Optimization method for thrust exceeding limit of shield propulsion system

Abstract

The present invention relates to an optimization method for thrust overrun of a shield propulsion system, comprising the following steps: finding a number of propulsion cylinders whose target thrust exceeds an effective range and defining them as an overrun zone; calculating the difference between the target thrust of each propulsion cylinder in the overrun zone and the maximum or minimum value of the effective range, and adding the several differences to obtain a thrust increment; establishing a first increment zone at the positive half axis of the y-axis and determining the number of propulsion cylinders in the first increment zone according to the thrust increment; calculating the thrust value of each propulsion cylinder; and judging whether the thrust value of each propulsion cylinder is within the effective range. The present invention effectively solves the problem of the target thrust of the propulsion cylinder exceeding the limited range, rationally arranges the target thrust of each propulsion cylinder, and enables the propulsion cylinder to provide effective thrust, thereby ensuring that the shield machine excavates according to the set route and preventing the shield machine from stopping.

Description

Technical Field

[0001] The present invention relates to the field of shield construction, in particular to an optimization method for over-limit thrust of a shield propulsion system. Background Art

[0002] The target thrust calculation of each propulsion cylinder in the shield propulsion system is the basis for realizing unmanned and autonomous shield tunneling. It is also the core technical issue of the shield pushing and splicing synchronization technology based on active thrust vector control.

[0003] However, in the process of solving the target thrust, we need to face the test of the limitation of the target thrust calculation range to meet the requirements of actual engineering applications. When the target thrust of some propulsion cylinders exceeds the limited thrust effective range, a reasonable method must be proposed to solve it, so as to avoid the problem of construction delay caused by the suspension of shield thrust. Summary of the Invention

[0004] The purpose of the present invention is to overcome the defects of the prior art and provide an optimization method for the thrust exceeding the limit of the shield propulsion system, which solves the problem that the target thrust of the propulsion cylinder exceeds the limit range, reasonably arranges the target thrust of each propulsion cylinder, and enables the propulsion cylinder to provide effective thrust, thereby ensuring that the shield machine excavates according to the set route and preventing the shield machine from stopping.

[0005] The technical solution to achieve the above purpose is:

[0006] The present invention provides a method for optimizing thrust overlimit of a shield propulsion system, wherein the shield propulsion system includes a plurality of jacks arranged at intervals along a shield cross section, and the thrust of the propulsion cylinder is set within an effective range, comprising the following steps:

[0007] S11. Identify the number of propulsion cylinders where the target thrust exceeds the effective range and define them as the over-limit area;

[0008] S12. Calculate the difference between the target thrust of each propulsion cylinder in the overrun zone and the maximum or minimum value of the effective range, and add the differences to obtain the thrust increment;

[0009] S13. Establish an xOy coordinate system with the origin O coinciding with the center of the shield propulsion system, the negative half of the y-axis coinciding with the centerline of the overrun zone, and the x-axis perpendicular to the y-axis. Establish an XOY coordinate system with the x-axis extending horizontally and the y-axis extending vertically.

[0010] S14. Establish a first incremental zone at the positive half of the y-axis and determine the number of propulsion cylinders in the first incremental zone based on the thrust increment. Define the propulsion cylinders between the first incremental zone and the over-limit zone as the second and third incremental zones, with the target increment for each propulsion cylinder in the first incremental zone being ΔF1, the target increment for each propulsion cylinder in the second incremental zone being ΔF2, and the target increment for each propulsion cylinder in the third incremental zone being ΔF3.

[0011] S15. Calculate ΔF1, ΔF2, and ΔF3 based on ΔF1, ΔF2, and ΔF3 and the distance of each propulsion cylinder from the X-axis and Y-axis, and then calculate the thrust value of each propulsion cylinder;

[0012] S16. Determine whether the thrust value of each propulsion cylinder is within the valid range;

[0013] If it is within the effective range, the thrust value of each propulsion cylinder is output. If some propulsion cylinders are not within the effective range, S11 to S16 are looped until the thrust value of each propulsion cylinder is within the effective range.

[0014] The present invention proposes an optimization method for thrust overlimit of a shield propulsion system. The method finds the overlimit area and divides the remaining propulsion cylinders into a first incremental area, a second incremental area and a third incremental area. The target increment of each propulsion cylinder in the first incremental area is ΔF1, the target increment of each propulsion cylinder in the second incremental area is ΔF2, and the target increment of each propulsion cylinder in the third incremental area is ΔF3. ΔF1, ΔF2 and ΔF3 are calculated based on ΔF1, ΔF2, ΔF3 and the distance of each propulsion cylinder from the X-axis and the Y-axis, and then the thrust value of each propulsion cylinder is calculated. This solves the problem that the target thrust of the propulsion cylinder exceeds the limit range, reasonably arranges the target thrust of each propulsion cylinder, and enables the propulsion cylinder to provide effective thrust, thereby ensuring that the shield machine advances according to the set route and preventing the shield machine from stopping.

[0015] The further improvement of the optimization method for the thrust overlimit of the shield propulsion system of the present invention is that the effective range is (f min , f max ), also includes:

[0016] The adjacent ones with target thrust greater than f max or are both less than f min Several propulsion cylinders are divided into an over-limit area;

[0017] When the target thrust is greater than f max When the limit zone is exceeded, the difference is equal to f max Subtract target thrust;

[0018] When the target thrust is less than f min When the limit zone is exceeded, the difference is equal to fmin Subtract target thrust.

[0019] A further improvement of the method for optimizing thrust over-limit of a shield propulsion system of the present invention is that, when there are multiple over-limit areas, the method further comprises:

[0020] If there is a target thrust greater than f max and less than f min If the target thrust is less than f min The over-limit area is processed, and then the target thrust is greater than f max Processing of the over-limit area;

[0021] If there are multiple target thrusts less than f min If there is an over-limit area, it will be processed in order from small to large according to the average value of the target thrust in the over-limit area;

[0022] If there are multiple target thrusts greater than f max If there is an over-limit area, it will be processed in descending order according to the average value of the target thrust in the over-limit area.

[0023] A further improvement of the method for optimizing thrust overlimit of a shield propulsion system of the present invention is that, when determining the number of propulsion cylinders in the first incremental zone, the method further includes:

[0024] S141. Assume that there are N propulsion cylinders in the first incremental area, and the N propulsion cylinders are evenly distributed on both sides of the y-axis, N = 1;

[0025] S142. Divide the thrust increment by N to obtain an average thrust value, and add the average thrust value to the target thrust value of each propulsion cylinder in the first incremental region to obtain a new target thrust value for each propulsion cylinder in the first incremental region;

[0026] S143. Compare the new target thrust with the effective range;

[0027] If the new target thrust exceeds the valid range, set N=N+1 and execute S142~S143. If the new target thrust is within the valid range, the value of N is the number of propulsion cylinders in the first incremental area.

[0028] A further improvement of the method for optimizing thrust overlimit of a shield propulsion system of the present invention is that, when calculating the thrust value of each propulsion cylinder, the method further includes:

[0029] Establish a system of equations to solve them. The specific formula is as follows:

[0030]

[0031]

[0032]

[0033] Among them, a k is the target increment of the kth propulsion cylinder, m k is the distance between the kth propulsion cylinder and the Y axis, l k is the distance between the kth propulsion cylinder and the X-axis, and n is the total number of propulsion cylinders.

[0034] A further improvement of the method for optimizing thrust overlimit of a shield propulsion system of the present invention is that, when calculating the thrust value of each propulsion cylinder, the method further includes:

[0035] When the kth propulsion cylinder is in the first increment zone,

[0036] a k =ΔF1

[0037] When the kth propulsion cylinder is in the second increment zone,

[0038] a k =ΔF2

[0039] When the kth propulsion cylinder is in the third increment zone,

[0040] Among them, a k is the target increment of the kth propulsion cylinder, ΔF1 is the target increment of each propulsion cylinder in the first incremental area, ΔF2 is the target increment of each propulsion cylinder in the second incremental area, and ΔF3 is the target increment of each propulsion cylinder in the third incremental area.

[0041] A further improvement of the method for optimizing thrust overlimit of a shield propulsion system of the present invention is that, when calculating the thrust value of each propulsion cylinder, the method further includes:

[0042] Add the target thrust of the propulsion cylinder to the corresponding target increment to get the thrust value of the propulsion cylinder.

[0043] A further improvement of the shield propulsion system thrust overlimit optimization method of the present invention is that if the target thrust of some propulsion cylinders is 0, then the target increment of the propulsion cylinders with the target thrust of 0 is also 0.

[0044] A further improvement of the method for optimizing thrust overlimit of a shield propulsion system of the present invention is that, when the thrust value of each propulsion cylinder is within the effective range, the method further includes:

[0045] The effective range is narrowed to form a new effective range, and S11 to S16 are cycled until the thrust value of each propulsion cylinder is within the new effective range.

[0046] A further improvement of the method for optimizing thrust overlimit of a shield propulsion system according to the present invention is that it further comprises:

[0047] A threshold value for the number of cycles of S11 to S16 is set. If the number of cycles is greater than the threshold value and the thrust values ​​of some propulsion cylinders exceed the effective range, the effective range is expanded. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 The present invention is a flowchart of the method for optimizing the thrust limit of the shield propulsion system.

[0049] Figure 2 This is a schematic diagram of an implementation method of the shield propulsion system thrust overlimit optimization method of the present invention. DETAILED DESCRIPTION

[0050] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0051] The present invention provides an optimization method for thrust overlimit of a shield propulsion system. By finding the overlimit area, the remaining propulsion cylinders are divided into a first incremental area, a second incremental area, and a third incremental area. The target increment of each propulsion cylinder in the first incremental area is ΔF1, the target increment of each propulsion cylinder in the second incremental area is ΔF2, and the target increment of each propulsion cylinder in the third incremental area is ΔF3. ΔF1, ΔF2, ΔF3 and the distance of each propulsion cylinder from the X-axis and the Y-axis are calculated to obtain ΔF1, ΔF2 and ΔF3, and then the thrust value of each propulsion cylinder is calculated. This solves the problem that the target thrust of the propulsion cylinder exceeds the limit range, and reasonably arranges the target thrust of each propulsion cylinder so that the propulsion cylinder provides effective thrust, thereby ensuring that the shield machine excavates according to the set route and preventing the shield machine from stopping. The cloud-based remote control method and system of the present invention are described below in conjunction with the accompanying drawings.

[0052] See Figure 1 , Figure 1 This is a flow chart of the method for optimizing the thrust limit of the shield propulsion system of the present invention. Figure 1 , the optimization method for thrust exceeding limit of shield propulsion system of the present invention is explained.

[0053] like Figure 1 As shown, the present invention provides a method for optimizing thrust overlimit of a shield propulsion system, wherein the shield propulsion system includes a plurality of jacks spaced apart along a shield cross section, and the thrust of the propulsion cylinder is set within an effective range, comprising the following steps:

[0054] S11. Identify the number of propulsion cylinders where the target thrust exceeds the effective range and define them as the over-limit area;

[0055] S12. Calculate the difference between the target thrust of each propulsion cylinder in the overrun zone and the maximum or minimum value of the effective range, and add the differences to obtain the thrust increment;

[0056] S13. Establish an xOy coordinate system with the origin O coinciding with the center of the shield propulsion system, the negative half of the y-axis coinciding with the centerline of the overrun zone, and the x-axis perpendicular to the y-axis. Establish an XOY coordinate system with the x-axis extending horizontally and the y-axis extending vertically.

[0057] S14. Establish a first incremental zone at the positive half of the y-axis and determine the number of propulsion cylinders in the first incremental zone based on the thrust increment. Define the propulsion cylinders between the first incremental zone and the over-limit zone as the second and third incremental zones, with the target increment for each propulsion cylinder in the first incremental zone being ΔF1, the target increment for each propulsion cylinder in the second incremental zone being ΔF2, and the target increment for each propulsion cylinder in the third incremental zone being ΔF3.

[0058] S15. Calculate ΔF1, ΔF2, and ΔF3 based on ΔF1, ΔF2, and ΔF3 and the distance of each propulsion cylinder from the X-axis and Y-axis, and then calculate the thrust value of each propulsion cylinder;

[0059] S16. Determine whether the thrust value of each propulsion cylinder is within the valid range;

[0060] If it is within the effective range, the thrust value of each propulsion cylinder is output. If some propulsion cylinders are not within the effective range, S11 to S16 are looped until the thrust value of each propulsion cylinder is within the effective range.

[0061] As a preferred embodiment of the present invention, the effective range is (f min , f max ), also includes:

[0062] The adjacent ones with target thrust greater than f max or are both less than f min Several propulsion cylinders are divided into an over-limit area;

[0063] When the target thrust is greater than f max When the limit zone is exceeded, the difference is equal to f max Subtract target thrust;

[0064] When the target thrust is less than f min When the limit zone is exceeded, the difference is equal to f min Subtract target thrust.

[0065] Furthermore, when there are multiple over-limit areas, it also includes:

[0066] If there is a target thrust greater than f max and less than f min If the target thrust is less than f min The over-limit area is processed, and then the target thrust is greater than f maxProcessing of the over-limit area;

[0067] If there are multiple target thrusts less than f min If there is an over-limit area, it will be processed in order from small to large according to the average value of the target thrust in the over-limit area;

[0068] If there are multiple target thrusts greater than f max If there is an over-limit area, it will be processed in descending order according to the average value of the target thrust in the over-limit area.

[0069] Furthermore, when determining the number of propulsion cylinders in the first incremental area, the method further includes:

[0070] S141. Assume that there are N propulsion cylinders in the first incremental area, and the N propulsion cylinders are evenly distributed on both sides of the y-axis, N = 1;

[0071] S142. Divide the thrust increment by N to obtain an average thrust value, and add the average thrust value to the target thrust value of each propulsion cylinder in the first incremental region to obtain a new target thrust value for each propulsion cylinder in the first incremental region;

[0072] S143. Compare the new target thrust with the effective range;

[0073] If the new target thrust exceeds the valid range, set N=N+1 and execute S142~S143. If the new target thrust is within the valid range, the value of N is the number of propulsion cylinders in the first incremental area.

[0074] Furthermore, the calculation of the thrust value of each propulsion cylinder also includes:

[0075] Establish a system of equations to solve them. The specific formula is as follows:

[0076]

[0077]

[0078]

[0079] Among them, a k is the target increment of the kth propulsion cylinder, m k is the distance between the kth propulsion cylinder and the Y axis, l k is the distance between the kth propulsion cylinder and the X-axis, and n is the total number of propulsion cylinders.

[0080] Specifically, when calculating the thrust value of each propulsion cylinder, it also includes:

[0081] When the kth propulsion cylinder is in the first increment zone,

[0082] ak =ΔF1

[0083] When the kth propulsion cylinder is in the second increment zone,

[0084] a k =ΔF2

[0085] When the kth propulsion cylinder is in the third increment zone,

[0086] a k =ΔF3

[0087] Among them, a k is the target increment of the kth propulsion cylinder, ΔF1 is the target increment of each propulsion cylinder in the first incremental area, ΔF2 is the target increment of each propulsion cylinder in the second incremental area, and ΔF3 is the target increment of each propulsion cylinder in the third incremental area.

[0088] Furthermore, the calculation of the thrust value of each propulsion cylinder also includes:

[0089] Add the target thrust of the propulsion cylinder to the corresponding target increment to get the thrust value of the propulsion cylinder.

[0090] Specifically, if the target thrust of some propulsion cylinders is 0, then the target increment of the propulsion cylinders whose target thrust is 0 is also 0.

[0091] Furthermore, when the thrust value of each propulsion cylinder is within the effective range, it also includes:

[0092] The effective range is narrowed to form a new effective range, and S11 to S16 are cycled until the thrust value of each propulsion cylinder is within the new effective range.

[0093] Specifically, it also includes:

[0094] A threshold value for the number of cycles of S11 to S16 is set. If the number of cycles is greater than the threshold value and the thrust values ​​of some propulsion cylinders exceed the effective range, the effective range is expanded.

[0095] The specific implementation of the present invention is as follows:

[0096] Combine Figure 2 As shown, taking the case where there are 34 propulsion cylinders in total, Figure 2 Each propulsion cylinder is numbered in the figure, and the target thrust of propulsion cylinders 3 to 7 is smaller than the minimum value of the effective range, that is, smaller than f min , and the target thrust of propulsion cylinders No. 24 to 29 is 0, which are non-working cylinders. The effective range is set to (916kN, 6000kN). The target thrust of each numbered propulsion cylinder is shown in the following table:

[0097]

[0098]

[0099] According to the above table, it is found that the target thrust of propulsion cylinders 3 to 7 needs to be increased from -257kN to 916kN, so the thrust increment in the over-limit zone is 5865kN. After establishing the xOy coordinate system, the number of propulsion cylinders in the first incremental zone is added one on the left and one on the right along the positive half axis of the y-axis. It is calculated that when there are 4 propulsion cylinders in the first incremental zone, the average thrust value is within the valid range. Therefore, 4 propulsion cylinders providing thrust are required in the first incremental zone. Since No. 24 is a non-working cylinder, No. 20 is included in the first incremental zone to ensure that there are 4 propulsion cylinders providing thrust in the first incremental zone. Then Nos. 25 to 34 and Nos. 1 to 2 are the third incremental zone, and Nos. 8 to 19 are the second incremental zone.

[0100] Substituting ΔF1, ΔF2, and ΔF3 into the equations for calculation, and assuming the thrust of the non-working cylinders is always 0 during the calculation, meaning these non-working cylinders can be skipped, we obtain ΔF1, ΔF2, and ΔF3 as 996 kN, -429 kN, and -653 kN, respectively. Adding ΔF1, ΔF2, and ΔF3 to the target thrust of the propulsion cylinder yields the thrust value for each propulsion cylinder, as shown below:

[0101]

[0102]

[0103] Since each propulsion cylinder (except the non-working cylinder) is within the valid range, the iteration can be stopped and the thrust value of each propulsion cylinder can be output. The valid range can also be further narrowed and the above steps can be repeated to further obtain the thrust value of each propulsion cylinder.

[0104] The present invention has been described in detail above with reference to the embodiments of the accompanying drawings. A person 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. The scope of protection of the present invention shall be determined by the scope defined in the appended claims.

Claims

1. A method for optimizing thrust overlimit of a shield propulsion system, wherein the shield propulsion system comprises a plurality of propulsion cylinders spaced apart along the shield cross section, wherein the thrust of the propulsion cylinders is set within an effective range, and wherein: The steps include: S11. Find several propulsion cylinders whose target thrust exceeds the effective range and define them as over-limit areas; S12. Calculate the difference between the target thrust of each propulsion cylinder in the over-limit zone and the maximum or minimum value of the effective range, and add the differences to obtain the thrust increment; S13. Establish an xOy coordinate system with the origin O coinciding with the center of the shield propulsion system, the negative half of the y-axis coinciding with the centerline of the overrun zone, and the x-axis perpendicular to the y-axis. Establish an XOY coordinate system with the x-axis extending horizontally and the y-axis extending vertically. S14. Establish a first incremental zone at the positive half of the y-axis and determine the number of propulsion cylinders in the first incremental zone based on the thrust increment. Define the propulsion cylinders between the first incremental zone and the over-limit zone as a second incremental zone and a third incremental zone, with a target increment of ΔF1 for each propulsion cylinder in the first incremental zone, a target increment of ΔF2 for each propulsion cylinder in the second incremental zone, and a target increment of ΔF3 for each propulsion cylinder in the third incremental zone. S15. Calculate ΔF1, ΔF2, and ΔF3 based on ΔF1, ΔF2, and ΔF3 and the distance of each propulsion cylinder from the X-axis and Y-axis, and then calculate the thrust value of each propulsion cylinder; S16. Determine whether the thrust value of each propulsion cylinder is within the effective range; If it is within the effective range, the thrust value of each propulsion cylinder is output; if some propulsion cylinders are not within the effective range, S11 to S16 are looped until the thrust value of each propulsion cylinder is within the effective range.

2. The method for optimizing thrust overlimit of a shield propulsion system according to claim 1, characterized in that: The effective range is (f min , f max ), also includes: The adjacent ones with target thrust greater than f max or are both less than f min Several propulsion cylinders are divided into an over-limit area; When the target thrust is greater than f max When the limit zone is exceeded, the difference is equal to f max Subtract target thrust; When the target thrust is less than f min When the limit zone is exceeded, the difference is equal to f min Subtract target thrust.

3. The method for optimizing thrust overlimit of a shield propulsion system according to claim 2, characterized in that: When there are multiple over-limit areas, the method further includes: If there is a target thrust greater than f max and less than f min If the target thrust is less than f min The over-limit area is processed, and then the target thrust is greater than f max Processing of the over-limit area; If there are multiple target thrusts less than f min If there is an over-limit area, it will be processed in order from small to large according to the average value of the target thrust in the over-limit area; If there are multiple target thrusts greater than f max If there is an over-limit area, it will be processed in descending order according to the average value of the target thrust in the over-limit area.

4. The method for optimizing thrust overlimit of a shield propulsion system according to claim 1, wherein: Determining the number of propulsion cylinders in the first incremental area also includes: S141. Assume that there are N propulsion cylinders in the first incremental area, and the N propulsion cylinders are evenly distributed on both sides of the y-axis, N = 1; S142. Divide the thrust increment by N to obtain an average thrust value, and add the average thrust value to the target thrust value of each propulsion cylinder in the first incremental range to obtain a new target thrust value for each propulsion cylinder in the first incremental range; S143. Comparing the new target thrust with the effective range; If the new target thrust exceeds the effective range, set N=N+1 and execute S142~S143. If the new target thrust is within the effective range, the value of N is the number of propulsion cylinders in the first incremental area.

5. The method for optimizing thrust overlimit of a shield propulsion system according to claim 1, wherein: When calculating the thrust value for each propulsion cylinder, also include: Establish a system of equations to solve them. The specific formula is as follows: Among them, a k is the target increment of the kth propulsion cylinder, m k is the distance between the kth propulsion cylinder and the Y axis, l k is the distance between the kth propulsion cylinder and the X-axis, and n is the total number of propulsion cylinders.

6. The method for optimizing thrust overlimit of a shield propulsion system according to claim 5, characterized in that: When calculating the thrust value for each propulsion cylinder, also include: When the kth propulsion cylinder is located in the first incremental zone, a k =ΔF1 When the kth propulsion cylinder is located in the second incremental zone, a k =ΔF2 When the kth propulsion cylinder is located in the third incremental zone, a k =ΔF3 Among them, a k is the target increment of the kth propulsion cylinder, ΔF1 is the target increment of each propulsion cylinder in the first incremental area, ΔF2 is the target increment of each propulsion cylinder in the second incremental area, and ΔF3 is the target increment of each propulsion cylinder in the third incremental area.

7. The method for optimizing thrust overlimit of a shield propulsion system according to claim 1, wherein: When calculating the thrust value for each propulsion cylinder, also include: The target thrust of the propulsion cylinder is added to the corresponding target increment to obtain the thrust value of the propulsion cylinder.

8. The method for optimizing thrust overlimit of a shield propulsion system according to claim 1, wherein: If the target thrust of some of the propulsion cylinders is 0, then the target increment of the propulsion cylinders with the target thrust of 0 is also 0.

9. The method for optimizing thrust overlimit of a shield propulsion system according to claim 1, wherein: When the thrust value of each propulsion cylinder is within the effective range, it also includes: The effective range is narrowed to form a new effective range, and S11 to S16 are looped until the thrust value of each propulsion cylinder is within the new effective range.

10. The method for optimizing thrust overlimit of a shield propulsion system according to claim 1, wherein: Also includes: A threshold value of the number of cycles of S11 to S16 is set. If the number of cycles is greater than the threshold value and the thrust values ​​of some of the propulsion cylinders exceed the effective range, the effective range is expanded.

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