Shield tunneling unit target thrust calculation method and system based on plane equation

Abstract

The application relates to a shield propulsion unit target thrust calculation method and system based on a plane equation, which comprises the following steps: establishing a space rectangular coordinate system O-XYZ on the installation surface of a shield propulsion system of a shield tunneling machine; determining the angle of a target total thrust point P in a plane XOY; selecting a characteristic propulsion unit in the first quadrant or the second quadrant of the plane XOY; establishing a local coordinate system xOy; setting a target thrust z for each propulsion unit i :z i i =(i=1~n); setting the target thrust of the propulsion unit in a thrust plane, obtaining the values of z0 and k based on the plane equation of the thrust plane, and then obtaining the target thrust of each propulsion unit according to z i =(i=1~n); setting the target thrust of the propulsion unit in a thrust plane, obtaining the values of z0 and k based on the plane equation of the thrust plane, and then obtaining the target thrust of each propulsion unit according to z i The application makes the target thrust of each propulsion unit of the propulsion system meet the condition of being in the same plane, minimizes the difference of the target thrust of each propulsion unit, and solves the problem that the single segment is significantly different in ring surface stress during shield propulsion, thereby ensuring the safety of the segment structure.​

Description

Technical Field

[0001] This invention relates to the field of shield tunneling equipment technology, and specifically to a method and system for calculating the target thrust of a shield propulsion unit based on planar equations. Background Technology

[0002] The rational mitigation of target thrust in each propulsion unit of a shield tunneling system based on the target total thrust vector is a core issue in unmanned intelligent tunneling and synchronous shield assembly technology. A typical example is the Japanese ASC-OM method, which controls the tunneling direction by adjusting the point of application of the resultant thrust of the hydraulic cylinders and uses an automatic control system to manage the pressure of each cylinder individually, maintaining the point of application of the total thrust to achieve stable directional control and maintain axial accuracy. The core of the Japanese LoseZero method lies in the self-compensation calculation of missing thrust during the synchronous assembly of tunnel segments during tunneling. However, in practice, uneven hydraulic cylinder jacking forces on the same segment result in significant differences in stress on the circumferential surface of a single segment, making it prone to shear cracking. Summary of the Invention

[0003] The purpose of this invention is to overcome the defects of the prior art and provide a method and system for calculating the target thrust of a shield tunneling unit based on planar equations. This solves the problem that uneven hydraulic cylinder jacking force on the same segment in existing construction methods leads to large differences in the force on the segment on the annular surface, which in turn causes the segment to crack under shear.

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

[0005] This invention provides a method for calculating the target thrust of a shield tunneling unit based on planar equations, comprising the following steps:

[0006] Establish a spatial rectangular coordinate system O-XYZ on the mounting surface of the shield propulsion system of the tunnel boring machine, with the center of the shield propulsion system as the origin O, the horizontal direction as the X-axis, the vertical direction as the Y-axis, and the shield excavation direction as the Z-axis. The positive direction of the X-axis is horizontal to the left, the positive direction of the Y-axis is vertical to the up, and the positive direction of the Z-axis is along the opposite direction of shield excavation.

[0007] The target total thrust F based on the shield tunneling propulsion system t Horizontal resultant torque M h and vertical resultant moment M v Determine the angle of the target total thrust point P in the XOY plane. angle Let the angle between the line connecting the target total thrust point P and the origin O and the X-axis be denoted as .

[0008] In the first or second quadrant of the plane XOY, select a characteristic propulsion element such that the angle δ between the line connecting the center of the selected characteristic propulsion element to the origin O and the line connecting the target total thrust point P to the origin O satisfies: n is the total number of shield propulsion units in the shield propulsion system;

[0009] Establish a local coordinate system xOy, where the positive y-axis passes through the center of the selected characteristic propulsion unit, and set a target thrust z for each propulsion unit. i :z i =z0+kl i ,(i=1~n), where z0 is the initial value, l i The projection distance along the y-axis of the line segment connecting the center of each propulsion unit to the center of the characteristic propulsion unit, where k is a scaling factor; and

[0010] The target thrust of the propulsion unit is set to lie in a thrust plane. The values ​​of z0 and k are obtained based on the plane equation of the thrust plane, and then... i =z0+kl i To obtain the target thrust of each propulsion unit.

[0011] The target thrust calculation method of the present invention is based on the solution of the plane equation to calculate the target thrust of each propulsion unit, so that the target thrust of each propulsion unit of the propulsion system is in the same plane, thereby minimizing the difference in target thrust of each propulsion unit and solving the problem of structural safety of a single segment due to significant differences in the toroidal force during shield tunneling.

[0012] A further improvement of the shield propulsion unit target thrust calculation method based on the plane equation of the present invention is that the plane equation expression of the thrust plane is set as Ax+By+Cz=D, α is the angle between the projection of the normal vector E of the thrust plane onto the XOY plane and the positive direction of the Y axis, and the value of the angle α is determined according to the angle between the line connecting the center of the selected characteristic propulsion unit and the origin O and the positive direction of the Y axis.

[0013] Let the angle between the thrust plane and the XOY plane be β, and the tangent of the angle β be defined as the slope k of the thrust plane. Then C = 1 / k.

[0014] When α is in the first quadrant, A = -sinα, B = cosα, and the plane equation of the thrust plane is -sinαx + cosαy + z / k = D;

[0015] When α is in the second quadrant, A = sinα, B = cosα, and the plane equation of the thrust plane is sinαx + cosαy + z / k = D; where (x, y) are the position coordinates of the center of the thrust unit on the plane XOY.

[0016] Based on the above equation expression for the thrust plane, combined with The values ​​of z0, k, and D are calculated.

[0017] A further improvement of the shield tunneling propulsion unit target thrust calculation method based on plane equations in this invention is that when the propulsion unit is damaged or needs to be retracted due to synchronous assembly of tunnel segments, the corresponding target thrust is set to zero.

[0018] This invention also provides a target thrust calculation system for a shield tunneling propulsion unit based on planar equations, comprising:

[0019] The coordinate system establishment unit is used to establish a spatial rectangular coordinate system O-XYZ on the installation surface of the shield propulsion system of the shield machine. The established spatial rectangular coordinate system takes the center of the shield propulsion system as the origin O, the horizontal direction to the left as the positive X-axis, the vertical direction upward as the positive Y-axis, and the opposite direction of shield tunneling as the positive Z-axis.

[0020] Angle calculation unit, connected to the coordinate system establishment unit, is used to calculate the target total thrust F based on the shield tunneling propulsion system. t Horizontal resultant torque M h and vertical resultant moment M v Determine the angle of the target total thrust point P in the XOY plane. angle Let the angle between the line connecting the target total thrust point P and the origin O and the X-axis be denoted as .

[0021] The feature selection element is used to select a feature propulsion element in the first or second quadrant of the XOY plane, such that the angle δ between the line connecting the center of the selected feature propulsion element to the origin O and the line connecting the target total thrust point P to the origin O satisfies: n is the total number of shield propulsion units in the shield propulsion system; and

[0022] The thrust calculation unit is used to establish a local coordinate system xOy, where the positive half of the y-axis passes through the center of the selected characteristic propulsion unit, and a target thrust z is set for each propulsion unit. i :z i =z0+kl i ,(i=1~n), where z0 is the initial value, l i The projection distance along the y-axis is the line segment formed by connecting the center of each propulsion unit to the center of the characteristic propulsion unit. k is a scaling factor. It is also used to solve for the values ​​of Z0 and k based on the plane equation of the set thrust plane, and then according to z... i =z0+kl i To obtain the target thrust of each propulsion unit.

[0023] A further improvement of the shield tunneling propulsion unit target thrust calculation system based on planar equations in this invention is that the thrust calculation unit is used to solve for the values ​​of z0, k, and D according to the following equations:

[0024] When α is in the first quadrant, the three equations are as follows:

[0025] (1)

[0026] (2)-sinαx i +cosαy i +z0 / k+l i =D(i∈(1~n))

[0027] (3)-sinαx j +cosαy j +z0 / k+l j =D(j∈(1~n), and j≠i)

[0028] When α is in the second quadrant, the three equations are as follows:

[0029] (1)

[0030] (2)sinαx i +cosαy i +z0 / k+l i =D(i∈(1~n))

[0031] (3)sinαx j +cosαy j +z0 / k+l j =D(j∈(1~n), and j≠i)

[0032] Equations (2) and (3) are derived from the plane equation expression Ax + By + Cz = D of the thrust plane. α is the angle between the projection of the normal vector E of the thrust plane onto the XOY plane and the positive direction of the Y axis. The value of the angle α is determined by the angle between the line connecting the center of the selected characteristic propulsion unit and the origin O and the positive direction of the Y axis. The angle between the thrust plane and the XOY plane is set as β. The tangent of the angle β is defined as the slope k of the thrust plane, so C = 1 / k. When α is in the first quadrant, A = -sinα, B = cosα. When α is in the second quadrant, A = sinα, B = cosα. (x, y) are the position coordinates of the center of the propulsion unit on the XOY plane.

[0033] A further improvement of the shield propulsion unit target thrust calculation system based on plane equations in this invention is that the thrust calculation unit is also used to determine whether the propulsion unit is damaged or needs to be retracted. If so, the corresponding target thrust is set to zero. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the shield machine, the established spatial rectangular coordinate system, and the thrust plane in the shield propulsion unit target thrust calculation method and system based on plane equations of the present invention.

[0035] Figure 2 This is a schematic diagram of the XOY plane in the shield tunneling propulsion unit target thrust calculation method and system based on plane equations of the present invention.

[0036] Figure 3 This is a schematic diagram of the target thrust and thrust plane in the shield tunneling propulsion unit target thrust calculation method and system based on the plane equation of the present invention.

[0037] Figure 4 This is a flowchart of the shield propulsion unit target thrust calculation method based on plane equations according to the present invention. Detailed Implementation

[0038] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0039] See Figure 1 This invention provides a method and system for calculating the target thrust of a tunnel boring machine (TBM) propulsion unit based on planar equations. It aims to emphasize the uniform distribution of the target thrust of propulsion units on the same tunnel segment, ensuring relatively stable stress on the segment and reducing the risk of shear cracking due to excessive differences in jacking force. This invention uses planar equations to calculate the target thrust for each propulsion unit, minimizing the difference in target thrust between units. This solves the structural safety problem of tunnel segments caused by significant differences in toroidal stress on a single segment during TBM propulsion. The method and system for calculating the target thrust of a TBM propulsion unit based on planar equations are described below with reference to the accompanying drawings.

[0040] See Figure 1 This paper illustrates the structural diagram of the shield tunneling machine, the established spatial rectangular coordinate system, and the thrust plane in the shield tunneling unit target thrust calculation method based on plane equations according to the present invention. The following is a related explanation. Figure 1 The present invention describes the target thrust calculation system for shield tunneling propulsion units based on planar equations.

[0041] like Figure 1As shown, the shield propulsion unit target thrust calculation system based on planar equations of the present invention includes a coordinate system establishment unit, an angle calculation unit, a feature selection unit, and a thrust calculation unit. The coordinate system establishment unit is used to establish a spatial rectangular coordinate system O-XYZ on the mounting surface of the shield propulsion system of the shield machine. The established spatial rectangular coordinate system has the center of the shield propulsion system as the origin O, the horizontal direction to the left as the positive X-axis, the vertical direction upward as the positive Y-axis, and the reverse direction of shield tunneling as the positive Z-axis. The shield propulsion system includes multiple propulsion units 11, which are evenly distributed along the circumference at the tail of the shield machine 10. The angle calculation unit is connected to the coordinate system establishment unit and is used to calculate the target total thrust F of the shield propulsion system. t Horizontal resultant torque M h and vertical resultant moment M v Determine the angle of the target total thrust point P in the XOY plane. angle Let the angle between the line connecting the target total thrust point P and the origin O and the X-axis be denoted as . Combination Figure 2 As shown, the feature selection unit is used to select a feature propulsion unit in the first or second quadrant of the XOY plane, such that the angle δ between the line connecting the center of the selected feature propulsion unit to the origin O and the line connecting the target total thrust point P to the origin O satisfies: n represents the total number of shield propulsion units in the shield propulsion system; the thrust calculation unit is used to establish a local coordinate system xOy, where the positive half-axis of the y-axis passes through the center of the selected characteristic propulsion unit, and a target thrust z is set for each propulsion unit. i :z i =z0+kl i ,(i=1~n), where z0 is the initial value, l i The projection distance along the y-axis is the line segment formed by connecting the center of each propulsion unit to the center of the characteristic propulsion unit, where k is a scaling factor. This is also used to solve for the values ​​of z0 and k based on the plane equation of the set thrust plane 21, and then, according to z... i =z0+kl i To obtain the target thrust of each propulsion unit.

[0042] Furthermore, the thrust calculation unit is used to solve for the values ​​of z0, k, and D based on the following three equations:

[0043] -sinαx+cosαy+z / k=D Equation 1, α is in the first quadrant;

[0044] Equation 2, sinαx+cosαy+z / k=D, α is in the second quadrant;

[0045]

[0046] Equations 1 and 2 are derived from the plane equation expression Ax + By + Cz = D of the thrust plane. α is the angle between the projection of the normal vector E of the thrust plane onto the XOY plane and the positive Y-axis. The value of angle α is determined by the angle between the line connecting the center of the selected characteristic propulsion unit and the origin O and the positive Y-axis. The angle between the thrust plane and the XOY plane is set as β, and the tangent of angle β is defined as the slope k of the thrust plane, so C = 1 / k. When α is in the first quadrant, A = -sinα, B = cosα; when α is in the second quadrant, A = sinα, B = cosα. (x, y) are the position coordinates of the center of the propulsion unit on the XOY plane.

[0047] Specifically, the equation of the thrust plane is set as Ax + By + Cz = D, where (A, B, C) is the normal vector E of this plane. α is the angle between the projection of the normal vector E of the space plane onto the XOY plane and the Y-axis square. This angle determines the direction of the space plane on the XOY plane, and α is generally located only in the first or second quadrant.

[0048] When α is in the first quadrant, A = -sinα, B = cosα; when α is in the second quadrant, A = sinα, B = cosα; therefore, the values ​​of A and B can be directly obtained using the above method. Let β be the angle between the thrust plane and the XOY plane. The tangent of this angle β is defined as the slope k of this plane, where k represents the degree of inclination of this plane relative to the XOY plane. Since A... 2 +B 2 =1, therefore C = 1 / k. In summary, when α is in the first quadrant, the plane equation can be expressed as -sinαx + cosαy + z / k = D; when α is in the second quadrant, the plane equation can be expressed as sinαx + cosαy + z / k = D, where (x, y) are the coordinates of the propulsion unit center on the XOY plane. Therefore, when α is in the first quadrant, substituting any propulsion unit parameters into the plane equation yields: -sinαx i +cosαy i +z0 / k+l i =D, similarly, when α is in the second quadrant, we can obtain: sinαx i +cosαy i +z0 / k+l i =D.

[0049] Furthermore, when α is in the first quadrant, a system of three linear equations in three variables, containing the unknowns z0, k, and D, is established:

[0050]

[0051] -sinαx i +cosαy i+z0 / k+l i =D(i∈(1~n))

[0052] -sinαx j +cosαy j +z0 / k+l j =D(j∈(1~n), and j≠i), find z0, k and D.

[0053] When α is in the second quadrant, establish a system of three linear equations with unknowns z0, k, and D:

[0054]

[0055] sinαx i +cosαy i +z0 / k+l i =D(i∈(1~n))

[0056] sinαx j +cosαy j +z0 / k+l j =D(j∈(1~n), and j≠i), find z0, k and D.

[0057] In one specific embodiment of the present invention, the thrust calculation unit is also used to determine whether the propulsion unit is damaged or needs to be retracted. If so, the corresponding target thrust is set to zero.

[0058] This invention also provides a method for calculating the target thrust of a shield tunneling propulsion unit based on planar equations.

[0059] like Figure 4 As shown, the calculation method of the present invention includes the following steps:

[0060] Execute step S11, establish a spatial rectangular coordinate system O-XYZ on the mounting surface of the shield propulsion system of the tunnel boring machine, with the center of the shield propulsion system as the origin O, the horizontal direction as the X-axis, the vertical direction as the Y-axis, and the shield excavation direction as the Z-axis, where the positive X-axis is horizontal to the left, the positive Y-axis is vertically upward, and the positive Z-axis is along the opposite direction of shield excavation; then execute step S12;

[0061] Execute step S12, based on the target total thrust F of the shield tunneling propulsion system t Horizontal resultant torque M h and vertical resultant moment M v Determine the angle of the target total thrust point P in the XOY plane. angle Let the angle between the line connecting the target total thrust point P and the origin O and the X-axis be denoted as . Next, proceed to step S13;

[0062] Execute step S13, select a feature propulsion unit in the first or second quadrant of the XOY plane, such that the angle δ between the line connecting the center of the selected feature propulsion unit to the origin O and the line connecting the target total thrust point P to the origin O satisfies: n is the total number of shield propulsion units in the shield propulsion system; then proceed to step S14;

[0063] Execute step S14 to establish a local coordinate system xOy, where the positive half-axis of the y-axis passes through the center of the selected characteristic propulsion unit, and set the target thrust z for each propulsion unit. i :z i =z0+kl i ,(i=1~n), where z0 is the initial value, l i The projection distance along the y-axis of the line segment formed by connecting the center of each propulsion unit to the center of the characteristic propulsion unit, where k is a scaling factor; then proceed to step S15;

[0064] Execute step S15, setting the target thrust of the propulsion unit to lie in a thrust plane, obtaining the values ​​of z0 and k based on the plane equation of the thrust plane, and then according to z i =z0+kl i To obtain the target thrust of each propulsion unit.

[0065] The target total thrust point P of this invention only appears in the third or fourth quadrant during the shield tunneling process.

[0066] After selecting the feature propulsion unit, combined with Figure 2 As shown, the feature propulsion unit is numbered 1, and the remaining propulsion units are numbered sequentially.

[0067] Combination Figure 3 As shown, z max l represents the maximum target thrust in the propulsion system. max To advance the maximum projection distance in the system.

[0068] In one specific embodiment of the present invention, the plane equation expression of the thrust plane is set as Ax+By+Cz=D, and α is the angle between the projection of the normal vector E of the thrust plane onto the XOY plane and the positive direction of the Y axis. The value of the angle α is determined according to the angle between the line connecting the center of the selected characteristic thrust unit and the origin O and the positive direction of the Y axis.

[0069] Let the angle between the thrust plane and the XOY plane be β, and the tangent of the angle β be defined as the slope k of the thrust plane. Then C = 1 / k.

[0070] When α is in the first quadrant, A = -sinα, B = cosα, and the plane equation of the thrust plane is -sinαx + cosαy + z / k = D;

[0071] When α is in the second quadrant, A = sinα, B = cosα, and the plane equation of the thrust plane is sinαx + cosαy + z / k = D; where (x, y) are the position coordinates of the center of the thrust unit on the plane XOY.

[0072] Based on the equations for the two thrust planes mentioned above, combined with... The values ​​of z0, k, and D are calculated.

[0073] When α is in the first quadrant, establish a system of three linear equations with unknowns z0, k, and D:

[0074]

[0075] -sinαx i +cosαy i +z0 / k+l i =D(i∈(1~n))

[0076] -sinαx j +cosαy j +z0 / k+l j =D(j∈(1~n), and j≠i), find z0, k and D.

[0077] When α is in the second quadrant, establish a system of three linear equations with unknowns z0, k, and D:

[0078]

[0079] sinαx i +cosαy i +z0 / k+l i =D(i∈(1~n))

[0080] sinαx j +cosαy j +z0 / k+l j =D(j∈(1~n), and j≠i), find z0, k and D.

[0081] In one specific embodiment of the present invention, when the propulsion unit is damaged or the propulsion unit needs to be retracted due to synchronous assembly of the tube segments, the corresponding target thrust is set to zero.

[0082] The present invention has been described in detail above with reference to the accompanying drawings and embodiments. Those skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details in the embodiments should not be construed as limiting the present invention, and the scope of protection of the present invention shall be defined by the appended claims.

Claims

1. A method for calculating target thrust of a shield propulsion unit based on a plane equation, characterized in that, Includes the following steps: Establish a spatial rectangular coordinate system O-XYZ on the mounting surface of the shield propulsion system of the tunnel boring machine, with the center of the shield propulsion system as the origin O, the horizontal direction as the X-axis, the vertical direction as the Y-axis, and the shield excavation direction as the Z-axis. The positive direction of the X-axis is horizontal to the left, the positive direction of the Y-axis is vertical to the up, and the positive direction of the Z-axis is along the opposite direction of shield excavation. Target total thrust based on shield tunneling propulsion system Horizontal resultant moment and vertical resultant moment Determine the angle of the target total thrust point P in the XOY plane. ,angle Let the angle between the line connecting the target total thrust point P and the origin O and the X-axis be denoted as . ; Select a characteristic propulsion unit in the first or second quadrant of the XOY plane, and make the angle between the line connecting the center of the selected characteristic propulsion unit to the origin O and the line connecting the target total thrust point P to the origin O. satisfy: , where n is the total number of shield propulsion units in the shield propulsion system; Establish a local coordinate system xOy, where the positive y-axis passes through the center of the selected characteristic propulsion unit, and set the target thrust for each propulsion unit. : ,in, As the initial value, The projection distance along the y-axis of the line segment formed by connecting the center of each propulsion unit to the center of the characteristic propulsion unit. For proportionality coefficients; and The target thrust of the propulsion unit is set to lie in a thrust plane, and the result is obtained based on the plane equation of the thrust plane. and The value, and then based on To obtain the target thrust of each propulsion unit.

2. The method for calculating the target thrust of a shield tunneling unit based on planar equations as described in claim 1, characterized in that, The plane equation expression of the thrust plane is set as follows: , Let be the angle between the projection of the normal vector E of the thrust plane onto the XOY plane and the positive Y-axis. The value is determined based on the angle between the line connecting the center of the selected feature propulsion unit and the origin O and the positive direction of the Y-axis; Let the angle between the thrust plane and the XOY plane be , the tangent of the angle is defined as the slope of the thrust plane , then ; When In the first quadrant, , the plane equation expression of the thrust plane is ; when In the second quadrant, The plane equation expression for the thrust plane is as follows: ;in The coordinates of the center of the propulsion unit on the XOY plane; According to the equation expression of the thrust plane above, combined with , the values of A, B, C, D, E and F are calculated. , and D. 3.The method of claim 1, wherein, When the propulsion unit is damaged or needs to be retracted due to synchronous assembly of segments, the corresponding target thrust will be set to zero.

4. A system for calculating target thrust of a shield propulsion unit based on a plane equation, characterized by, include: The coordinate system establishment unit is used to establish a spatial rectangular coordinate system O-XYZ on the mounting surface of the shield propulsion system of the shield machine. The established spatial rectangular coordinate system takes the center of the shield propulsion system as the origin O, the horizontal direction to the left as the positive X-axis, the vertical direction upward as the positive Y-axis, and the opposite direction of shield tunneling as the positive Z-axis. An angle calculation unit, connected with the coordinate system establishment unit, is configured to determine an angle of the target total thrust point P in the plane XOY based on a target total thrust of the shield propulsion system , a horizontal resultant moment , and a vertical resultant moment . , the angle is an angle between a line connecting the target total thrust point P and the origin O and the X axis, . The feature selection unit is used to select a feature propulsion unit in the first or second quadrant of the XOY plane, such that the angle between the line connecting the center of the selected feature propulsion unit to the origin O and the line connecting the target total thrust point P to the origin O is defined. satisfy: , where n is the total number of shield propulsion units in the shield propulsion system; as well as The thrust calculation unit is used to establish a local coordinate system xOy, where the positive half of the y-axis passes through the center of the selected characteristic propulsion unit, and sets the target thrust for each propulsion unit. : ,in, As the initial value, The projection distance along the y-axis of the line segment formed by connecting the center of each propulsion unit to the center of the characteristic propulsion unit. As a proportionality coefficient, it is also used to solve the plane equations based on a given thrust plane. and The value, and then based on To obtain the target thrust of each propulsion unit.

5. The shield tunneling unit target thrust calculation system based on planar equations as described in claim 4, characterized in that, The thrust calculation unit is used to solve the following equation. , And the value of D: when In the first quadrant, the three equations are as follows: （1） ； (2) -sinαx i +cosαy i +z0 / k+l i = D, i e 1~n; (3) - sinαx j + cosαy j + z0 / k + l j = D, j ∈ 1~n, and j ≠ i; when In the second quadrant, the three equations are as follows: （1） ； (2)sinαx i +cosαy i +z0 / k+l i =D ,i∈1~n; (3) sin a x j + cos a y j + z0 / k + l j = D, j e 1 ~ n, and j ≠ i; Equations (2) and (3) are based on the plane equation expression of the thrust plane. The conversion yields, The normal vector of the thrust plane The angle between the projection onto the XOY plane and the positive Y-axis, the angle The value is determined based on the angle between the line connecting the center of the selected characteristic propulsion unit and the origin O, and the positive Y-axis; the angle between the thrust plane and the XOY plane is set to... included angle The tangent is defined as the slope of the thrust plane. Then there is ;when In the first quadrant, ,when In the second quadrant, , The coordinates of the center of the propulsion unit on the XOY plane.

6. The shield tunneling unit target thrust calculation system based on planar equations as described in claim 4, characterized in that, The thrust calculation unit is also used to determine whether the propulsion unit is damaged or needs to be retracted. If so, the corresponding target thrust is set to zero.

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