machine; based on the fuzzy proportional integral differential algorithm, determines the partition pressure percentage of each group of propulsion cylinders according to the target rodless chamber pressure; calculates the target total thrust according to the historical total thrust of the TBM tunneling machine, decomposes the target total thrust according to the partition pressure percentage, obtains the deviation correction thrust of each group of propulsion cylinders, and corrects the attitude of the TBM tunneling machine and controls the propulsion according to the deviation correction thrust. The attitude of the tunneling machine can be corrected timely and accurately.

[0043] In one implementation manner, the determining the partition pressure percentage of each group of propulsion cylinders according to the target rodless chamber pressure based on the fuzzy proportional integral differential algorithm includes:

[0044] Input the target rodless chamber pressure into a partition pressure percentage analysis model constructed based on the fuzzy proportional integral differential algorithm, and obtain the partition pressure percentage of each group of propulsion cylinders output by the partition pressure percentage analysis model;

[0045] Among them, the partition pressure percentage analysis model is trained in the following manner:

[0046] Optimize the sample rodless chamber pressure of the TBM tunneling machine according to the partition pressure and tunneling stability to obtain the target sample rodless chamber pressure. The sample rodless chamber pressure optimization uses the particle swarm optimization algorithm. After training by determining the number of particle swarms according to the sample rodless chamber pressure, calculate the prediction result. Among them, a balance equation between the sample rodless chamber pressure and tunneling stability is established by using the mechanism analysis method, and the fuzzy proportional integral differential parameters of the partition pressure and the partition pressure percentage are selected to form the particles of the particle swarm optimization algorithm;

[0047] Obtain a balance equation under the action of the piston according to Newton's second law, construct an initial partition pressure percentage analysis model, and input the target sample rodless chamber pressure into the initial partition pressure percentage analysis model to train the partition pressure percentage analysis model.

[0048] In one implementation, the target rodless cavity pressure F_push of each group of propulsion cylinders is calculated by the following formula:

[0049]

[0050] where P_rodless cavity is the pressure of the first cylinder cavity that the piston in the propulsion cylinder has not passed through, P_rod cavity is the pressure of the second cylinder cavity that the piston in the propulsion cylinder has passed through, the cylinder cavity pressure includes the pressure of the first cylinder cavity and the pressure of the second cylinder cavity, S_cavity is the area of the cylinder cavity, and S_pusher is the area of the piston;

[0051] In one implementation, the step of determining the target thrust of each group of propulsion cylinders in the partition according to the current attitude of the TBM tunneling machine includes:

[0052] Obtain an image of the rock and soil to be tunneled by the TBM tunneling machine through a sensor, and perform rock and soil type analysis on the image to obtain rock and soil characteristic information, where the rock and soil type includes the rock and soil hardness grade, the rock and soil humidity grade, and the rock and soil looseness;

[0053] Determine the target thrust of each group of propulsion cylinders in the partition according to the rock and soil characteristic information and the current attitude of the TBM tunneling machine.

[0054] In one implementation, the step of calculating the target total thrust according to the historical total thrust of the TBM tunneling machine includes:

[0055] Screen out the target historical total thrust from the historical total thrust table according to the rock and soil characteristic information, where the historical total thrust table is obtained by dividing the total thrust according to the rock and soil hardness grade, the rock and soil humidity grade, and the rock and soil looseness;

[0056] Calculate the average value of the target historical total thrust to obtain the target total thrust.

[0057] Based on the same inventive concept, an embodiment of the present invention further provides a system for accurately correcting the attitude of a TBM tunneling machine, including:

[0058] A host computer, which is used to generate a deviation correction control instruction by the method for accurately correcting the attitude of a TBM tunneling machine described in any one of the above embodiments;

[0059] A programmable logic controller communicatively connected to the host computer, which is used to receive the deviation correction control instruction sent by the host computer and correct the attitude of the TBM tunneling machine and control the propulsion according to the deviation correction control instruction;

[0060] A vertical guiding system communicatively connected to the host computer, which is used to collect the tunneling position and attitude of the TBM tunneling machine and report the tunneling position and attitude to the programmable controller, so that the programmable controller forwards the tunneling position and attitude to the host computer.

[0061] The vertical guiding system transmits the measured pose state data of the vertical TBM (X-axis deviation value, Y-axis deviation value, X-axis pitch angle, and Y-axis pitch angle) to the host computer software. The host computer combines the data of each sensor of the propulsion system read from the PLC (such as cylinder stroke, rod-end chamber pressure of the cylinder, non-rod-end chamber pressure, total thrust of the cylinder system, etc.), calculates 6 groups of percentage data of the set pressure of the propulsion cylinder partition, and transmits it to the PLC. The PLC issues relevant instructions to the propulsion system and executes them. During this process, the data of the host computer interacts with the host computer interface in real time, and the data of the PLC interacts with the touch screen in real time for operation and data monitoring display.

[0062] In one implementation, the host computer is further configured to monitor the communication status between the TBM tunneling machine and the programmable controller, and issue an alarm message and switch the control authority of the TBM tunneling machine to manual control when the communication status indicates that the communication between the TBM tunneling machine and the programmable controller is disconnected.

[0063] In specific implementation, the control system takes the pose state of the vertical TBM as the control object, uses the vertical guiding system to detect the pose state of the vertical TBM, takes the propulsion system of the vertical TBM as the actuator, and consists of the host computer and the PLC as the controller. A mathematical model of the vertical TBM pose is established, and the thrust of each propulsion partition is automatically adjusted using an algorithm.

[0064] The vertical guiding system is a measurement system for measuring the verticality of the shaft tunnel, and transmits the pose state of the vertical TBM to the controller in real time.

[0065] Preferably, the vertical guiding system divides the pose state of the vertical TBM into the X-axis direction and the Y-axis direction on the horizontal plane, and converts the pose state into quantization indexes of tilt angle and offset on each axis, as well as the tail X-axis deviation, tail Y-axis deviation, X-axis pitch angle, and Y-axis pitch angle.

[0066] The propulsion system of the vertical TBM includes propulsion cylinders, rod-end chamber pressure sensors of the propulsion cylinders, non-rod-end chamber pressure sensors of the propulsion cylinders, and stroke sensors of the propulsion cylinders; the data detected by the propulsion system sensors are directly transmitted to the PLC.

[0067] The PLC can control the propulsion cylinders to move according to the percentage of the set pressure of the partition.

[0068] The host computer has three functions: real-time data communication and communication detection function, calculating the average total thrust in the recent stage, and calculating the percentage of the set value of the partition pressure of the propulsion system.

[0069] Regarding the real-time data communication and communication detection, the host computer continuously detects the communication status with the PLC and the vertical guidance system. Once the communication is disconnected, it immediately issues an alarm and switches to the manual control authority. When the communication is normal, it reads the sensor data of the propulsion system from the PLC in real time, reads the pose data of the vertical TBM from the vertical guidance system, and sends the data calculated by the host computer to the PLC.

[0070] Regarding the function of calculating the average total thrust in the recent stage, the host computer stores the read total thrust in a queue. Whenever the vertical TBM advances a certain distance, the data in the queue is updated, and the average value of all the data in the queue is calculated as the target total thrust.

[0071] Regarding the function of calculating the percentage of the set value of the partition pressure of the propulsion system, first, the attitude of the vertical TBM is divided into several categories in the X-axis and Y-axis directions respectively, and the pose state of the vertical TBM is quantified by combining the real-time data of the vertical guidance system; then, based on the expert library strategy of the fuzzy algorithm, the target thrust centroid is obtained according to different pose states, and then according to the position relationship of each partition cylinder and the principle that all partition thrusts are in the same vector plane, the target thrust of each partition cylinder is calculated; finally, based on the thrust of each partition cylinder and the current rod-end chamber pressure, the target pressure of the rodless chamber is obtained, and finally, the percentage of the set value of the partition pressure at the next moment is calculated by combining the fuzzy PID algorithm. Iterate in this way over time and loop infinitely.

[0072] Preferably, the vertical guidance system and the host computer controller can share a computer or industrial control equipment.

[0073] The above technical solution benefits from algorithm automatic control, getting rid of the dependence on construction experience, reducing the construction risks brought by human errors; establishing a mathematical model of the pose relationship between the vertical TBM and the construction axis of the shaft, and realizing attitude correction by changing the thrust centroid; during the correction process, using the algorithm to ensure that the thrust of each partition is evenly distributed on the cutterhead and the thrust changes linearly, reducing the wear of the cutterhead and cutters compared with manual operation.

[0074] Inspired by the ideal embodiments according to the present application above, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of this application. The technical scope of this application is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

[0075] Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for precisely correcting the attitude of a TBM tunneling machine, characterized in that, the method includes: Based on the principle that the thrust of each partition is evenly distributed on the cutter head and the thrust changes linearly, determine the target thrust of the partition where each group of propulsion cylinders is located according to the attitude of the TBM tunneling machine; Determine the cylinder chamber pressure corresponding to each group of propulsion cylinders according to the target thrust of the partition where each group of propulsion cylinders is located in the TBM tunneling machine; Determine the target rodless chamber pressure of each group of propulsion cylinders according to the cylinder chamber pressure, the cylinder chamber area and the piston area in the TBM tunneling machine; Based on the fuzzy proportional integral derivative algorithm, determine the partition pressure percentage of each group of propulsion cylinders according to the target rodless chamber pressure; Calculate the target total thrust according to the historical total thrust of the TBM tunneling machine, decompose the target total thrust according to the partition pressure percentage to obtain the correction thrust of each group of propulsion cylinders, and generate a correction control instruction for correcting the attitude of the TBM tunneling machine according to the correction thrust.

2. The method according to claim 1, characterized in that, the determining the partition pressure percentage of each group of propulsion cylinders according to the target rodless chamber pressure based on the fuzzy proportional integral derivative algorithm includes: Input the target rodless chamber pressure into the partition pressure percentage analysis model constructed based on the fuzzy proportional integral derivative algorithm to obtain the partition pressure percentage of each group of propulsion cylinders output by the partition pressure percentage analysis model; wherein, the partition pressure percentage analysis model is trained in the following manner: Optimize the sample rodless chamber pressure of the TBM tunneling machine according to the partition pressure and the tunneling stability to obtain the target sample rodless chamber pressure. The sample rodless chamber pressure optimization uses the particle swarm optimization algorithm. After training by determining the number of particle swarms according to the sample rodless chamber pressure, calculate the prediction result. Among them, a balance equation between the sample rodless chamber pressure and the tunneling stability is established by the mechanism analysis method, and the fuzzy proportional integral derivative parameters of the partition pressure and the partition pressure percentage are selected to form the particles of the particle swarm optimization algorithm; Obtain the balance equation under the action of the piston according to Newton's second law, construct the initial partition pressure percentage analysis model, and input the target sample rodless chamber pressure into the initial partition pressure percentage analysis model to train the partition pressure percentage analysis model.

3. The method according to claim 1, characterized in that, Calculate the target pressure of the rodless cavity of each propulsion cylinder through the following formula F 推 : ， Among them, P 无杆腔 is the pressure of the first cylinder cavity that the piston in the propulsion cylinder has not passed through, and P 有杆腔 is the pressure of the second cylinder cavity that the piston in the propulsion cylinder has passed through. The cylinder cavity pressure includes the pressure of the first cylinder cavity and the pressure of the second cylinder cavity. S 腔体 is the area of the cylinder cavity, and S 推杆 is the area of the piston.

4. The method according to claim 1, characterized in that, the step of determining the target thrust of the partition where each group of propulsion cylinders is located according to the current attitude of the TBM tunneling machine includes: Obtain the image of the rock and soil to be tunneled by the TBM tunneling machine currently through a sensor, and perform rock and soil type analysis on the image to obtain rock and soil characteristic information, where the rock and soil type includes the rock and soil hardness grade, the rock and soil humidity grade and the rock and soil looseness; Determine the target thrust of the partition where each group of propulsion cylinders is located according to the rock and soil characteristic information and the current attitude of the TBM tunneling machine.

5. The method according to claim 4, characterized in that, The step of calculating the target total thrust according to the historical total thrust of the TBM tunneling machine includes: Screening out the target historical total thrust from the historical total thrust table according to the geotechnical characteristic information, wherein the historical total thrust table is obtained by dividing the total thrust according to the geotechnical hardness grade, the geotechnical humidity grade and the geotechnical looseness; Calculating the average value of the target historical total thrust to obtain the target total thrust.

6. A system for precisely correcting the attitude of a TBM tunneling machine Characterized in that It includes: A host computer, which is used to generate a deviation correction control instruction through the method for precisely correcting the attitude of a TBM tunneling machine described in any one of claims 1-5; A programmable controller communicatively connected to the host computer, which is used to receive the deviation correction control instruction sent by the host computer and correct the attitude of the TBM tunneling machine and control the propulsion according to the deviation correction control instruction; A vertical guiding system communicatively connected to the host computer, which is used to collect the tunneling machine position and attitude of the TBM tunneling machine and report the tunneling machine position and attitude to the programmable controller, so that the programmable controller forwards the tunneling machine position and attitude to the host computer.

7. The system for precisely correcting the attitude of a TBM tunneling machine according to claim 6 Characterized in that The host computer is further used to monitor the communication status between the TBM tunneling machine and the programmable controller, and issue an alarm message and switch the control authority of the TBM tunneling machine to manual control when the communication status indicates that the communication between the TBM tunneling machine and the programmable controller is disconnected.

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