A shield tunnel segment synchronous assembling control method and a shield tunnel

Abstract

The application provides a shield tunnel segment synchronous assembling control method and a shield tunnel, and belongs to the technical field of shield tunnel segment assembling. In the synchronous assembling process, the position of a parallel mechanism of a propulsion system is analyzed to obtain a target displacement of a propulsion oil cylinder in a jacking area, and the propulsion oil cylinder is controlled to extend and retract according to the target displacement. In the control of the extension and retraction of the propulsion oil cylinder, a speed-based control method is used to obtain a target speed according to the target displacement, and the propulsion oil cylinder is controlled to extend and retract at the target speed. A pressure-based control method is also used to extract a propulsion oil cylinder pressure matrix corresponding to current geological information and target axis information from a pre-established expert knowledge base, and pressure is applied to each propulsion oil cylinder according to the propulsion oil cylinder pressure matrix, so that the propulsion oil cylinder reaches the target displacement, and finally the shield tunnel stably advances along the target axis during tunneling. The application can stably control the posture of the shield tunnel during synchronous assembling, and improve the tunneling efficiency of the shield tunnel.

Description

TECHNICAL FIELD

[0001] The application provides a shield tunnel segment synchronous assembling control method and a shield tunnel. BACKGROUND

[0002] In shield construction, segment assembling is a key process for tunnel forming and directly affects the pose of the shield. The current segment assembling procedure is as follows: after one stroke of the shield, the shield is stopped, segment assembling operation is performed, the shield is put into the next tunneling process, and the shield construction is realized in this way. According to statistics, in shield construction, the segment assembling operation time accounts for about 50% of the tunnel construction time, and is a key process that restricts the efficiency of shield construction. Therefore, the industry has proposed a segment synchronous assembling operation method of tunneling while assembling, but how to quickly adjust the stress state of the remaining several groups of push oil cylinders under the condition that the push oil cylinder in the assembling area is retracted without force, and maintain the stable control of the tunneling pose and the tunneling speed of the tunneling machine, is a key problem currently faced. SUMMARY

[0003] The application aims to provide a shield tunnel segment synchronous assembling control method and a shield tunnel, and solve the problem that it is difficult to stably control the tunneling pose of the shield tunnel during segment synchronous assembling.

[0004] In order to achieve the above-mentioned purpose, the application provides a shield tunnel segment synchronous assembling control method, a plurality of push oil cylinders are arranged at the rear part of the shield body, the push oil cylinders have a pushing state and a retraction state, the push oil cylinder corresponding to the current segment to be assembled is in the retraction state, and the remaining push oil cylinders are in the pushing state; during the shield tunnel segment synchronous assembling process, the push oil cylinders in the pushing state are controlled by the following steps:

[0005] 1) obtaining the current pose and the target pose of the shield tunnel;

[0006] 2) regarding the push oil cylinders of the shield tunnel as a parallel mechanism, regarding the plane where the push oil cylinder boots are located as the static platform of the parallel mechanism, regarding the plane where the push oil cylinder and the shield body are connected as the dynamic platform of the parallel mechanism, and regarding the static platform and the dynamic platform as being connected through the push oil cylinder; regarding the pose of the static platform as the current pose of the shield tunnel, and calculating the target displacement of each push oil cylinder in the pushing state when the dynamic platform reaches a position that meets the target pose of the shield tunnel;

[0007] 3) controlling each push oil cylinder in the pushing state according to the target displacement, and realizing the tunneling of the shield tunnel along the target axis.

[0008] In the synchronous assembling process of the shield machine, the advance oil cylinder corresponding to the current pipe segment to be assembled is in a retracted state, and the rest of the advance oil cylinders are in an advancing state. The advance oil cylinder of the shield machine is taken as a parallel mechanism for position analysis. The plane where the advance oil cylinder supporting shoe is located is taken as the static platform of the parallel mechanism, and the plane where the advance oil cylinder is connected with the shield body is taken as the dynamic platform of the parallel mechanism. The static platform and the dynamic platform are connected through the advance oil cylinder. In the position analysis, the pose of the static platform is taken as the current pose of the shield machine. According to the position of the dynamic platform when the shield machine reaches the target pose, the displacement of each advance oil cylinder in the advancing state when the shield machine reaches the target pose is calculated as the corresponding target displacement. According to the target displacement, each advance oil cylinder in the advancing state is controlled, so that the shield machine can stably advance along the target axis. By using the shield machine, the stable control of the shield machine pose in the synchronous assembling process can be realized, and the advancing efficiency of the shield machine is improved.

[0009] Further, in the above method, the current geological type and the current advancing direction of the shield machine during tunneling are also obtained, and the pressure of each advance oil cylinder is collected by the pressure sensor in step 3). According to the current geological type, the current advancing direction and the pressure of each advance oil cylinder, a synchronous tunneling model reflecting the corresponding relationship between the geological type, the advancing direction and the pressure of each advance oil cylinder is constructed.

[0010] In the synchronous assembling process of the shield machine, the geological type during tunneling (i.e. the type of rock and soil during tunneling of the shield machine) and the direction information during tunneling are obtained, and the advance oil cylinder pressure of each advance oil cylinder at this time is collected by the pressure sensor. A synchronous tunneling model reflecting the corresponding relationship between the geological type, the advancing direction and the pressure of each advance oil cylinder is established. The synchronous tunneling model can be used for the control of pipe segment synchronous assembling in the later tunneling process of the shield machine. Compared with the control method of obtaining the pressure of each advance oil cylinder by mathematical calculation, the calculation process is reduced, and the tunneling efficiency is improved.

[0011] Further, in the above method, the advance oil cylinder pressure when the coincidence degree of the current advancing direction and the target axis is greater than a set value is selected to construct the synchronous tunneling model.

[0012] In order to improve the accuracy of the synchronous tunneling model, the advance oil cylinder pressure when the coincidence degree of the current advancing direction and the target axis is greater than a set value is selected to construct the synchronous tunneling model.

[0013] Further, in the above method, the advance oil cylinder pressure when the tunneling speed of the shield machine is maximum is selected to construct the synchronous tunneling model.

[0014] In order to improve the segment synchronous assembling efficiency of the shield machine in the later tunneling process, the tunneling speed of the shield machine is used as an evaluation standard, and when tunneling in different geological types and different tunneling directions, the pressure of each pushing cylinder when the tunneling speed of the shield machine is the largest is selected to construct a synchronous tunneling model.

[0015] Further, in the above method, in step 3), when controlling each pushing cylinder in the advancing state according to the target displacement, the current geological type and the target tunneling direction obtained are input into the pre-established synchronous tunneling model, and the pressure of each pushing cylinder corresponding to the current geological type and the target tunneling direction is output, and each pushing cylinder in the advancing state is controlled to reach the target displacement according to the pushing cylinder pressure.

[0016] If only the target displacement is used to control the segment synchronous assembling process of the shield machine, the attitude of the shield machine will not be stable enough, therefore, when controlling each pushing cylinder in the advancing state according to the target displacement, a pre-established synchronous tunneling model can be called, the current geological type and the target tunneling direction obtained are input into the model, and the pressure of each pushing cylinder corresponding to the current geological type and the target tunneling direction is output, and then each pushing cylinder is controlled according to the pushing cylinder pressure, so that the automatic management of the segment synchronous assembling process of the shield machine can be realized, and the tunneling efficiency of the shield machine is improved.

[0017] Further, in the above method, when controlling each pushing cylinder in the advancing state according to the target displacement, displacement closed-loop control is used to adjust the proportional valve opening degree of each pushing cylinder in the advancing state, so as to change the displacement of the corresponding pushing cylinder and finally reach the target displacement; the displacement closed-loop control takes the target displacement as a given value, takes the current displacement of the pushing cylinder as a current value, obtains a first adjustment amount from the difference between the given value and the current value through a regulator, and adjusts the proportional valve according to the first adjustment amount.

[0018] The displacement closed-loop control is used to close-loop control the process of the pushing cylinder reaching the target displacement, the proportional valve opening degree of each pushing cylinder is adjusted, and stable control in the tunneling process of the shield machine is realized through pressure regulation, so that the attitude of the shield machine during tunneling is more stable.

[0019] Further, in the above method, the adjusting of the proportional valve according to the first adjustment amount comprises: performing dynamic pressure feedback processing on the corresponding pushing cylinder pressure to obtain a second adjustment amount, calculating the difference between the first adjustment amount and the second adjustment amount as a final adjustment amount, and adjusting the proportional valve according to the final adjustment amount.

[0020] In the synchronous assembling process, if the vibration of the parallel mechanism of the pushing cylinder is intensified, that is, the attitude of the shield machine is unstable, and the load pressure increases, therefore, through the dynamic pressure feedback processing, the flow input to the pushing cylinder is reduced, so that the vibration of the parallel mechanism is weakened, and the attitude of the shield machine during tunneling is more stable.

[0021] Further, in the above method, in step 2), a fixed coordinate system is established at the static platform, an x-axis of the fixed coordinate system is along a tangent direction of the target axis; coordinates of the shield machine cutter center in the fixed coordinate system are taken as the pose of the static platform, and coordinates of the target point in the fixed coordinate system are taken as the target pose of the shield machine, the target point being a position to be reached by the cutter center when the shield machine advances along the target axis.

[0022] According to the structure of the shield machine, the cutter is taken as a reference, a fixed coordinate system is established at the static platform, an x-axis of the fixed coordinate system is along a tangent direction of the target axis, and a position of the cutter center in the fixed coordinate system is taken as the pose of the static platform. The shield machine center is used for calculation, and the calculation amount is small.

[0023] Further, in the above method, in step 2), a shield body coordinate system is also established at the dynamic platform, an x-axis of the shield body coordinate system is along a shield body axis direction, and a conversion relationship between the shield body coordinate system and the fixed coordinate system is established.

[0024] According to the conversion relationship between the shield body coordinate system and the fixed coordinate system, a position of the cutter center in the shield body coordinate system is converted to the fixed coordinate system as the position of the cutter center in the fixed coordinate system, and a position of the target point in the shield body coordinate system is converted to the fixed coordinate system as the position of the target point in the fixed coordinate system.

[0025] By establishing the shield body coordinate system at the dynamic platform, the position of the cutter center in the shield body coordinate system is obtained according to the structure of the cutter, and then the conversion of the positions of the cutter center and the target point is realized through the conversion relationship between the shield body coordinate system and the fixed coordinate system, thereby improving the calculation efficiency.

[0026] Further, in the above method, the conversion relationship includes a translation transformation relationship and a rotation transformation relationship, and the translation transformation relationship is represented by the following formula:

[0027]

[0028] In the formula, C is a coordinate of point C in the fixed coordinate system, C is a coordinate of point C in the fixed coordinate system, o is an origin o of the shield body coordinate system A′ C is a coordinate of point C in the fixed coordinate system, C is a coordinate of point C in the fixed coordinate system, R is a rotation transformation matrix;

[0029] The rotation transformation relationship is represented by the rotation transformation matrix denotes:

[0030]

[0031] Rotating the fixed coordinate system around the z-axis of the shield body coordinate system Then rotating around the y-axis of the shield body coordinate system Then rotating around the x-axis of the shield body coordinate system Then translating to obtain the shield body coordinate system.

[0032] The application discloses a conversion relationship which can be directly adopted, including a translation conversion relationship and a rotation conversion relationship, the translation conversion relationship describes a distance relationship between two coordinate systems, and the rotation conversion relationship describes an attitude relationship between the two coordinate systems, so as to facilitate implementation and application of the application.

[0033] The application further provides a shield tunneling machine, a plurality of propulsion oil cylinders are arranged at the rear part of a shield body, the propulsion oil cylinders have a propulsion state and a retraction state, the propulsion oil cylinders corresponding to the current pipe segment to be assembled are in the retraction state, and the rest of the propulsion oil cylinders are in the propulsion state; the shield tunneling machine comprises a controller, and the controller comprises a processor and a memory; in the synchronous pipe segment assembling process, the processor executes instructions in the memory to realize the shield tunneling machine pipe segment synchronous assembling control method, so as to control the propulsion oil cylinders in the propulsion state.

[0034] The application further provides a shield tunneling machine pipe segment synchronous assembling control method, comprising the following steps:

[0035] 1) acquiring a current geological type and a current tunneling direction when the shield tunneling machine is tunneling;

[0036] 2) in the pipe segment synchronous assembling process, collecting the pressure of each propulsion oil cylinder through a pressure sensor;

[0037] 3) according to the current geological type, the current tunneling direction and the pressure of each propulsion oil cylinder, constructing a synchronous tunneling model reflecting the corresponding relationship between the geological type, the tunneling direction and the pressure of each propulsion oil cylinder.

[0038] The application further provides a shield tunneling machine pipe segment synchronous assembling control method, in the pipe segment synchronous assembling process of the shield tunneling machine, acquiring a geological type (i.e. the type of rock and soil when the shield tunneling machine is tunneling) and a direction information when the shield tunneling machine is tunneling, collecting the pressure of each propulsion oil cylinder through a pressure sensor, and establishing a synchronous tunneling model reflecting the corresponding relationship between the geological type, the tunneling direction and the pressure of each propulsion oil cylinder. According to the application, the synchronous tunneling model can be constructed, and is used for pipe segment synchronous assembling control in the tunneling process of the shield tunneling machine, so that the control of the pipe segment synchronous assembling process of the shield tunneling machine is smoother, and the attitude of the shield tunneling machine is more stable, compared with the control method of obtaining the pressure of each propulsion oil cylinder through mathematical calculation.

[0039] Further, in the above method, in step 3), the synchronous tunneling model is constructed by selecting the thrust cylinder pressure when the coincidence degree of the current tunneling direction and the target axis is greater than a set value.

[0040] In order to improve the accuracy of the synchronous tunneling model, the thrust cylinder pressure when the coincidence degree of the current tunneling direction and the target axis is greater than a set value is selected to construct the synchronous tunneling model.

[0041] Further, in the above method, in step 3), the synchronous tunneling model is constructed by selecting the thrust cylinder pressure when the tunneling speed of the shield machine is maximum.

[0042] In order to improve the synchronous segment assembly efficiency of the shield machine in the later stage, the tunneling speed of the shield machine is used as an evaluation standard, and the thrust cylinder pressure when the tunneling speed of the shield machine is maximum is selected to construct the synchronous tunneling model in different geological types and different tunneling directions.

[0043] Further, in the above method, in the process of synchronous segment assembly of the shield machine, the current geological type and the target tunneling direction during tunneling of the shield machine are obtained, the current geological type and the target tunneling direction are input into the pre-established synchronous tunneling model, the thrust cylinder pressure corresponding to the current geological type and the target tunneling direction is output, and the thrust cylinder is controlled according to the thrust cylinder pressure.

[0044] The synchronous tunneling model can be used in the process of synchronous segment assembly of the shield machine in the later stage, and only the current geological type and the target tunneling direction need to be obtained and input into the synchronous tunneling model, and the corresponding thrust cylinder pressure can be output according to the thrust cylinder pressure, and the corresponding thrust cylinder can be controlled, so that the posture smooth control in the process of synchronous segment assembly of the shield machine can be realized, and the operation process of the shield machine is more stable. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 FIG. 1 is a control flow diagram of the shield machine segment synchronous assembly control method in the method embodiment 1 of the present application;

[0046] Figure 2 FIG. 2 is a distribution diagram of the thrust cylinder of the shield machine in the method embodiment 1 of the present application;

[0047] Figure 3 FIG. 3 is a schematic diagram of the parallel mechanism of the shield machine in the method embodiment 1 of the present application;

[0048] Figure 4 FIG. 4 is a flow chart of establishing the synchronous tunneling model in the method embodiment 1 of the present application;

[0049] Figure 5 FIG. 5 is a building flow diagram of building the expert knowledge base in the method embodiment 1 of the present application;

[0050] Figure 6 This is a flowchart illustrating the use of the synchronous tunneling model in Embodiment 1 of the present invention.

[0051] In the diagram, 1 represents a partition, 2 represents a support shoe, 3 represents a propulsion cylinder, 4 represents a pressure sensor, and 5 represents a displacement sensor. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0053] Method Example 1:

[0054] The shield tunneling machine segment synchronous assembly control method of the present invention performs zoned control of the propulsion cylinders according to the planned target axis. By performing kinematic analysis on the parallel structure of the propulsion system, parametric equations are established, and the target displacement of the propulsion cylinders that enables the shield tunneling machine to advance along the target axis is solved. Combined with the actual displacement collected by the displacement sensors installed at the propulsion cylinders, the extension and retraction of the propulsion cylinders are adaptively adjusted to ensure that the shield tunneling machine advances stably along the target axis during segment synchronous assembly, thereby improving the shield tunneling efficiency.

[0055] like Figure 1 As shown, the shield tunneling machine segment synchronous assembly control method of the present invention includes the following steps:

[0056] S1. Based on the pre-designed tunnel parameters and the structure of the tunnel boring machine (TBM), the tunneling route of the TBM is planned to obtain the target axis of the TBM tunneling, that is, the target tunneling orientation of the TBM during tunneling.

[0057] S2. During the synchronous assembly process, the propulsion system is treated as a parallel mechanism, and parametric equations are established in conjunction with the target axis of the tunnel boring machine.

[0058] S3. Based on the position and attitude of the propulsion cylinders in each section during synchronous assembly, perform kinematic analysis on the parallel mechanism of the propulsion system, and then solve for the target displacement corresponding to the propulsion cylinder reaching the target point from the current state.

[0059] S4. For the propulsion cylinders that need to be controlled, their current displacement is collected in real time, and the current displacement is compared with the target displacement. Through the PID adjustment of the controller and the zone control of the propulsion cylinders, the guiding control of the tunnel boring machine and its cutterhead is realized, so that the tunnel boring machine works stably on the target axis.

[0060] In the pipe segment synchronous assembling process of the application, the propulsion system of the shield machine is first divided into several zones, the propulsion system includes m propulsion oil cylinders arranged circumferentially at the rear of the shield body of the shield machine, since each ring of pipe segments usually includes n pipe segments, n is usually 5, therefore the propulsion system is divided into 5 zones according to the number of pipe segments, each zone corresponds to k propulsion oil cylinders, k ranges from 3 to 5, the k propulsion oil cylinders corresponding to each zone are controlled uniformly, n x k = m.

[0061] The propulsion oil cylinder has two states, one state is the propulsion state, which refers to the state when the propulsion oil cylinder pushes the pipe segment, the zone corresponding to the propulsion state is the pushing zone, the propulsion oil cylinder in the pushing zone pushes the assembled pipe segment corresponding thereto to move the shield machine forward; the other state is the retraction state, the zone corresponding to the retraction state is the retraction zone, the propulsion oil cylinder in the retraction zone has a space capable of accommodating the pipe segment to be assembled between the assembled pipe segment, the width of the space is the distance between the width of one pipe segment and the width of two pipe segments.

[0062] A displacement sensor is arranged in each zone to collect the displacement of the propulsion oil cylinder, the displacement sensor usually adopts a laser sensor or an ultrasonic sensor, and a pressure sensor corresponding to each propulsion oil cylinder is arranged to collect the pressure of the propulsion oil cylinder when pushing the pipe segment.

[0063] Taking one of the zones as an example, as shown in Figure 2 Fig. 1, the zone 1 corresponds to one pipe segment, 3 propulsion oil cylinders in the propulsion system push on the pipe segment through the corresponding shoes 2, a pressure sensor 4 is arranged at the bottom of the cylinder barrel of the propulsion oil cylinder to collect the pressure of each propulsion oil cylinder, and a displacement sensor 5 arranged in the zone 1 can measure the displacement of the propulsion oil cylinder in real time.

[0064] The assembling process of each ring of pipe segments is regarded as a complete process, the assembling process of each pipe segment in the assembling process of each ring of pipe segments, i.e. the control process of the propulsion oil cylinder in each pushing zone, is regarded as a separate control action, and the following control is performed in each control action:

[0065] The specific implementation process of step S2 is as follows: in the synchronous assembling process, the shield machine determines the movement trajectory of the cutter head along the target axis according to the target axis and the parameters of the cutter head. The shoe spherical surface is regarded as a static platform, the cylinder barrel bottom spherical surface of the propulsion oil cylinder is regarded as a dynamic platform, the static platform, the dynamic platform and the propulsion oil cylinder between the static platform and the dynamic platform are regarded as a parallel mechanism, and the process of equivalent lofting of the shield machine along the planned target axis is processed, and the cutter head moves forward along the tangent direction of the target axis. The specific process of establishing the parallel mechanism can refer to the article of Hydraulic Parallel Robot Force / Position Hybrid Control Strategy Research published by Tao Han et al. in the Journal of Agricultural Machinery, Vol. 49, No. 9.

[0066] The type of all the propulsion oil cylinders in the propulsion system is the same, and there are m branch kinematic chains in the parallel mechanism, each branch kinematic chain (hereinafter referred to as a branch chain) represents a propulsion oil cylinder, the initial length of the propulsion oil cylinder piston rod when fully retracted is L, and the stroke of the propulsion oil cylinder of the ith branch chain is l i .

[0067] As shown in Figure 3 , according to the moving platform and the static platform of the parallel mechanism, a fixed coordinate system {A} and a shield body coordinate system {A'} are established in combination with the target axis. The origin O A of the fixed coordinate system {A} is located at the center of the center distribution circle of the spherical pair of the support shoe, the x A axis of the fixed coordinate system {A} is along the tangent direction of the current tunnel axis, the y A axis is located in the osculating plane of the tunnel segment axis and is perpendicular to the direction of the current tunnel curve, and the z A axis direction can be obtained by the right-hand rule. The coordinate origin O A′ of the shield body coordinate system {A'} is located at the center of the center distribution circle of the spherical pair of the propulsion hydraulic cylinder cylinder, the x A′ axis of the shield body coordinate system {A'} is along the direction of the shield body axis, the y A′ axis is located in the osculating plane of the shield body motion locus and is perpendicular to the direction of the current shield body axis, and the z A′ axis direction can also be obtained by the right-hand rule.

[0068] The shield body coordinate system {A'} can be obtained by sequentially rotating the fixed coordinate system {A} by z A′ , y A′ and x A′ rotations and angle rotations and then translating, so the rotation transformation matrix of the shield body coordinate system {A'} to the fixed coordinate system {A} is:

[0069]

[0070] In the formula, and respectively represent the roll angle, the pitch angle and the yaw angle of the shield tunneling machine relative to the target axis during tunneling, i.e., the attitude of the shield body, which can be obtained by the laser or gyroscope guidance system of the shield tunneling machine.

[0071] When the shield tunneling machine is synchronously assembled and tunnels in the stratum according to the target axis, the position A′ of the origin O of the shield body coordinate system {A'} in the fixed coordinate system {A} is [x, y, z] T .

[0072] The specific implementation process of step S3 is as follows: obtaining the target motion parameters of the pushing oil cylinder in each pushing area in the synchronous assembly process from the target pose, and performing the following kinematic analysis.

[0073] According to the structure of the cutter head, the coordinates of the center point C of the front end face of the cutter head in the shield body coordinate system {A'} can be obtained A′ O A′ C=[l c ,0,0] T , and then the coordinates of the center point C of the front end face of the cutter head in the fixed coordinate system {A} can be calculated according to the rotation transformation matrix The coordinates are used to represent the current pose of the shield tunneling machine.

[0074] On the basis of knowing the target axis along which the shield tunneling machine is to be excavated, it is specified that when the shield tunneling machine moves along the target axis, the position of the center point of the front end face of the cutter head at the next time is point D, that is, when the shield tunneling machine moves along the target axis, the center point of the front end face of the cutter head of the shield tunneling machine coincides with the target axis at the next time, and point D is taken as the target point of the shield tunneling machine moving along the target axis. According to the position of point D, the coordinates of point D in the shield body coordinate system {A'} can be obtained, and then the coordinates of point D in the fixed coordinate system can be calculated according to the rotation transformation matrix, and the coordinates are used to represent the target pose of the shield tunneling machine.

[0075] When the shield tunneling machine moves along the target axis, point C coincides with point D, and therefore the relationship between the coordinates of point C and the coordinates of point D is represented by formula (2):

[0076]

[0077] The target displacement of the pushing oil cylinder in each pushing area in the pushing system of the shield tunneling machine is solved through parallel mechanism position analysis of the pushing system, and the driving constraint equation of the parallel mechanism is established as shown in formula (3):

[0078]

[0079] In the formula, A O A O A′ is the coordinates of the origin O A′ in the fixed coordinate system {A}, is the rotation transformation matrix, A′ O A′ M i is the coordinates of M i in {A'}, A O A B i is the coordinates of B i in the fixed coordinate system {A}, A τ iM represents the forward direction of the i-th propulsion cylinder relative to the fixed coordinate system {A}. i Let B be the center point of the spherical sub-base in front of the i-th branch shield tunnel propulsion cylinder. i Let be the center point of the spherical sub-center behind the i-th branch shield tunnel propulsion cylinder.

[0080] During synchronous assembly, when each segment in each ring is assembled, the propulsion cylinder corresponding to the assembly area is in the retracted state, while the propulsion cylinders in other areas push the segments, propelling the tunnel boring machine forward. As the assembly areas switch, the state of the tunnel boring machine's propulsion system changes. i The i in the middle is reallocated, and the corresponding B is... i and M i The rotation transformation matrix changes. Point D is updated according to the running status of the tunnel boring machine on the target axis. Based on formulas (1) to (3), the target displacement of the propulsion cylinder in each assembly area during the synchronous assembly process within time t is calculated.

[0081] According to formula (3), the target stroke of each propulsion cylinder in the jacking zone can be calculated as follows:

[0082] l i = A B i M i · A τ i -L (4)

[0083] The time derivative of the variables on both sides of equation (4) is calculated to obtain the target speed of the propulsion cylinder in each jacking zone. Then, during the process of controlling the propulsion cylinder to reach the target displacement, the extension speed of the propulsion cylinder is continuously adjusted to ensure that the tunnel boring machine can tunnel stably along the target axis.

[0084] In this embodiment, the propulsion system is divided into 5 zones according to the number of segments in a ring. Therefore, when assembling a certain segment, the 5 zones are divided into 4 pushing zones and 1 contraction zone. The propulsion cylinders in the contraction zone are not controlled. The target displacement of each propulsion cylinder in the pushing zone is calculated using formulas (1) to (3). The corresponding propulsion cylinders are extended according to the target displacement, thereby ensuring that the tunnel boring machine moves stably along the target axis during synchronous assembly.

[0085] For example, there are 15 propulsion cylinders in 5 zones. The propulsion cylinders in each zone are numbered 1 to 15. If it is necessary to assemble the tube segments at the position corresponding to the second zone, then the second zone is designated as the contraction zone, and the first, third, fourth, and fifth zones are designated as the jacking zones. Therefore, the propulsion cylinders numbered 4 to 6 contract and are not controlled. Only the propulsion cylinders numbered 1 to 3 and 7 to 15 are controlled. That is, i in formula (3) takes the values ​​1 to 3 and 7 to 15 respectively, and the corresponding Bi and M i Also make corresponding adjustments, so as to calculate the target displacement of each push cylinder.

[0086] Due to complex geological conditions and other unpredictable factors, the shield machine sometimes deviates from the route during excavation, and the tunneling work of the shield machine is carried out under complex nonlinear load. In order to enable the shield machine to always advance on the target axis during synchronous assembly and achieve smooth control of the push cylinder.

[0087] The specific control method is that the displacement sensor installed in the push cylinder measures the displacement of the push cylinder in real time, so as to obtain the current displacement of the push cylinder, the target displacement of the push cylinder is calculated through the above calculation process, the target displacement of the push cylinder is taken as the given value of the displacement ratio ring control, the current displacement of the push cylinder is taken as the current value, the difference between the target displacement and the current displacement is calculated, the first adjustment amount is obtained through the PID adjustment of the controller, and then the opening of the proportional valve is controlled in a certain proportion according to the first adjustment amount, so as to adjust the pose of the push cylinder in the push area to reach the target pose, so as to realize the adjustment of the "offset", and enable the shield machine to continue to work on the target axis.

[0088] During synchronous assembly, if the vibration of the parallel mechanism of the push cylinder is intensified, the attitude of the shield machine is unstable, and the load pressure is increased. Therefore, the second adjustment amount is calculated according to the first adjustment amount through the dynamic pressure feedback processing mode, the difference between the first adjustment amount and the second adjustment amount is taken as the final adjustment amount, the opening of the proportional valve is adjusted according to the final adjustment amount, the flow input to the push cylinder is reduced, so as to weaken the vibration of the parallel mechanism, and make the attitude of the shield machine more stable during tunneling.

[0089] As shown in Figure 4 and Figure 5 During synchronous assembly, the pressure of each push cylinder during synchronous assembly is collected through the pressure sensor, so as to establish an expert knowledge base, and then a synchronous tunneling model is established according to the expert knowledge base. Due to different geologies, the running state and parameters of the tunneling system are not the same. Therefore, in order to improve the utilization rate of information, improve the tunneling efficiency and energy saving of the push system when encountering the same geological conditions in the later period, a database of the push system parameters under different geologies is established, the relationship between the geological information and the push cylinder pressure matrix (W) during multi-ring segment assembly is solved {V, W}, and support vector machine (SVM), neural network and other methods are used for statistical training, and the synchronous tunneling model obtained by training is saved.

[0090] The specific approach is as follows: During the synchronous assembly process based on target displacement control, in each control and adjustment of the tunnel boring machine's propulsion system, the assembly process of each ring segment is treated as a complete process P = {P1, P2, ..., P}. n}, the assembly P of each segment during the assembly of each ring of tunnel segments i As a single action, there are n groups in total. Historical tunneling data during the tunnel boring machine's excavation is acquired, and the geological information and target axis information during tunneling are statistically analyzed in the same workspace V. Pressure sensors are used to collect in real-time the pressure values ​​of the m propulsion cylinders corresponding to the n partitions during the assembly of each tunnel segment, and the data is saved in the form of a matrix (W), as shown in Table 1.

[0091] Table 1. Pressure gauge of different propulsion cylinders in different zones during synchronous assembly of multi-ring segments.

[0092]

[0093] The data in Table 1 represents each segment P in each ring segment P. i When the target displacement L is reached m The actual pressure values ​​of each propulsion cylinder at each time point are used to represent the optimal parameters of the propulsion system under geological conditions V, using the optimal propulsion cylinder pressure for a set of tunnel segments with ring number T during the assembly and tunneling process to achieve the target displacement. For example, in the table... This indicates that under the current geological conditions, during the synchronous assembly process of the tunnel boring machine advancing along the target axis, when assembling the second segment of the first ring segment, and when the propulsion cylinder reaches the target displacement L1, the pressure matrix of each propulsion cylinder in the propulsion system is as follows: the pressure of the propulsion cylinder in the contraction zone is 0, and the pressure of the propulsion cylinder in the jacking zone is the actual measured pressure of the pressure sensor.

[0094] Since it is difficult for a tunnel boring machine (TBM) to tunnel exactly along the pre-designed target axis, mathematical statistical analysis is performed on the tunneling data that deviates slightly from the target axis but does not affect the tunneling process. The tunneling data that deviates from the target axis but is less than a set range (i.e., the overlap between the TBM's tunneling route and the target axis is greater than a set value) is used as the tunneling data for building an expert knowledge base, thereby improving the accuracy of the expert knowledge base.

[0095] When collecting tunneling data, it is possible to obtain different propulsion cylinder pressure matrices under the same geological conditions and target axis. At this time, based on the tunneling speed of the tunnel boring machine, the set of tunneling data with the highest tunneling speed is extracted and used to establish a knowledge expert database. This enables the constructed synchronous tunneling model to improve the tunneling efficiency of the tunnel boring machine under the same geological conditions in the later stages.

[0096] In the embodiment, the target axis is used to represent the tunneling direction when the shield machine is tunneling, and thus can be represented by the radian, arc length and direction of the target axis, for example, the target axis stored in the expert knowledge base has a radian of θ and an arc length of s, and if the radian is 0, it indicates that the target axis is a straight line. The direction of the target axis is represented by the angle between the target axis and the horizontal line.

[0097] As shown in Figure 6 When the shield machine is working in the synchronous assembling mode, the expert knowledge base and the synchronous tunneling model can be used in the following manner: the current geological information V cur is compared with the geological information V in the expert knowledge base, when the same geological information V is found, a section of the target axis that is the same as the current target axis is found, the same tunneling direction is obtained, and then the output pressure matrix (W) of the segment of the tunneling ring based on the current geology is obtained, the pressure matrix is corresponded to the ring number and the segment split of the current work as P(T), and the pressure value that each push oil cylinder should be set under the same geological condition can be obtained This is used as a reference basis for pressure control, and improves the system efficiency and resource utilization.

[0098] In combination with the current geological information, the push oil cylinder pressure matrix corresponding to the current geological information and the target axis is extracted from the pre-established expert knowledge base, the corresponding pressure is applied to each push oil cylinder according to the push oil cylinder pressure matrix, so that the target displacement is reached, and finally the shield machine is stably advanced along the target axis.

[0099] Shield machine embodiment:

[0100] The present application also provides a shield machine, which adopts the shield machine segment synchronous assembling control method of method embodiment 1 in the synchronous assembling process of the segment, and the implementation of the method has been clearly and clearly introduced in method embodiment 1, and will not be repeated here.

[0101] The parallel mechanism combining the target axis of the shield machine and the propulsion system is parameterized, and the target displacement and the target velocity of each partition of the propulsion cylinder are solved by kinematic analysis of each partition of the propulsion cylinder in the synchronous assembling process according to the target pose equation of the shield machine, and the displacement sensor is used to acquire the displacement of each partition in real time in the synchronous assembling process, the current displacement is compared with the target displacement, the PID adjustment of the controller is used to control the partition of the propulsion cylinder to adjust the offset, so that the shield machine always works on the target axis. Compared with the traditional method, the adaptive control of the remaining partition of the propulsion cylinder is realized under the condition that the assembling area of the propulsion cylinder is retracted and not forced, the problem of hysteresis is solved, and the closed-loop control based on displacement is used in the assembling process to realize the smooth control of the propulsion cylinder. The control system has strong anti-interference ability and robustness, and ensures the stability and accuracy of the shield machine on the target axis.

[0102] Moreover, the pressure sensor is used to acquire the pressure value of each propulsion cylinder in the synchronous assembling process in real time, the model is trained by using the support vector machine (SVM), the neural network and the like in combination with the current geological information, the geological information and the segment assembling ring number are saved in the expert knowledge base in the form of a pressure value matrix, and the basis is provided for subsequent pressure setting of the propulsion cylinder based on displacement control and adjustment based on pressure control in the synchronous assembling of the shield machine, so that the system efficiency and the resource utilization rate are greatly improved.

[0103] Method embodiment 2:

[0104] The application further provides a shield machine segment synchronous assembling method, the geological type of a position where the shield machine is excavating is acquired, and the current excavation direction of the shield machine is obtained according to a target axis designed in advance or by measurement. Then, the pressure sensor is used to collect the pressure of the propulsion cylinder in the synchronous assembling process of the shield machine, and the assembling process of each ring segment is regarded as a complete process P={P1, P2, …, Pn}, and the assembling of each segment P n} in the assembling process of each ring segment is regarded as a complete process P={P1, P2, …, Pn}, and the assembling of each segment P i As a separate action, there are n groups. The historical excavation data of the shield machine are acquired, the geological information and the target axis information during excavation are counted in the same workspace V, the pressure values of the corresponding m propulsion cylinders in the n partitions of each segment during the assembling process are collected by the pressure sensor in real time, and are saved in the form of a matrix (W), as shown in Table 1.

[0105] The pressure of each pushing cylinder of the shield machine in the synchronous tunneling process can be obtained by using the segment synchronous assembly control method in the method embodiment 1, or can be obtained by mathematical calculation. For example, the shield pushing system top force distribution calculation method in the pushing and assembling synchronous mode disclosed in the Chinese patent document with the publication number CN111810174A is used, or the experience of a shield machine driver with rich experience is used. When the pressure control is performed on the pushing cylinder through these methods, the pushing cylinder pressure of the pushing cylinder in the segment synchronous assembly process is collected through the pressure sensor to construct a synchronous tunneling model.

[0106] The V and (W) are combined to obtain {V, W}, and a support vector machine (SVM), a neural network or the like is used for statistics and training to obtain a synchronous tunneling model. The synchronous tunneling model can be used in the segment synchronous assembly process of the shield machine in the later period. The corresponding geological type during tunneling and the target tunneling direction obtained according to the target axis are input into the pre-established synchronous tunneling model, and an output pressure matrix (W) of the segment assembly ring based on the current geological type is output. The pressure matrix is corresponding to the current working ring number and the segment block split as P(T), and the pressure value F of each pushing cylinder that should be set under the same geological condition can be obtained. PiLi This is used as a reference basis for pressure control to improve system efficiency and resource utilization.

[0107] Since the shield machine is difficult to tunnel completely according to the pre-designed target axis during tunneling, the tunneling data slightly deviating from the target axis but not affecting the tunneling of the shield machine are analyzed by mathematics, the tunneling data deviating from the target axis but the deviation degree being lower than a set range (i.e., the coincidence degree of the tunneling route of the shield machine and the target axis is greater than a set value) are used as the tunneling data for establishing the expert knowledge base, so that the accuracy of the expert knowledge base is improved.

[0108] During the collection of the tunneling data, different pushing cylinder pressure matrices under the same geology and the same target axis can be obtained. At this time, according to the tunneling speed of the shield machine, a group of tunneling data with the maximum tunneling speed is extracted for establishing the knowledge expert base, so that the synchronous tunneling model constructed can improve the tunneling efficiency of the shield machine under the same geological condition in the later period.

[0109] Compared with the control method of obtaining the pressure of each pushing cylinder by mathematical calculation in the synchronous assembly process, the shield machine segment synchronous assembly method in the embodiment is simpler in calculation, and the obtained pushing cylinder pressure has historical experience as a basis and is more reliable. By using the present application, the control of the shield machine segment synchronous assembly process can be smoother, and the posture of the shield machine is more stable.

Claims

1. A shield tunnel segment synchronous assembly control method, wherein the advance oil cylinder corresponding to the current segment to be assembled is in a retracted state, and the remaining advance oil cylinders are in an advancing state; characterized in that, The method comprises the following steps: 1) obtaining a current pose and a target pose of the shield tunneling machine; determining a target point to be reached by a center of a cutter head of the shield tunneling machine when the shield tunneling machine advances according to the target pose; 2) regarding a propelling cylinder of the shield tunneling machine as a parallel mechanism, establishing a fixed coordinate system at a propelling cylinder support shoe which is a static platform of the parallel mechanism according to the current pose, and establishing a shield joint body coordinate system at a connection between the propelling cylinder which is a dynamic platform of the parallel mechanism and a shield body; calculating target displacements of the propelling cylinders in a propelling state when a dynamic platform reaches a position satisfying the target pose of the shield tunneling machine within a time t according to the following formula: obtaining a coordinate of an origin of the shield joint body coordinate system at the origin of the fixed coordinate system in a next time according to a center point of a front end face of the cutter head coinciding with the target point in the next time = a coordinate of the center point of the front end face of the cutter head at the fixed coordinate system in a current time - a rotation transformation matrix from the shield joint body coordinate system to the fixed coordinate system x a coordinate of the target point in the shield joint body coordinate system; establishing a driving constraint equation: the coordinate of the origin + a coordinate of a front end of the i th propelling cylinder in the shield joint body coordinate system x the rotation transformation matrix - a coordinate of a rear end of the i th propelling cylinder in the fixed coordinate system = a product of a total length of the i th propelling cylinder after propelling and a propelling direction thereof relative to the fixed coordinate system; 3) controlling the propelling cylinders in the propelling state according to the target displacements to realize tunneling of the shield tunneling machine along a target axis.

2. The shield tunnel segment synchronous assembling control method according to claim 1, characterized in that, The current geological type and the current tunneling direction of the shield tunneling machine during tunneling are also obtained, and the pressures of the propelling cylinders are collected by pressure sensors in step 3); a synchronous tunneling model reflecting a corresponding relationship among the geological type, the tunneling direction and the pressures of the propelling cylinders is constructed according to the current geological type, the current tunneling direction and the pressures of the propelling cylinders; In step 3), the current geological type and the target tunneling direction are input into the synchronous tunneling model established in advance to output the pressures of the propelling cylinders corresponding to the current geological type and the target tunneling direction when the propelling cylinders in the propelling state are controlled according to the target displacements, and the propelling cylinders in the propelling state are controlled to reach the target displacements according to the pressures of the propelling cylinders.

3. The shield tunnel segment synchronous assembling control method according to claim 2, characterized in that, The synchronous tunneling model is constructed by selecting the pressures of the propelling cylinders when the coincidence degree of the current tunneling direction and the target axis is greater than a set value.

4. The shield tunnel segment synchronous assembling control method according to claim 3, characterized in that, The synchronous tunneling model is constructed by selecting the pressures of the propelling cylinders when the tunneling speed of the shield tunneling machine is maximum.

5. The shield tunnel segment synchronous assembly control method according to claim 1, characterized in that, In step 2), the origin of the fixed coordinate system is located at a center of a spherical surface pair center distribution circle, an xA axis of the fixed coordinate system is along a tangent direction of a current tunnel axis, and a yA axis is located in an osculating plane of a tunnel segment axis and is perpendicular to a direction of a current tunnel curve; the coordinate origin of the shield joint body coordinate system is located at a center of a spherical surface pair center distribution circle at a bottom of a propelling hydraulic cylinder cylinder, an xA' axis of the shield joint body coordinate system is along a shield body axis direction, and a yA' axis is located in an osculating plane of a shield body motion locus and is perpendicular to a current shield body axis direction.

6. The shield tunnel segment synchronous assembly control method according to claim 2, characterized in that, In the target displacement control of each pushing cylinder in the pushing state, the proportional valve opening of each pushing cylinder in the pushing state is adjusted by displacement closed-loop control, the displacement of the corresponding pushing cylinder is changed, and finally the target displacement is reached; the displacement closed-loop control takes the target displacement as a given value, takes the current displacement of the pushing cylinder as a current value, obtains a first adjustment amount by adjusting the difference between the given value and the current value, and adjusts the proportional valve according to the first adjustment amount.

7. The shield tunnel segment synchronous assembly control method according to claim 6, characterized in that, The proportional valve adjusting according to the first adjustment amount comprises: obtaining a second adjustment amount by dynamic pressure feedback processing of the pressure of the corresponding pushing cylinder, calculating the difference between the first adjustment amount and the second adjustment amount as a final adjustment amount, and adjusting the proportional valve according to the final adjustment amount.

8. The shield tunnel segment synchronous assembly control method according to claim 1, characterized in that, In step 2), a first coordinate of the center point of the cutter head front end face in the shield body coordinate system is obtained according to the cutter head structure, and the first coordinate×the rotation transformation matrix+the origin coordinate=the coordinate of the center point of the cutter head front end face in the fixed coordinate system at the current time; According to the fact that the center point of the cutter head front end face coincides with the target point at the next time, the first coordinate is replaced by the coordinate of the target point in the shield body coordinate system, and the origin coordinate at the next time is obtained as the coordinate of the center point of the cutter head front end face in the fixed coordinate system at the current time-the rotation transformation matrix×the coordinate of the target point in the shield body coordinate system.

9. The shield tunnel segment synchronous assembly control method according to claim 8, characterized in that, The rotation transformation matrix is: Rotating the fixed coordinate system around the z-axis of the shield body coordinate system Rotating the fixed coordinate system around the y-axis of the shield body coordinate system Rotating the fixed coordinate system around the x-axis of the shield body coordinate system Then translating to obtain the shield body coordinate system 、 、 The twist angle, pitch angle and yaw angle of the shield machine relative to the target axis during tunneling, i.e. the attitude of the shield body, are obtained through the laser or gyroscopic guidance system of the shield machine.

10. The shield tunnel segment synchronous assembly control method according to claim 2, characterized in that, The driving direction is represented by the radian, arc length and direction of the target axis, and the direction of the target axis is the angle between the target axis and the horizontal line.

11. A shield tunneling machine, a plurality of thrust cylinders are arranged at the rear of a shield body, the thrust cylinders have a thrust state and a retraction state, the thrust cylinders corresponding to the current pipe segment to be assembled are in the retraction state, and the remaining thrust cylinders are in the thrust state; characterized in that, The shield machine comprises a controller, and the controller comprises a processor and a memory; in the process of synchronous segment assembly of the shield machine, the processor executes instructions in the memory to realize the synchronous segment assembly control method of the shield machine according to any one of claims 1-10.

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