An attitude control system and method for an automatic deviation-correcting vertical TBM

Abstract

The present invention provides an attitude control system and method for an automatic deviation correction vertical TBM. The system includes a vertical guiding system, a PLC, a host computer, and a propulsion system. The vertical guiding system monitors the pose state of the vertical TBM and transmits it to the host computer. The host computer combines the data of each sensor of the TBM propulsion system read from the PLC to calculate the percentage of the set value of the sectional pressure, and the PLC adjusts the thrust of each section of the propulsion system. The present invention establishes a mathematical model of the pose relationship between the vertical TBM and the construction axis of the shaft, and uses an algorithm to automatically and linearly adjust the thrust of each propulsion section, and realizes attitude deviation correction by changing the thrust force center. During the deviation correction process, it is ensured that the thrust of each section is evenly distributed on the cutter head and the thrust changes linearly, reducing the wear of the cutter head and tools compared with manual operation, getting rid of the dependence on construction experience, and reducing the construction risk caused by human errors.

Description

Technical Field

[0001] The present invention relates to a tunneling machine, and particularly to a vertical tunneling machine. Background Art

[0002] With the expansion of China's infrastructure construction, with the development of construction technologies for highways and railway tunnels, there are more and more long tunnels, and the construction of long tunnels, especially extra-long highway and railway tunnels, has an urgent need for the construction of deep and large vertical shafts, and thus the demand for vertical tunnel boring machines (TBMs) is also increasing continuously.

[0003] Similar to conventional TBMs or shield machines, the attitude of the tunneling machine is related to the safety and quality of tunnel construction and is an important reference index during the tunneling process. However, in the case of difficult operation, there are few operators with rich operation experience, resulting in serious influence of the on-site construction quality and progress by human factors. Once the adjustment is unreasonable during the operation process, not only will the construction quality fail to meet the requirements and seriously affect the construction period, but also construction accidents may occur. Summary of the Invention

[0004] Object of the Invention: Provided is an attitude control system and method for an automatically rectifying vertical TBM. When it is detected that the vertical TBM deviates from the vertical axis or has a tendency to deviate, the propulsion system is automatically adjusted to timely rectify the attitude of the tunneling machine, and the attitude of the vertical TBM can be rectified efficiently and quickly, improving the quality and efficiency of shaft construction.

[0005] Technical Solution: An attitude control system for an automatically rectifying vertical TBM includes a vertical guiding system, a PLC, a host computer, and a propulsion system;

[0006] The vertical guiding system monitors the position and attitude state of the vertical TBM and transmits it to the host computer. The host computer combines the data of each sensor of the TBM propulsion system read from the PLC, calculates the percentage of the set value of the sectional pressure, and the PLC adjusts the thrust of each section of the propulsion system.

[0007] Further, the propulsion system includes sections divided according to the propulsion cylinders. On each propulsion cylinder of each section, there is a rod chamber pressure sensor for monitoring the pressure in the rod chamber of the cylinder and a rodless chamber pressure sensor for monitoring the pressure in the rodless chamber.

[0008] Further, a coordinate system X-axis and Y-axis are established on the horizontal plane. The planned axis is an axis passing through the origin of coordinates and perpendicular to the horizontal plane. The vertical guiding system projects the position and attitude state of the vertical TBM onto the horizontal plane, and according to the positional relationships between its projection and the X-axis and Y-axis respectively, the position and attitude state are converted into quantified index inclination angles and offsets in each axial direction, including the tail X-axis deviation, tail Y-axis deviation, X-axis pitch angle, and Y-axis pitch angle;

[0009] The tail X-axis deviation is the deviation value of the vertical TBM tail relative to the planned axis in the X-axis direction. The tail Y-axis deviation is the deviation value of the vertical TBM tail relative to the planned axis in the Y-axis direction. The X-axis pitch angle is the component of the angle between the vertical TBM and the horizontal plane on the X-axis, and the Y-axis pitch angle is the component of the angle between the vertical TBM and the horizontal plane on the Y-axis.

[0010] Further, the host computer uses the historical tunneling data of the vertical TBM as the target total thrust. By combining the attitude data of the vertical TBM monitored by the vertical guidance system with the target centroid of force, the target thrust of each zone is obtained. Then, combined with the pressure of the rod chamber monitored by the sensor, the pressure of the non-rod chamber is obtained, and the percentage data of the set value of the partition pressure of the propulsion cylinder is calculated and transmitted to the PLC to control the movement of the propulsion cylinder.

[0011] An attitude control method for an automatically rectifying vertical TBM includes the following steps:

[0012] (1) The vertical TBM uses the recent average total thrust as the target total thrust value;

[0013] (2) Project the attitude of the vertical TBM onto the X-axis direction and the Y-axis direction. The vertical guidance system quantifies the attitude projection as: tail X-axis deviation, tail Y-axis deviation, X-axis pitch angle, and Y-axis pitch angle, and then subdivides the attitude based on the above data;

[0014] (3) Then, based on different pose states, the target thrust centroid is obtained. 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;

[0015] (4) Finally, based on the thrust of each partition cylinder and the current pressure of the rod chamber, the target pressure of the non-rod chamber is obtained. According to the real-time detected pressure of the non-rod chamber, combined with the fuzzy PID algorithm, the percentage of the set value of the partition pressure at the next moment is calculated, and the pressure of the non-rod chamber is gradually adjusted to the target pressure of the non-rod chamber;

[0016] (5) Iterate according to this time and loop infinitely.

[0017] Further, in the horizontal projection plane, define the direction of the center of a certain propulsion partition relative to the center of the vertical TBM in the horizontal projection as the positive X-axis direction. Rotate 90° counterclockwise from the positive X-axis direction to get the positive Y-axis direction. Represent the deflected attitude as the relative position relationship between the vertical axis and the short arrow of the vertical TBM. The arrow direction is the tunneling direction trend of the vertical TBM, following the rules of left negative and right positive, upper tail and lower head.

[0018] Even further, in step (2), the attitude of the vertical TBM is subdivided according to the head deviation, pitch angle, and tail deviation:

[0019] ① The vertical TBM has negative tail deviation, head deviation and pitch angle with respect to the vertical axis;

[0020] ② The vertical TBM has negative tail deviation and head deviation with respect to the vertical axis, and there is no pitch angle;

[0021] ③ The vertical TBM has negative tail deviation, head deviation and positive pitch angle with respect to the vertical axis;

[0022] ④ The vertical TBM has negative tail deviation, positive head deviation and positive pitch angle with respect to the vertical axis;

[0023] ⑤ The vertical TBM has positive tail deviation, head deviation and positive pitch angle with respect to the vertical axis;

[0024] ⑥ The vertical TBM has positive tail deviation and head deviation with respect to the vertical axis, and there is no pitch angle;

[0025] ⑦ The vertical TBM has positive tail deviation, head deviation and negative pitch angle with respect to the vertical axis;

[0026] ⑧ The vertical TBM has positive tail deviation, negative head deviation and negative pitch angle with respect to the vertical axis.

[0027] Furthermore, in the process of determining the target thrust center in step (3), by referring to the attitude of the vertical TBM subdivided in step (2), the offset (Δx, Δy) of the target thrust center relative to the cutter head center is calculated:

[0028]

[0029]

[0030] where R represents the radius of the circle formed by the propulsion cylinders on the horizontal plane, θ x and θ y represent the pitch angle of the X-axis and the pitch angle of the Y-axis respectively, and ΔLx tail and ΔLy tail represent the tail X-axis deviation and the tail Y-axis deviation respectively.

[0031] Furthermore, after determining the offsets Δx and Δy of the target thrust center relative to the cutter head center in step (3), according to the force relationship, it can be obtained that:

[0032]

[0033] where F 合 and F1, F2, F3, F4, F5, F6 are the total thrust of the propulsion system and the thrusts of each partition cylinder respectively, and l x1 …l x6 and l y1 …ly6 They are the lever vectors of the thrusts of each group of propulsion cylinders relative to the cutter head center in the X-axis direction and the Y-axis direction respectively;

[0034] In order to make the thrusts of each partition evenly distributed on the cutter head, it is required that all the thrusts be on the same vector plane. It can be known that:

[0035]

[0036]

[0037] Among them, r1, r2, r3, r4, r5, and r6 are the distances between each group of propulsion cylinders and the cutter head center on the horizontal projection plane respectively. According to formulas (4)-(6), the target thrust values of each partition are obtained.

[0038] Furthermore, after calculating the target thrust of each partition in step (4), calculate the target pressure P of the rodless cavity 无杆腔 :

[0039] F 推 = P 无杆腔 ·πR 2 - P 有杆腔 ·π(R 2 - r 2 ) (7) Among them, R is the inner diameter of the cylinder, r is the radius of the piston rod, and F 推 That is, the thrusts F1, F2, F3, F4, F5, and F6 of the cylinders in each partition obtained. Correspondingly, P 有杆腔 and P 无杆腔 are also the rodless cavity pressure and the rodless cavity pressure of each partition. That is, this formula can be used to calculate the target pressure of the rodless cavity for each partition;

[0040] Furthermore, the percentage of the partition pressure setting value can be obtained through the fuzzy PID algorithm.

[0041] Beneficial effects: The present invention establishes a mathematical model of the pose relationship between the vertical TBM and the construction axis of the shaft, uses an algorithm to automatically linearly adjust the thrust magnitudes of each propulsion partition, and realizes attitude correction by changing the thrust force center. During the correction process, it ensures that the thrusts of each partition are evenly distributed on the cutter head and the thrust changes linearly. Compared with manual operation, it reduces the wear of the cutter head and tools, gets rid of the dependence on construction experience, and reduces the construction risks caused by human errors. Description of the Drawings

[0042] Figure 1 It is a schematic structural diagram of the main part of the vertical TBM;

[0043] Figure 2 It is a distribution diagram of the propulsion cylinders;

[0044] Figure 3Schematic diagram of the system structure of the present invention;

[0045] Figure 4 Stereogram of the pose state of the vertical TBM;

[0046] Figure 5 Projection diagram of the pose state of the vertical TBM on the horizontal plane;

[0047] Figure 6 Schematic diagram of the attitude model of the vertical TBM; among them, the long straight line represents the planned line, and the short arrow represents the position of the vertical TBM relative to the planned line. Specific implementation manner

[0048] The structural schematic diagram of the vertical TBM adopted in this embodiment is as shown in Figure 1 shown. Its propulsion working principle is as follows: There is a rigid connection between the cutter head 5, the stabilizing shoe 4, and the slewing platform 1, and the thrust shoe 2 is connected to the stabilizing shoe 4 through the propulsion cylinder 3. During propulsion, the thrust shoe 2 is fixed on the tunnel wall, and the up and down movement of the vertical TBM main body is realized through the telescopic action of the propulsion cylinder 3.

[0049] The propulsion system is provided with propulsion cylinders S1 - S12, which are divided into 6 regions, and their position distributions are as shown in Figure 2 shown. Each group consists of an oil cylinder, a pressure sensor for the rodless cavity of the oil cylinder, a pressure sensor for the rod chamber of the oil cylinder, a stroke sensor, a proportional pressure reducing valve, etc. The pressure sensor for the rodless cavity monitors the pressure of the rodless cavity of the oil cylinder, the pressure sensor for the rod chamber monitors the pressure of the rod chamber of the oil cylinder, and the stroke sensor monitors the stroke of the oil cylinder.

[0050] A control system and method for automatically correcting the attitude of a vertical TBM, as shown in Figure 3 shown, takes the pose state of the vertical TBM as the control object, uses the vertical guidance system to detect and feedback the pose state of the vertical TBM, takes the propulsion system of the vertical TBM as the actuator, and consists of a host computer and a PLC to form a controller to automatically adjust the thrust magnitude of each propulsion zone.

[0051] The pose state of the vertical TBM on the horizontal plane is divided into the X - axis direction and the Y - axis direction, and the pose state is converted into quantization indexes of tilt angle and offset on each axis, namely the tail X - axis deviation, the X - axis pitch angle, the tail Y - axis deviation, and the Y - axis pitch angle. The tail X - axis deviation is the deviation value of the tail of the vertical TBM relative to the planned axis in the X - axis direction; the tail Y - axis deviation is the deviation value of the tail of the vertical TBM relative to the planned axis in the Y - axis direction; the X - axis pitch angle is the pitch angle of the vertical TBM on the X - axis of the horizontal plane; the Y - axis pitch angle is the pitch angle of the vertical TBM on the Y - axis of the horizontal plane.

[0052] In this embodiment, the direction of the center of the propulsion area 1 relative to the center of the tunneling machine on the horizontal plane 20 is defined as the positive X-axis direction. The positive Y-axis direction is obtained by rotating the positive X-axis direction counterclockwise by 90°. The planned axis 10 is the axis passing through the coordinate origin O and perpendicular to the horizontal plane 20. As Figure 3 , 4 shown, point A is the projection point of the tail of the vertical TBM 30 on the horizontal plane 20. The distance OA1 between the projection of point A and point O in the X-axis direction is the tail X-axis deviation, and the distance OA2 between the projection of point A and point O in the Y-axis direction is the tail Y-axis deviation. θ is the pitch angle, that is, the inclination angle of the vertical TBM 30 relative to the planned axis 10. The X-axis pitch angle and the Y-axis pitch angle can be directly measured by an inclinometer.

[0053] The vertical guidance system detects the data of the tail X-axis deviation, the X-axis pitch angle, the tail Y-axis deviation, and the Y-axis pitch angle, and transmits them to the upper computer. The upper computer calculates the head X-axis deviation based on the tail X-axis deviation and the X-axis pitch angle, and calculates the head Y-axis deviation based on the tail Y-axis deviation and the Y-axis pitch angle:

[0054] ΔLx head =ΔLx tail +ΔH·(tanθ x )

[0055] ΔLy head =ΔLy tail +ΔH·(tanθ y ) (2)

[0056] where, ΔLx head is the head X-axis deviation, ΔLy head is the head Y-axis deviation, ΔLx tail is the tail X-axis deviation, ΔLy tail is the tail Y-axis deviation, ΔH is the vertical distance between the head and the tail of the vertical TBM, θ x is the X-axis pitch angle, θ y is the Y-axis pitch angle.

[0057] Regardless of whether it is the X-axis upward or the Y-axis upward, according to the three data of the head deviation, the pitch angle, and the tail deviation, the attitude of the vertical TBM can be divided into 8 categories as Figure 5 shown. The upper part in the figure is the tail of the vertical TBM, the lower part is the head of the vertical TBM, the arrow direction is the tunneling direction trend of the vertical TBM, and the positional relationship between the long straight line and the short arrow line represents the relative positional relationship between the vertical axis of the shaft and the vertical TBM. Its position follows the principle of "negative on the left and positive on the right". In this model, the deviation correction idea is: 1→2→3→4→5→6→7→8→1…, and the ultimate goal is to correct the attitude of the tunneling machine to completely coincide with the planned line during the process of 3→4 or 7→8.

[0058] The host computer 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. The process of calculating the target thrust of each propulsion zone by the host computer is divided into three parts, namely: determining the target thrust centroid according to the pose data of the vertical tunneling machine, calculating the total target thrust, resolving the target thrust of each zone according to the target centroid and the total target thrust, and then combining the pressure of the rod chamber monitored by the sensor to obtain the pressure of the rodless chamber, and calculating the percentage of the pressure setting value of the next moment through the fuzzy PID algorithm for thrust adjustment:

[0059] 1. The process of determining the target thrust centroid, that is, according to the data of the vertical guidance system, determining the current pose model of the vertical TBM, corresponding to Figure 3 a certain type of situation in, the offset (Δx, Δy) of the target thrust centroid relative to the cutterhead center can be calculated according to the following formula:

[0060]

[0061]

[0062] Among them, R represents the radius of the circle formed by 6 groups of propulsion cylinders on the horizontal plane, and θ x and θ y represent the pitch angle of the X-axis and the pitch angle of the Y-axis respectively, and ΔLx tail and ΔLy tail represent the deviation of the tail on the x-axis and the deviation of the tail on the Y-axis respectively.

[0063] 2. The process of calculating the total target thrust. The host computer stores the read total thrust in a queue. Whenever the vertical TBM tunnels a certain distance, the data in the queue is updated, and the average value of all the data in the queue is used as the total target thrust.

[0064] 3. In the process of resolving the target thrust of each zone according to the target centroid and the total target thrust, after determining the offset Δx and Δy of the target thrust centroid relative to the cutterhead center, according to the force relationship, we can get:

[0065]

[0066] Among them, F 合 and F1, F2, F3, F4, F5, F6 are the total thrust of the propulsion system and the thrust of each zone cylinder respectively, and l x1 ...l x6 and l y1 ...l y6 are the moment arm vectors of the thrust of each group of propulsion cylinders relative to the cutterhead center in the X-axis direction and the Y-axis direction respectively;

[0067] In order to evenly distribute the thrust of each partition on the cutter head, it is required that all thrusts be in the same vector plane. It can be known that:

[0068]

[0069]

[0070] Among them, r1, r2, r3, r4, r5, and r6 are the distances between each group of propulsion cylinders and the cutter head center on the horizontal projection plane respectively, and they are all constants. According to formulas (5)-(7), the target thrust values of each partition can be obtained by solving the system of equations.

[0071] When calculating and outputting the control value to the PLC, based on the target thrust value of each partition and the data of the pressure value of the rodless cavity of the cylinder obtained from the PLC, the target pressure of each partition can be calculated through formula (8). Among them, R and r are the inner diameter of the cylinder and the radius of the piston rod respectively, and both are constants, P 无杆腔 、P 有杆腔 represent the pressures of the rodless cavity and the rod cavity of the cylinder respectively:

[0072] F 推 =P 无杆腔 ·πR 2 -P 有杆腔 ·π(R 2 -r 2 ) (8)

[0073] Then, taking the real-time rodless cavity pressure value as the feedback signal, the fuzzy PID algorithm is used to adjust the percentage of the partition pressure setting value.

[0074] The above-mentioned parts of classifying the attitude model, obtaining attitude-related data, calculating the target thrust of each propulsion partition, calculating and outputting the control value to the PLC are all carried out in real time. Iterating according to this time and looping infinitely, thus realizing the attitude of the automatic deviation-correcting vertical TBM described in the present invention.

Claims

1. An attitude control method for an automatic deviation correction vertical TBM, characterized in that: The attitude control system includes a vertical guiding system, a PLC, a host computer, and a propulsion system; The vertical guiding system monitors the pose state of the vertical TBM and transmits it to the host computer. The host computer combines the data of each sensor of the TBM propulsion system read from the PLC, calculates the percentage of the set value of the sectional pressure, and the PLC adjusts the thrust of each section of the propulsion system. The propulsion system includes sections divided according to the propulsion cylinders, and each section of the propulsion cylinder is provided with a rod-end pressure sensor for monitoring the pressure in the rod chamber and a rodless chamber pressure sensor for monitoring the pressure in the rodless chamber; A coordinate system X-axis and Y-axis are established on the horizontal plane. The planned axis is the axis passing through the origin of coordinates and perpendicular to the horizontal plane. The vertical guiding system projects the pose state of the vertical TBM onto the horizontal plane, and according to the positional relationship between its projection and the X-axis and Y-axis respectively, the pose state is converted into quantization indexes of tilt angle and offset on each axis, including the tail X-axis deviation, the tail Y-axis deviation, the X-axis pitch angle, and the Y-axis pitch angle; The tail X-axis deviation is the deviation value of the tail of the vertical TBM relative to the planned axis in the X-axis direction, the tail Y-axis deviation is the deviation value of the tail of the vertical TBM relative to the planned axis in the Y-axis direction, the X-axis pitch angle is the component of the angle between the vertical TBM and the horizontal plane on the X-axis, and the Y-axis pitch angle is the component of the angle between the vertical TBM and the horizontal plane on the Y-axis; The host computer uses the historical tunneling data of the vertical TBM as the target total thrust, obtains the target thrust of each section through the attitude data of the vertical TBM monitored by the vertical guiding system combined with the target force center, and then combines the rod-end pressure monitored by the sensor to obtain the rodless chamber pressure, calculates the percentage data of the set value of the sectional pressure of the propulsion cylinder, and transmits it to the PLC to control the movement of the propulsion cylinder; It includes the following steps: (1) The vertical TBM uses the recent average total thrust as the target total thrust value; (2) Project the attitude of the vertical TBM onto the X-axis direction and the Y-axis direction. The vertical guiding system quantifies the attitude projection as: tail X-axis deviation, tail Y-axis deviation, X-axis pitch angle, Y-axis pitch angle, and then subdivides the attitude according to the above data; On the horizontal projection plane, define the direction of the center of a certain section of propulsion relative to the center of the vertical TBM on the horizontal projection as the positive direction of the X-axis, and rotate 90° counterclockwise from the positive direction of the X-axis as the positive direction of the Y-axis. Represent the deflected attitude as the relative position relationship between the vertical axis and the short arrow of the vertical TBM. The arrow direction is the tunneling direction trend of the vertical TBM, following the rules of left negative and right positive, upper tail and lower head; Subdivide the attitude of the vertical TBM according to the head deviation, pitch angle, and tail deviation: ① The vertical TBM has negative tail deviation, head deviation, and pitch angle with the vertical axis; ② The vertical TBM has negative tail deviation and head deviation with the vertical axis, and no pitch angle; ③ The vertical TBM has negative tail deviation, head deviation, and positive pitch angle with the vertical axis; ④ The vertical TBM has negative tail deviation and positive head deviation and pitch angle with the vertical axis; ⑤ The vertical TBM has positive tail deviation, head deviation, and pitch angle with the vertical axis; ⑥ The vertical TBM has positive tail deviation and head deviation from the vertical axis and no pitch angle. ⑦ The vertical TBM has positive tail deviation, head deviation and negative pitch angle from the vertical axis. ⑧ The vertical TBM has positive tail deviation, negative head deviation and negative pitch angle from the vertical axis. (3) Then, according to different pose states, the target thrust force center is obtained. Based on the positional relationship of the cylinders in each zone and the principle that all the thrusts in each zone are in the same vector plane, the target thrust of each zone cylinder is calculated. In the process of determining the target thrust force center, referring to the posture of the vertical TBM detailed in step (2), the offset (Δx, Δy) of the target thrust force center relative to the cutter head center is calculated. （1） （2） wherein, R represents the radius of the circle formed by the propulsion cylinder on the horizontal plane, , respectively represent the pitch angle of the X-axis and the pitch angle of the Y-axis, , respectively represent the deviation of the tail X-axis and the deviation of the tail Y-axis; (4) Finally, based on the thrust of each zone cylinder and the current pressure in the rodless cavity, the target pressure in the rodless cavity is obtained. According to the real-time detected pressure in the rodless cavity and combined with the fuzzy PID algorithm, the percentage of the set value of the pressure in each zone at the next moment is calculated, and the pressure in the rodless cavity is gradually adjusted to the target pressure in the rodless cavity. (5) Iterate in this way for time and loop infinitely.

2. The attitude control method of the automatic deviation rectifying vertical TBM according to claim 1, characterized in that: After step (3) determines the offsets Δx and Δy of the target thrust force center relative to the cutter head center, according to the force relationship, it can be obtained that: （4） Among them, F 合 and F1, F2, F3, F4, F5, F6 are the total thrust of the propulsion system and the thrusts of the oil cylinders in each partition respectively, l x1 …l x6 and l y1 …l y6 are the force arm vectors of the thrusts of each group of propulsion oil cylinders relative to the cutter head center in the X-axis direction and the Y-axis direction respectively; Also, in order to evenly distribute the thrusts in each zone on the cutter head and require all the thrusts to be in the same vector plane, it can be known that: （5） （6） Among them, r1, r2, r3, r4, r5, r6 are the distances between each group of propulsion cylinders and the cutter head center on the horizontal projection plane respectively. According to formulas (4)-(6), the target thrust values of each zone are obtained.

3. The attitude control method of the automatic deviation-correcting vertical TBM according to claim 2, characterized in that: After calculating the target thrust of each partition in step (4), calculate the target pressure P of the rodless cavity 无杆腔 : （7） where, R is the inner diameter of the oil cylinder, r is the radius of the piston rod, F 推 That is, the calculated oil cylinder thrusts F1, F2, F3, F4, F5, F6 of each partition. Correspondingly, P 有杆腔 and P 无杆腔 are also the pressures of the rod chamber and the non-rod chamber of each partition. That is, the target pressure of the non-rod chamber can be calculated by formula (7) for each partition; Furthermore, the percentage of the set value of the pressure in each zone can be obtained through the fuzzy PID algorithm.

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