A control system and method for a shield machine thrust cylinder

Abstract

The application discloses a kind of shield machine propulsion oil cylinder control system and method related to shield machine control technical field, comprising: terminal industrial computer, the terminal industrial computer is configured with the shield machine propulsion control interface based on laboratory virtual instrument engineering platform construction;Through ethernet and the programmable controller of terminal industrial computer communication connection, through control and communication link system and the programmable controller communication connection of shield machine, the shield machine is configured with multiple propulsion oil cylinder, each the propulsion oil cylinder is configured with oil cylinder pressure sensor;The oil cylinder pressure sensor is connected with the programmable controller communication connection by control and communication link system;It can effectively make up the shortcoming of programmable controller data processing and the lack of computing ability, on the basis of guaranteeing control stability and reliability, improve the program running efficiency of programmable controller and the accuracy of control.

Description

Technical Field

[0001] This invention relates to the field of tunnel boring machine control technology, and in particular to a tunnel boring machine propulsion cylinder control system and method. Background Technology

[0002] Tunnel boring machines (TBMs) are the main equipment used in tunnel construction for urban subways, cross-river and sea tunnels, highways, and high-speed railways. TBMs typically use a Programmable Logic Controller (PLC) as the control center to achieve reliable and stable control of the propulsion cylinders. However, with the increasing functionality of TBMs and their gradual development towards automation and intelligence, the limitations of PLC data processing capabilities have become increasingly apparent. Furthermore, due to the increased number of propulsion cylinders in the TBM, the insufficient data processing capabilities become even more pronounced when individual control of each cylinder is required during tunneling. This results in lower control stability and reliability for the TBM, as well as lower program execution efficiency and control accuracy for the PLC. Summary of the Invention

[0003] To address the technical problems of insufficient data processing and computing capabilities of programmable logic controllers (PLCs) in existing tunnel boring machines (TBMs), resulting in low control stability and reliability, as well as low program execution efficiency and control accuracy, this invention provides a TBM propulsion cylinder control system and method.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A first aspect of the present invention provides a shield tunneling machine propulsion cylinder control system, the shield tunneling machine propulsion cylinder control system comprising:

[0006] The terminal industrial control computer is equipped with a tunnel boring machine propulsion control interface built on a laboratory virtual instrument engineering platform;

[0007] The shield machine is connected to the terminal industrial control computer via Ethernet programmable controller and via a control and communication link system. The shield machine is equipped with multiple propulsion cylinders, and each propulsion cylinder is equipped with a cylinder pressure sensor.

[0008] The hydraulic cylinder pressure sensor is connected to the programmable controller via the control and communication link system.

[0009] The terminal industrial control computer is used to acquire the attitude information of the tunnel boring machine, and calculate the pressure target value of each propulsion cylinder according to the attitude information and the propulsion cylinder action signal issued by the programmable controller, and display the attitude information and the pressure target value of each propulsion cylinder on the tunnel boring machine propulsion control interface built on the laboratory virtual instrument engineering platform;

[0010] The programmable controller is configured to forward the pressure target value to each of the propulsion cylinders, so that each of the propulsion cylinders provides propulsion pressure according to the pressure target value;

[0011] The hydraulic cylinder pressure sensor is used to collect the hydraulic pressure in the propulsion cylinder during the propulsion process and report the hydraulic pressure to the programmable controller in real time through the control and communication link system.

[0012] The programmable controller is used to receive the oil pressure reported by the cylinder pressure sensor and report the oil pressure to the terminal industrial control computer via the Ethernet, so that the terminal industrial control computer can recalculate the pressure target value of each propulsion cylinder based on the oil pressure.

[0013] In one embodiment, the tunnel boring machine includes: an output module, a proportional amplifier communicatively connected to the output module, and the proportional amplifier communicatively connected to the proportional solenoid valves in each of the propulsion cylinders;

[0014] The output module is communicatively connected to the programmable controller through the control and communication link system;

[0015] The programmable controller is used to convert the pressure target value of the terminal industrial control computer into a control signal of a preset voltage and send it to the output module; the output module is used to output the received control signal to the proportional amplifier; the proportional amplifier is used to convert the received control signal into a current signal and output the current signal to the proportional solenoid valve in each of the propulsion cylinders to adjust the opening of the proportional solenoid valve, the opening of the proportional solenoid valve being positively correlated with the propulsion pressure that the propulsion cylinder can provide.

[0016] In one embodiment, the terminal industrial control computer is used to obtain the model number and IP address of the programmable controller, and to perform PID control on the tunnel boring machine propulsion control interface built on the laboratory virtual instrument engineering platform according to the model number and IP address of the programmable controller.

[0017] The programmable controller is configured to, in response to an operation of setting the built-in Ethernet port number in the programmable controller, set the built-in Ethernet port number according to the input port number; and / or, in response to an operation of selecting an opening mode in the programmable controller, use the currently selected opening mode in the drop-down menu as the target opening mode, the opening mode including MC protocol opening and MEL SOFT connection.

[0018] In one embodiment, the terminal industrial control computer is used to obtain the built-in Ethernet port number of the programmable controller and set the port number of the OPC service in the laboratory virtual instrument engineering platform according to the built-in Ethernet port number.

[0019] In one embodiment, the terminal industrial control computer is used to acquire the total thrust of each of the propulsion cylinders in the tunnel boring machine, and to calculate the pressure target value of each propulsion cylinder based on the total thrust of each propulsion cylinder, the attitude information, and the propulsion cylinder action signal issued by the programmable controller.

[0020] In one embodiment, the terminal industrial control computer is used to acquire the maximum overflow pressure of each propulsion cylinder in the tunnel boring machine, determine multiple pressure indication values ​​and a maximum upper limit value for the corresponding propulsion cylinder based on the maximum overflow pressure of each propulsion cylinder, determine the display information on the tunnel boring machine propulsion control interface based on the oil pressure and the multiple pressure indication values, and limit the pressure target value of the propulsion cylinder to be less than the maximum upper limit value.

[0021] A second aspect of the present invention provides a method for controlling the propulsion cylinder of a tunnel boring machine, the method being applied to a terminal industrial control computer in the tunnel boring machine propulsion cylinder control system of any one of the first aspects, the method comprising:

[0022] The attitude information of the tunnel boring machine is obtained, and the pressure target value of each propulsion cylinder is calculated based on the attitude information and the propulsion cylinder action signal issued by the programmable controller.

[0023] The attitude information and the pressure target values ​​of each of the propulsion cylinders are displayed on the tunnel boring machine propulsion control interface built on the laboratory virtual instrument engineering platform. The pressure target values ​​are used to instruct each of the propulsion cylinders to provide propulsion pressure according to the pressure target values.

[0024] The terminal industrial control computer receives the oil pressure from the cylinder pressure sensor forwarded by the programmable controller, so that it can recalculate the target pressure value of each of the propulsion cylinders based on the oil pressure.

[0025] In one embodiment, the method includes:

[0026] Obtain the model number and IP address of the programmable controller, and then use the PID control interface on the tunnel boring machine propulsion control interface built on the laboratory virtual instrument engineering platform according to the model number and IP address of the programmable controller.

[0027] In one embodiment, the method includes:

[0028] Obtain the built-in Ethernet port number of the programmable controller, and set the port number of the OPC service in the laboratory virtual instrument engineering platform according to the built-in Ethernet port number;

[0029] The built-in Ethernet port number is set by the programmable controller in response to the operation of setting the built-in Ethernet port number in the programmable controller, based on the input port number.

[0030] In one embodiment, the step of calculating the target pressure value of each propulsion cylinder based on the attitude information and the propulsion cylinder actuation signal issued by the programmable controller includes:

[0031] Obtain the total thrust of each propulsion cylinder in the tunnel boring machine;

[0032] The target pressure value of each propulsion cylinder is calculated based on the total thrust of each propulsion cylinder, the attitude information, and the propulsion cylinder action signal issued by the programmable controller.

[0033] In one embodiment, the method further includes:

[0034] Obtain the maximum overflow pressure of each propulsion cylinder in the tunnel boring machine;

[0035] Based on the maximum overflow pressure of each propulsion cylinder, determine multiple pressure indication values ​​and maximum upper limit values ​​for the corresponding propulsion cylinder;

[0036] Based on the oil pressure and the multiple pressure indication values, determine the display information on the tunnel boring machine propulsion control interface, and limit the target pressure value of the propulsion cylinder to less than the maximum upper limit value.

[0037] Compared with the prior art, the present invention has the following advantages:

[0038] 1. It can effectively make up for the shortcomings of insufficient data processing and computing capabilities of programmable controllers, and improve the program running efficiency and control accuracy of programmable controllers while ensuring control stability and reliability.

[0039] 2. The use of a laboratory virtual instrument engineering platform enables the access of any function, which facilitates subsequent system upgrades and expansions, and reduces system development and upgrade costs. Attached Figure Description

[0040] Figure 1 This is a block diagram of a shield tunneling machine propulsion cylinder control system according to the present invention.

[0041] Figure 2 A flowchart of a shield tunneling machine propulsion cylinder control method provided by the present invention. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] This invention provides a technical solution: a control system for the propulsion cylinder of a tunnel boring machine, see [link to relevant documentation]. Figure 1 As shown, the shield machine propulsion cylinder control system 100 includes:

[0044] The terminal industrial control computer 110 is equipped with a shield machine 130 propulsion control interface built on a laboratory virtual instrument engineering platform;

[0045] A programmable controller 120 is connected to the terminal industrial control computer 110 via Ethernet, and a tunnel boring machine 130 is connected to the programmable controller 120 via the control and communication link system CC-link. The tunnel boring machine 130 is equipped with multiple propulsion cylinders 1303, and each propulsion cylinder 1303 is equipped with a cylinder pressure sensor 1304.

[0046] In this embodiment of the disclosure, the terminal industrial control computer 110 is connected to the network switch via TCP / IP communication, and the network switch is connected to the programmable controller 120 via TCP / IP communication, wherein the programmable controller 120 can be a Mitsubishi programmable controller.

[0047] The cylinder pressure sensor 1304 is communicatively connected to the programmable controller 120 through the control and communication link system;

[0048] The terminal industrial control computer 110 is used to acquire the attitude information of the tunnel boring machine 130, and calculate the pressure target value of each of the propulsion cylinders 1303 according to the attitude information and the action signal of the propulsion cylinder 1303 issued by the programmable controller 120, and display the attitude information and the pressure target value of each of the propulsion cylinders 1303 on the propulsion control interface of the tunnel boring machine 130 built based on the LabVIEW laboratory virtual instrument engineering platform;

[0049] The programmable controller 120 is used to forward the pressure target value to each of the propulsion cylinders 1303, so that each of the propulsion cylinders 1303 provides propulsion pressure according to the pressure target value;

[0050] The hydraulic cylinder pressure sensor 1304 is used to collect the hydraulic pressure in the propulsion cylinder 1303 during the propulsion process, and report the hydraulic pressure to the programmable controller 120 in real time through the control and communication link system.

[0051] The programmable controller 120 is used to receive the oil pressure reported by the cylinder pressure sensor 1304 and report the oil pressure to the terminal industrial control computer 110 via the Ethernet, so that the terminal industrial control computer 110 can recalculate the pressure target value of each of the propulsion cylinders 1303 based on the oil pressure.

[0052] In one embodiment, see Figure 1 As shown, the tunnel boring machine 130 includes: an output module 1301, a proportional amplifier 1302 that is communicatively connected to the output module 1301, and the proportional amplifier 1302 that is communicatively connected to the proportional solenoid valve in each of the propulsion cylinders 1303.

[0053] The output module 1301 is communicatively connected to the programmable controller 120 through the control and communication link system;

[0054] The programmable controller 120 is used to convert the pressure target value of the terminal industrial control computer 110 into a control signal of a preset voltage and send it to the output module 1301; the output module 1301 is used to output the received control signal to the proportional amplifier 1302; the proportional amplifier 1302 is used to convert the received control signal into a current signal and output the current signal to the proportional solenoid valve in each of the propulsion cylinders 1303 to adjust the opening degree of the proportional solenoid valve, the opening degree of the proportional solenoid valve being positively correlated with the propulsion pressure that the propulsion cylinder 1303 can provide.

[0055] In one embodiment, the terminal industrial control computer 110 is used to obtain the model number and IP address of the programmable controller 120, and to perform PID control on the tunnel boring machine 130 propulsion control interface built on the laboratory virtual instrument engineering platform according to the model number and IP address of the programmable controller 120.

[0056] The programmable controller 120 is configured to, in response to an operation of setting the built-in Ethernet port number in the programmable controller 120, set the built-in Ethernet port number according to the input port number; and / or, in response to an operation of selecting an opening mode in the programmable controller 120, use the currently selected opening mode in the drop-down menu as the target opening mode, the opening mode including MC protocol opening and MEL SOFT connection.

[0057] In this embodiment, communication is established between LabVIEW and a Mitsubishi Q-series PLC. Since communication between the Mitsubishi PLC and LabVIEW is essentially via Ethernet, the NI OPC Server software settings first require identifying the Mitsubishi PLC model and setting the correct IP address (i.e., the PLC's internal IP address). Additionally, the built-in Ethernet port settings in the PLC parameter settings require selecting the MC protocol and configuring the Ethernet communication port number. Because the tunnel boring machine (TBM) operating on-site needs to collect guidance and tunneling system data and transmit it to the customer's management system, port number settings in the PLC should avoid conflicts as much as possible. Unused port numbers need to be created. In this invention, 8199 is selected as the port number for communication between the Mitsubishi PLC and the NI OPC Server. The port number set in the NI OPC Server software should be consistent with the port number in the PLC parameter settings.

[0058] In one embodiment, the terminal industrial control computer 110 is used to obtain the built-in Ethernet port number of the programmable controller 120, and set the port number of the OPC service in the laboratory virtual instrument engineering platform according to the built-in Ethernet port number.

[0059] In this embodiment, after communication is established, variables in the OPC need to be defined. The rule for definition is that the variable address is the same as the address of the soft component in the Mitsubishi PLC, which facilitates differentiation and later lookup. In addition, to ensure the system's response and control effect, the update rate in the group attributes needs to be set in the OPCQuick Client. According to the control accuracy of the hydraulic system and the response time of the control system, the update rate is set to 100ms in this system, which can be applied to the control of the propulsion cylinder under various working conditions.

[0060] In one embodiment, the terminal industrial control computer 110 is used to acquire the total thrust of each of the propulsion cylinders 1303 in the tunnel boring machine 130, and calculate the pressure target value of each of the propulsion cylinders 1303 based on the total thrust of each of the propulsion cylinders 1303, the attitude information and the action signal of the propulsion cylinders 1303 issued by the programmable controller 120.

[0061] In one embodiment, the terminal industrial control computer 110 is used to acquire the maximum overflow pressure of each of the propulsion cylinders 1303 in the tunnel boring machine 130, and determine multiple pressure indication values ​​and a maximum upper limit value for the corresponding propulsion cylinder 1303 based on the maximum overflow pressure of each of the propulsion cylinders 1303, and determine the display information on the propulsion control interface of the tunnel boring machine 130 based on the oil pressure and the multiple pressure indication values, and limit the pressure target value of the propulsion cylinder 1303 to be less than the maximum upper limit value.

[0062] In this embodiment, the principle of controlling the pressure of the tunnel boring machine's propulsion cylinders is to maintain the total thrust within a certain range and keep the propulsion torque constant, so that the tunnel boring machine can maintain a good tunneling posture during the propulsion process. In addition, it is necessary to limit the upper limit of the pressure of each propulsion cylinder. For example, in this disclosure, the maximum overflow pressure of the propulsion cylinder hydraulic system is 35 MPa, and the upper limit of the control pressure of the propulsion cylinder in the control system is set to 30 MPa, which provides a certain degree of protection for the operation of the hydraulic system. To enable the tunnel boring machine operator to clearly distinguish changes in cylinder pressure during operation, the system is equipped with PID control for each group of cylinder pressure indicators: red for cylinder pressure greater than 25 MPa, blue for pressure less than 4 MPa, and green for other conditions.

[0063] During the control of the propulsion cylinder pressure, the propulsion pressure of the propulsion cylinder will continuously approach the target pressure value and fluctuate around the target pressure. To ensure the control effect, the system limits the stable thrust range of each cylinder (the cylinder thrust is obtained based on the cylinder propulsion pressure). When the cylinder thrust stabilizes within ±10KN of the target thrust, the system considers the propulsion pressure control to be stable. The system adjusts the cylinder pressure only in the tunnel boring machine's propulsion mode. When the tunnel boring machine is in assembly mode, the propulsion cylinder control is manually adjusted.

[0064] In this embodiment, a control system architecture based on LabVIEW software and Mitsubishi PLC is first established, and the equipment and communication methods required for the system to realize its functions are defined. Communication between LabVIEW software and Mitsubishi PLC is realized by setting parameters in NI OPC Server software. After the communication is established, communication variables between the two need to be defined.

[0065] Furthermore, a flowchart for the propulsion cylinder pressure control program was designed in LabVIEW software. The main control algorithm is the commonly used PID control. The control of the pressure of each propulsion cylinder is mainly determined by the total thrust of the shield and the shield attitude. Therefore, it is necessary to set the target total thrust and shield attitude of the tunnel boring machine. In order to ensure the safe and stable operation of the system, the fluctuation of the cylinder thrust and the upper limit of the cylinder control pressure are set during the control process. The pressure control signal of each propulsion cylinder is output by the control module in LabVIEW software.

[0066] Furthermore, the PLC receives the propulsion cylinder pressure output by the LabVIEW software, converts it, and outputs the propulsion cylinder pressure control signal; the PLC is responsible for real-time detection of the pressure of each propulsion cylinder and feeding it back to the LabVIEW software, and the software algorithm control module adjusts the cylinder pressure output in real time according to the feedback cylinder pressure.

[0067] Based on the same inventive concept, this invention provides a method for controlling the propulsion cylinder of a tunnel boring machine. The method is applied to the terminal industrial control computer in the tunnel boring machine propulsion cylinder control system described in any of the above embodiments. (See also...) Figure 2 As shown, the method includes:

[0068] In step S21, the attitude information of the tunnel boring machine is obtained, and the pressure target value of each propulsion cylinder is calculated based on the attitude information and the propulsion cylinder action signal issued by the programmable controller.

[0069] In step S22, the attitude information and the pressure target values ​​of each propulsion cylinder are displayed on the tunnel boring machine propulsion control interface built on the laboratory virtual instrument engineering platform. The pressure target values ​​are used to instruct each propulsion cylinder to provide propulsion pressure according to the pressure target values.

[0070] In step S23, the hydraulic pressure of the cylinder pressure sensor forwarded by the programmable controller is received, so that the terminal industrial control computer can recalculate the target pressure value of each of the propulsion cylinders based on the hydraulic pressure.

[0071] In one embodiment, the method includes:

[0072] Obtain the model number and IP address of the programmable controller, and then use the PID control interface on the tunnel boring machine propulsion control interface built on the laboratory virtual instrument engineering platform according to the model number and IP address of the programmable controller.

[0073] In one embodiment, the method includes:

[0074] Obtain the built-in Ethernet port number of the programmable controller, and set the port number of the OPC service in the laboratory virtual instrument engineering platform according to the built-in Ethernet port number;

[0075] The built-in Ethernet port number is set by the programmable controller in response to the operation of setting the built-in Ethernet port number in the programmable controller, based on the input port number.

[0076] In one embodiment, step S21, the step of calculating the target pressure value of each propulsion cylinder based on the attitude information and the propulsion cylinder actuation signal issued by the programmable controller, includes:

[0077] Obtain the total thrust of each propulsion cylinder in the tunnel boring machine;

[0078] The target pressure value of each propulsion cylinder is calculated based on the total thrust of each propulsion cylinder, the attitude information, and the propulsion cylinder action signal issued by the programmable controller.

[0079] In one embodiment, the method further includes:

[0080] Obtain the maximum overflow pressure of each propulsion cylinder in the tunnel boring machine;

[0081] Based on the maximum overflow pressure of each propulsion cylinder, determine multiple pressure indication values ​​and maximum upper limit values ​​for the corresponding propulsion cylinder;

[0082] Based on the oil pressure and the multiple pressure indication values, determine the display information on the tunnel boring machine propulsion control interface, and limit the target pressure value of the propulsion cylinder to less than the maximum upper limit value.

[0083] When multiple sets of propulsion cylinders of the tunnel boring machine (TBM) need to be controlled individually during tunneling, the shortcomings of the PLC's insufficient data processing capabilities become more prominent, and using ladder diagrams or function blocks for programming is not convenient for implementing complex data analysis logic. To improve the TBM control performance while ensuring the stability and reliability of the control system, LabVIEW is introduced as the data processing and calculation platform for propulsion cylinder control. This effectively compensates for the insufficient data processing and calculation capabilities of Mitsubishi PLCs, improving not only the PLC program's operating efficiency but also the system's control accuracy, while facilitating subsequent system upgrades and expansions.

[0084] Based on the above-described preferred embodiments according to this application, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this application. The technical scope of this application is not limited to the contents of the specification, but must be determined according to the scope of the claims.

[0085] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A shield tunneling machine propulsion cylinder control system, characterized in that, The tunnel boring machine (TBM) propulsion cylinder control system includes: a terminal industrial control computer equipped with a TBM propulsion control interface built on a laboratory virtual instrument engineering platform; a programmable controller (PCC) connected to the terminal industrial control computer via Ethernet; and a TBM connected to the PCC via a control and communication link system. The TBM is equipped with multiple propulsion cylinders, each containing a cylinder pressure sensor. The cylinder pressure sensors are connected to the PCC via the control and communication link system. The terminal industrial control computer acquires the TBM's attitude information and calculates the target pressure value for each propulsion cylinder based on the attitude information and the propulsion cylinder action signals issued by the PCC. The computer then displays the attitude information and the target pressure values ​​on the TBM propulsion control interface built on the laboratory virtual instrument engineering platform. The PCC forwards the target pressure values ​​to each propulsion cylinder, enabling each propulsion cylinder to provide propulsion pressure according to the target pressure value. The hydraulic cylinder pressure sensor is used to collect the hydraulic pressure inside the propulsion cylinder during the propulsion process and report the hydraulic pressure to the programmable controller in real time through the control and communication link system. The programmable controller is used to receive the hydraulic pressure reported by the hydraulic cylinder pressure sensor and report the hydraulic pressure to the terminal industrial control computer through the Ethernet, so that the terminal industrial control computer can recalculate the target pressure value of each propulsion cylinder based on the hydraulic pressure. The tunnel boring machine includes: an output module and a proportional amplifier communicatively connected to the output module. The proportional amplifier is communicatively connected to the proportional solenoid valves in each of the propulsion cylinders. The output module is communicatively connected to the programmable controller (PCC) via the control and communication link system. The PCC is used to convert the pressure target value of the terminal industrial control computer into a control signal of a preset voltage and send it to the output module. The output module is used to output the received control signal to the proportional amplifier. The proportional amplifier is used to convert the received control signal into a current signal and output the current signal to the proportional solenoid valves in each of the propulsion cylinders to adjust the opening degree of the proportional solenoid valves. The opening degree of the proportional solenoid valves is positively correlated with the propulsion pressure that the propulsion cylinder can provide. The terminal industrial control computer is used to obtain the model number and IP address of the programmable controller (PCC), and generate a PID control interface on the tunnel boring machine propulsion control interface built on the laboratory virtual instrument engineering platform based on the PCC model number and the PCC IP address; the PCC is used to respond to the operation of setting the built-in Ethernet port number in the PCC; and / or, in response to the operation of selecting the opening mode in the PCC, use the selected opening mode in the drop-down menu as the target opening mode, the opening mode including MC protocol opening and MEL SOFT connection. The terminal industrial control computer is used to obtain the built-in Ethernet port number of the programmable controller and set the port number of the OPC service in the laboratory virtual instrument engineering platform according to the built-in Ethernet port number.

2. The shield machine propulsion cylinder control system according to claim 1, characterized in that, The terminal industrial control computer is used to acquire the total thrust of each propulsion cylinder in the tunnel boring machine, and to calculate the pressure target value of each propulsion cylinder based on the total thrust of each propulsion cylinder, the attitude information, and the propulsion cylinder action signal issued by the programmable controller.

3. The shield machine propulsion cylinder control system according to claim 2, characterized in that, The terminal industrial control computer is used to obtain the maximum overflow pressure of each propulsion cylinder in the tunnel boring machine, and determine multiple pressure indication values ​​and a maximum upper limit value of the corresponding propulsion cylinder based on the maximum overflow pressure of each propulsion cylinder. Based on the oil pressure and the multiple pressure indication values, it determines the display information on the tunnel boring machine propulsion control interface and limits the pressure target value of the propulsion cylinder to less than the maximum upper limit value.

4. A method for controlling the propulsion cylinder of a tunnel boring machine, characterized in that, The method is applied to the terminal industrial control computer in the tunnel boring machine propulsion cylinder control system according to any one of claims 1-3. The method includes: acquiring the attitude information of the tunnel boring machine, and calculating the pressure target value of each propulsion cylinder based on the attitude information and the propulsion cylinder action signal issued by the programmable controller; displaying the attitude information and the pressure target value of each propulsion cylinder on a tunnel boring machine propulsion control interface constructed based on a laboratory virtual instrument engineering platform, wherein the pressure target value is used to instruct each propulsion cylinder to provide propulsion pressure according to the pressure target value; and receiving the oil pressure of the cylinder pressure sensor forwarded by the programmable controller, so that the terminal industrial control computer can recalculate the pressure target value of each propulsion cylinder based on the oil pressure.

5. The shield machine propulsion cylinder control method according to claim 4, characterized in that, The method includes: obtaining the model number and IP address of the programmable controller, and generating a PID control interface on the tunnel boring machine propulsion control interface built on the laboratory virtual instrument engineering platform according to the model number and IP address of the programmable controller.

6. The shield machine propulsion cylinder control method according to claim 5, characterized in that, The method includes: obtaining the built-in Ethernet port number of the programmable controller, and setting the port number of the OPC service in the laboratory virtual instrument engineering platform according to the built-in Ethernet port number; the built-in Ethernet port number is set by the programmable controller in response to the operation of setting the built-in Ethernet port number in the programmable controller, according to the input port number.

7. The shield machine propulsion cylinder control method according to any one of claims 4-6, characterized in that, The step of calculating the target pressure value of each propulsion cylinder based on the attitude information and the propulsion cylinder action signal issued by the programmable controller includes: obtaining the total thrust of each propulsion cylinder in the tunnel boring machine; and calculating the target pressure value of each propulsion cylinder based on the total thrust of each propulsion cylinder, the attitude information, and the propulsion cylinder action signal issued by the programmable controller.

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