A method and system for composite control of cutting force in chain-type diaphragm wall equipment

Abstract

This invention relates to a method and system for composite control of cutting force in chain cutter diaphragm wall equipment. The method includes: constructing a database based on collected working point data; obtaining a multivariate fitting function by fitting the working point data in the database; when the cutting force of the chain cutter motor deviates from the set range, finding a set of working points that satisfy the set range of chain cutter motor cutting force and maximize the thrust speed of the transverse hydraulic cylinder based on the current working point data and the multivariate fitting function, and solving for the new working point closest to the current working point in the set of working point solutions; controlling the equipment to reach the new working point so that the equipment ensures the maximum thrust speed of the transverse hydraulic cylinder while satisfying the set range of chain cutter motor cutting force. This invention quantifies the variables involved by constructing a fitting function, enabling precise control of multiple variables and achieving maximum transverse thrust speed control of the equipment within a preset cutting force range, greatly improving construction efficiency.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery foundation pit support technology, and in particular to a method and system for composite control of cutting force of chain cutter type underground continuous wall equipment. Background Technology

[0002] As underground space development becomes larger, deeper, more compact, and more complex, it provides a broad stage for the application of new technologies for deep foundation pit support. The ultra-deep, uniform-thickness cement-soil continuous mixing wall method, or TRD method for short, has become a viable new technology for foundation pit support construction. The TRD method involves inserting a cutting box equipped with a cutting chain and cutter head, meeting the design depth, into the ground. While longitudinally cutting and laterally advancing to form a trench, cement grout is injected into the foundation to achieve thorough mixing with the original foundation, forming a continuous wall of uniform thickness underground. This construction process has significant advantages such as large construction depth, wide adaptability to geological strata, high wall quality, and high construction efficiency. It is widely applicable to protective water-stop walls for subway stations and underground passages, dam reinforcement projects, and river dredging projects.

[0003] The chain-cutter type diaphragm wall equipment is a key piece of equipment in TRD (Traction Method) construction. During lateral cutting and grouting, the equipment uses a horizontal thrust cylinder to drive the cutting mechanism (including the chain cutter and cutter box) to move laterally. The cutting process is the most critical step in the equipment's construction. In the cutting process, the thrust cylinder's advance speed and the chain cutter motor's cutting force are the main factors affecting cutting efficiency. The cutting force is mainly related to geological conditions, the chain cutter motor's speed (n), the thrust cylinder's advance speed (v), and the thrust cylinder's advance pressure (p). The magnitude of the thrust cylinder's advance speed directly affects the trenching efficiency. Theoretically, the higher the thrust cylinder's advance speed, the higher the cutting efficiency. However, excessive thrust cylinder advance speed will lead to an increase in the chain cutter motor's cutting force. Excessive cutting force, coupled with complex underground geological changes, can cause the cutting mechanism to be jammed under the load. Once jammed, the cutting mechanism may be unable to escape for a long time, which will negatively impact cutting efficiency. Therefore, ensuring that the equipment operates within a suitable cutting force range at a relatively high thrust cylinder advance speed is crucial to improving cutting efficiency.

[0004] Currently, the construction efficiency of diaphragm wall equipment is relatively low, mainly because it is impossible to guarantee that the cutting force can be controlled within a suitable range while advancing at a high speed. Therefore, solving this problem is the key to the efficient construction of diaphragm wall equipment. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a method and system for composite control of cutting force of chain cutter type underground continuous wall equipment, which solves the technical problem that the prior art has a single means of adjusting the cutting force and does not further detect and control the results after adjustment, and cannot control the cutting force within a suitable range in a timely and accurate manner.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0009] In a first aspect, embodiments of the present invention provide a method for composite control of cutting force in a chain-knife type diaphragm wall device, comprising:

[0010] A database is constructed based on the collected working condition data; the working condition data includes rock hardness, chain cutter motor cutting force, chain cutter motor speed, transverse pusher cylinder propulsion speed, and transverse pusher cylinder propulsion pressure.

[0011] By fitting the working point data in the database, a multivariate fitting function is obtained, with the cutting force of the chain cutter motor as the dependent variable and the rock hardness, chain cutter motor speed, horizontal push cylinder propulsion speed and horizontal push cylinder propulsion pressure as independent variables, and the range of each independent variable as the constraint condition.

[0012] When the cutting force of the chain cutter motor deviates from the set range, the solution set of the working point that satisfies the set range of the cutting force of the chain cutter motor and has the largest pushing speed of the horizontal push cylinder is found based on the current working point data and the multivariate fitting function, and the new working point that is closest to the current working point in the solution set of the working point is solved.

[0013] The chain cutter motor speed, the horizontal push cylinder propulsion speed, and the horizontal push cylinder propulsion pressure are controlled to reach the corresponding target values ​​in the new working condition point, so that the chain cutter diaphragm wall equipment can ensure the maximum horizontal push cylinder propulsion speed while meeting the cutting force of the chain cutter motor within the set range.

[0014] Optionally, by fitting the working point data in the database, a multivariate fitting function is obtained, with the cutting force of the chain cutter motor as the dependent variable and the rock hardness, chain cutter motor speed, transverse pusher cylinder propulsion speed, and transverse pusher cylinder propulsion pressure as independent variables, and the range of each independent variable as a constraint condition. This function includes:

[0015] Based on the working point data in the database, different function types are fitted, and the function type with the smallest error is found among multiple function types to be used as the function type to be fitted.

[0016] Based on the type of function to be fitted and the data in the database, the coefficient values ​​of the fitting function with the cutting force of the chain cutter motor as the dependent variable and the rock hardness, chain cutter motor speed, horizontal push cylinder propulsion speed and horizontal push cylinder propulsion pressure as independent variables are determined.

[0017] The domain and range of the fitting function were determined by the configuration parameters of the chain cutter-type diaphragm wall equipment, and the following multivariate fitting function was finally output:

[0018] F = g(n, v, p, f);

[0019] Where F is the cutting force of the chain cutter motor, n is the motor speed, P is the thrust pressure of the transverse push cylinder, v is the thrust speed of the transverse push cylinder, and f is the rock hardness.

[0020] Optionally, when the cutting force of the chain cutter motor deviates from the set range, the solution set of the working points that satisfies the set range of the chain cutter motor cutting force and maximizes the thrust cylinder propulsion speed is found based on the current working point data and the multivariate fitting function. The new working point closest to the current working point in the solution set is then calculated, including:

[0021] Acquire the current operating point data and determine whether the cutting force of the chain cutter motor deviates from the set range;

[0022] When the cutting force of the chain cutter motor deviates from the set range, the function solution set that satisfies the set range of the cutting force of the chain cutter motor and is within the domain of each independent variable is obtained according to the set range of the cutting force of the chain cutter motor and the multivariate fitting function;

[0023] The subset with the maximum thrust speed of the horizontal push cylinder is obtained from the solution set of this function and used as the working point solution set. Then, the new working point that is closest to the current working point is found in the working point solution set.

[0024] In a second aspect, embodiments of the present invention provide a cutting force composite control system for a chain cutter type underground continuous wall equipment, comprising: a prime mover (1), a closed bidirectional variable piston pump (2), a load-sensitive variable piston pump (3), a chain cutter motor (4), an electro-proportional multi-way valve (8), a transverse thrust cylinder (9), an electro-proportional overflow valve (10), a sensor assembly, an electrical control assembly, a mechanical control assembly, a control element (13), and a shuttle valve (14);

[0025] The prime mover (1) is used to provide a power source for the closed bidirectional variable piston pump (2) and the load-sensitive variable piston pump (3);

[0026] A closed-loop bidirectional variable displacement piston pump (2) is used to supply pressurized oil to the chain cutter motor (4);

[0027] A load-sensitive variable displacement piston pump (3) is used to supply pressurized oil to the transverse thrust cylinder (9);

[0028] The chain cutter motor (4) is used to provide power for the cutting mechanism of the chain cutter type diaphragm wall equipment;

[0029] The electro-proportional multi-way valve (8) is used to change the direction of fluid flow, thereby controlling the extension and retraction of the transverse thrust cylinder (9);

[0030] The horizontal push cylinder (9) is used to push the cutting mechanism of the chain knife type underground continuous wall equipment to perform horizontal cutting;

[0031] The electro-proportional relief valve 10 is connected in parallel to the feedback pressure oil circuit of the load-sensitive variable piston pump (3) to limit the feedback pressure value, thereby limiting the propulsion pressure of the propulsion thrust cylinder (9);

[0032] The sensor assembly is used to detect one or more of the following: the pressure at port A and port B of the chain cutter motor (4), the rotational speed of the chain cutter motor (4), the propulsion speed of the transverse push cylinder (9), and the propulsion pressure of the transverse push cylinder (9).

[0033] The mechanical control components are used to regulate the outlet pressure of the load-sensitive variable displacement piston pump (3);

[0034] The electronic control component is used to adjust one or more of the following based on the acquired electrical signal: the displacement of the closed bidirectional variable piston pump (2), the flow rate of the electro-proportional multi-way valve (8), and the overflow pressure of the electro-proportional relief valve (10).

[0035] The control element (13) is used to receive the detection signal from the sensor assembly and convert it into the corresponding parameter value, and to output the corresponding electrical signal to the electronic control assembly after performing internal calculations.

[0036] The shuttle valve (14) is used to draw out the high-pressure oil in the control circuit of the horizontal thrust cylinder (9) for propulsion pressure detection.

[0037] Optionally,

[0038] The sensor assembly includes: a first pressure sensor (5), a rotation speed sensor (6), a second pressure sensor (7), a speed sensor (11), and a pressure sensor (12);

[0039] The first pressure sensor (5) is used to detect the pressure at port A of the chain cutter motor (4);

[0040] The speed sensor (6) is used to detect the speed of the chain cutter motor (4);

[0041] The second pressure sensor (7) is used to detect the pressure at port B of the chain cutter motor (4);

[0042] The speed sensor (11) is used to detect the propulsion speed of the transverse thrust cylinder (9);

[0043] The pressure sensor (12) is used to detect the propulsion pressure of the transverse thrust cylinder (9);

[0044] The mechanical control components include: a load-sensitive valve (301), which is used to regulate the outlet pressure of the load-sensitive variable displacement piston pump (3) to always be a fixed value higher than the feedback pressure;

[0045] The electronic control components include: an electro-proportional control valve (201), an electro-proportional multi-way valve solenoid (801), and an electro-proportional relief valve solenoid (1001);

[0046] The electro-proportional control valve (201) is connected to the closed bidirectional variable piston pump (2) and is used to adjust the displacement of the closed bidirectional variable piston pump (2) according to the input electrical signal.

[0047] The electro-proportional multi-way valve electromagnet (801) is connected to the electro-proportional multi-way valve (8) and is used to adjust the flow of the electro-proportional multi-way valve (8) according to the input electrical signal, thereby controlling the pushing speed of the horizontal push cylinder (9).

[0048] The electro-proportional relief valve electromagnet (1001) is connected to the electro-proportional relief valve (10) and is used to change the relief pressure of the electro-proportional relief valve (10) according to the input electrical signal, thereby limiting the pushing pressure of the horizontal thrust cylinder (9).

[0049] Optionally, based on the data from the first pressure sensor (5) and the second pressure sensor (7) combined with the first system configuration parameter set, the functional relationship between the cutting force of the chain cutter motor (4) and the pressure at ports A and B of the chain cutter motor (4) is obtained and denoted as:

[0050] F=y1(|P A -P B |), F min ≤F≤F max (1)

[0051] In equation (1), P A The pressure at port A of the chain cutter motor (4) detected by the pressure sensor (5), P B The pressure at port B of the chain cutter motor (4) is detected by the pressure sensor (7); the first system configuration parameter group includes: the cutting force F of the chain cutter motor (4), the displacement of the chain cutter motor (4), the diameter of the chain cutter, the reduction ratio of the reducer and the transmission efficiency;

[0052] Based on the data from the closed-loop bidirectional variable displacement piston pump (2) and the second system configuration parameter group, the functional relationship between the chain cutter motor speed and the input current value of the electro-proportional control valve (201) is obtained, denoted as:

[0053] n = y2(i2), n min ≤n≤n max (2)

[0054] In equation (2), n is the rotational speed of the chain cutter motor (4) detected by the speed sensor (6), and i2 is the input current value of the electro-proportional control valve (201). The second system configuration parameter group includes: the relationship between the displacement of the closed bidirectional variable piston pump (2) and the input current value of the electro-proportional control valve (201), the displacement of the chain cutter motor, the volumetric efficiency of the closed bidirectional variable piston pump (2) and the chain cutter motor (4), and the prime mover speed.

[0055] Based on the data from the electro-proportional multi-way valve (8) and the configuration parameter group of the third system, the functional relationship between the thrust speed of the transverse thrust cylinder (9) and the input current of the electro-proportional multi-way valve electromagnet (801) can be obtained, denoted as:

[0056] v = y3(i8), v min ≤v≤v max (3)

[0057] In equation (3), v is the propulsion speed of the horizontal push cylinder (9) detected by the speed sensor (11), and i8 is the input current of the electro-proportional multi-way valve electromagnet (801). The third system configuration parameter group includes: the working area of ​​the oil inlet chamber of the horizontal push cylinder, the relationship between the output flow of the electro-proportional multi-way valve (8) and the input current of the electro-proportional multi-way valve electromagnet (801).

[0058] Based on the data from the electro-proportional relief valve (10) and the fourth system configuration parameter group, the thrust pressure P of the horizontal thrust cylinder (9) and the input current i of the electro-proportional relief valve electromagnet (1001) can be obtained. 10 The functional relationship is denoted as:

[0059] P = y4(i 10 ), P min ≤P≤P max (4)

[0060] In equation (4), P is the thrust pressure of the transverse thrust cylinder (9) detected by the pressure sensor (12), and i 10 The input current for the electro-proportional relief valve electromagnet (1001) is specified; the fourth system configuration parameter group includes: the pushing pressure P of the horizontal thrust cylinder (9) and the input current i of the electro-proportional relief valve electromagnet (1001). 10 The relational expression.

[0061] Optionally, the control element (13) includes:

[0062] The storage and conversion unit (1301) is used to construct a database based on the collected working condition data; wherein, the working condition data includes rock hardness, chain cutter motor cutting force, chain cutter motor speed, horizontal push cylinder propulsion speed and horizontal push cylinder propulsion pressure;

[0063] The function fitting unit (1302) is used to fit the working point data in the database to obtain a multivariate fitting function with the cutting force of the chain cutter motor as the dependent variable and the rock hardness, chain cutter motor speed, horizontal push cylinder propulsion speed and horizontal push cylinder propulsion pressure as independent variables, and the range of each independent variable as the constraint condition.

[0064] The calculation unit (1303) is used to find the solution set of the working point that satisfies the set range of the cutting force of the chain cutter motor and the maximum propulsion speed of the horizontal push cylinder based on the current working point data and the multivariate fitting function, and solve for the new working point that is closest to the current working point in the solution set of the working point;

[0065] The main control unit (1304) is used to control the speed of the chain cutter motor, the propulsion speed of the horizontal push cylinder and the propulsion pressure of the horizontal push cylinder to reach the corresponding target values ​​in the new working condition point, so that the chain cutter diaphragm wall equipment can ensure the maximum propulsion speed of the horizontal push cylinder when the cutting force of the chain cutter motor within the set range is met.

[0066] Optionally, the function fitting unit (1302) includes:

[0067] The import sub-unit is used to import data from the database;

[0068] The function type determination sub-unit is used to fit different function types based on the working point data in the database. Among multiple function types, the function type with the smallest error is selected as the function type to be fitted.

[0069] The parameter determination subunit is used to determine the coefficient values ​​of the fitting function with the cutting force of the chain cutter motor as the dependent variable and the rock hardness, chain cutter motor speed, horizontal push cylinder propulsion speed and horizontal push cylinder propulsion pressure as independent variables, based on the function type to be fitted and the data in the database.

[0070] The fitting function output sub-unit determines the domain and range of the fitting function based on the configuration of the chain cutter diaphragm wall equipment. Finally, the following multivariate fitting function is output: F = g(n, v, p, f); where F is the cutting force of the chain cutter motor, n is the motor speed, P is the thrust pressure of the horizontal thrust cylinder, v is the thrust speed of the horizontal thrust cylinder, and f is the rock hardness.

[0071] Optionally, the computing unit (1303) includes:

[0072] The working point import subunit is used to import the current working point data and the rock layer hardness collected before cutting, denoted as (n x1 ,v x1 ,p x1 ,f0,F x1 );

[0073] The comparison sub-unit is used to compare the current cutting force F of the chain cutter motor. x1 Compare with the set cutting force F0: If the chain cutter motor cutting force F x1 If the cutting force F0 does not deviate from the set cutting force, no operation is performed; if the cutting force F of the chain cutter motor is within the set range, no operation is performed. x1 If the cutting force deviates from the set cutting force F0, the solution set of the chain cutter motor cutting force that satisfies the set range and is within the domain of each independent variable is obtained based on the set cutting force F0 and the multivariate fitting function, denoted as (n0,v0,p0,f0).

[0074] The first sub-unit is used to find the sub-set with the maximum thrust speed of the horizontal thrust cylinder in the solution set (n0, v0, p0, f0) of this function, which is then used as the working point solution set, denoted as (n0, v0, p0, f0). 0max ,p0,f0);

[0075] The second sub-unit is used to obtain the solution set (n0, v) at the operating point. 0max Find the distance from the current working point (n, p0, f0). x1 ,v x1 ,p x1 The nearest point (n, f0) x2 ,v 0max ,p x2 f0) is used as the new operating point.

[0076] Optionally, the main control unit (1304) includes:

[0077] The first main control subunit is used to output current i2 to the electro-proportional control valve (201) according to formula (1), and to detect the speed n of the chain cutter motor (4) through the speed sensor (6). x3 Then determine n x3 Is it equal to n? x2 If n x3 Not equal to n x2 Then negative feedback adjustment will be implemented;

[0078] The second main control subunit is used to output current i8 to the electro-proportional multi-way valve electromagnet (801) according to formula (2), and to detect the pushing speed v of the horizontal thrust cylinder (9) through the speed sensor (11). x2 Therefore, we can determine v. x2 Is it equal to v? 0max If v x2 Not equal to v 0max Then negative feedback adjustment will be implemented;

[0079] The third main control subunit is used to output current i to the electro-proportional overflow valve electromagnet (1001) according to formula (3). 10The thrust pressure p of the transverse thrust cylinder (9) is detected by the pressure sensor (12). x3 Therefore, we can determine p. x3 Is it equal to p? x2 If p x3 Not equal to p x2 Then negative feedback adjustment will be implemented.

[0080] (III) Beneficial Effects

[0081] The beneficial effects of this invention are as follows: This invention employs a mathematical modeling method for construction data. By fitting functions to the main influencing factors of the cutting force of the chain cutter motor, the correlation between these factors is analyzed quantitatively. Precise control of the changes in these factors during construction improves the standardization of construction. Furthermore, the fitted functional relationships have significant reference value for improving equipment and optimizing construction methods. Moreover, this invention uses a multi-variable simultaneous adjustment control method, enabling multi-dimensional adjustment of the equipment's cutting conditions, thereby ensuring that the chain cutter diaphragm wall equipment reaches the expected set values ​​faster and more accurately. Attached Figure Description

[0082] Figure 1 A flowchart illustrating a method for composite control of cutting force in a chain-knife type diaphragm wall device, provided in an embodiment of the present invention;

[0083] Figure 2 This is a schematic diagram of the specific process of step S1 of a chain-knife type underground continuous wall equipment cutting force composite control method provided in an embodiment of the present invention;

[0084] Figure 3 A schematic diagram of step S2 of a chain-knife type underground continuous wall equipment cutting force composite control method provided in an embodiment of the present invention;

[0085] Figure 4 A schematic diagram of step S3 of a chain-knife type underground continuous wall equipment cutting force composite control method provided in an embodiment of the present invention;

[0086] Figure 5 This is a schematic diagram illustrating the specific process after step S4 in a method for composite control of cutting force in a chain-type diaphragm wall device provided in an embodiment of the present invention.

[0087] Figure 6 A schematic diagram illustrating the composition of a composite control system for cutting force in a chain-knife type diaphragm wall device, provided in an embodiment of the present invention;

[0088] Figure 7 This is a schematic diagram illustrating the specific working process of the control element of a chain-knife type underground continuous wall equipment cutting force composite control system provided in an embodiment of the present invention;

[0089] Figure 8 A schematic diagram illustrating the specific working process of a function fitting unit in a composite control system for cutting force of a chain cutter-type underground continuous wall device provided in an embodiment of the present invention;

[0090] Figure 9 A schematic diagram illustrating the specific working process of the calculation unit of a chain-knife type underground continuous wall equipment cutting force composite control system provided in an embodiment of the present invention;

[0091] Figure 10 This is a schematic diagram illustrating the specific working process of the main control unit of a chain cutter-type diaphragm wall equipment cutting force composite control system provided in an embodiment of the present invention. Detailed Implementation

[0092] To better explain and facilitate understanding of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0093] like Figure 1 As shown in the embodiment of the present invention, a composite control method for cutting force of a chain cutter type diaphragm wall device includes: First, obtaining rock hardness and working point data for different sections and various rock hardnesses by collecting historical construction data, and constructing a database based on the rock hardness and the corresponding working point data; wherein, the working point data includes the cutting force of the chain cutter motor, the speed of the chain cutter motor, the propulsion speed of the transverse push cylinder, and the propulsion pressure of the transverse push cylinder; Second, by fitting the working point data for the same rock hardness in the database, a composite control method is obtained with the cutting force of the chain cutter motor as the dependent variable, and the rock hardness, the speed of the chain cutter motor, the propulsion speed of the transverse push cylinder, and the cutting force of the chain cutter motor as the dependent variable ... The propulsion pressure of the horizontal push cylinder is used as the independent variable, and the range of each independent variable is used as the constraint condition for the multivariate fitting function. Then, when the cutting force of the chain cutter motor deviates from the set range, the solution set of the working point that satisfies the set range of the chain cutter motor cutting force and maximizes the propulsion speed of the horizontal push cylinder is found based on the current working point data and the multivariate fitting function. The new working point closest to the current working point is then solved. Finally, the speed of the chain cutter motor, the propulsion speed of the horizontal push cylinder, and the propulsion pressure of the horizontal push cylinder are controlled to reach the corresponding target values ​​in the new working point, so that the chain cutter diaphragm wall equipment can ensure the maximum propulsion speed of the horizontal push cylinder when the cutting force of the chain cutter motor is within the set range.

[0094] This invention employs mathematical modeling of construction data. By fitting functions to the main influencing factors of the cutting force of the chain cutter motor, the correlation between these factors is analyzed quantitatively. Precise control of the variations in these factors during construction improves the standardization of the work. Furthermore, the fitted functional relationships offer significant reference value for equipment improvement and construction method optimization. Moreover, this invention utilizes a multi-variable simultaneous adjustment control method, enabling multi-dimensional adjustment of the equipment's cutting conditions. This ensures that the chain cutter diaphragm wall equipment reaches the expected set values ​​more quickly and accurately.

[0095] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention can be understood more clearly and thoroughly, and that the scope of the present invention can be fully conveyed to those skilled in the art.

[0096] Specifically, the present invention provides a method for composite control of cutting force in a chain-knife type diaphragm wall device, comprising:

[0097] S1. Construct a database based on the collected working condition data; the working condition data includes rock hardness, chain cutter motor cutting force, chain cutter motor speed, transverse push cylinder propulsion speed, and transverse push cylinder propulsion pressure.

[0098] like Figure 2 As shown, step S1 includes:

[0099] S11. Samples are taken from the cut rock layers to obtain the rock layer hardness of different sections.

[0100] S12. Obtain operating point data of the chain-type diaphragm wall equipment through several sensors.

[0101] S13. The acquired working point data and rock layer hardness are converted to obtain data to be fitted, including the cutting force of the chain cutter motor, the motor speed, the pushing pressure of the transverse push cylinder, the pushing speed of the transverse push cylinder, and the rock layer hardness. A database is then constructed based on the data to be fitted.

[0102] S2. By fitting the working point data of the same rock layer hardness in the database, a multivariate fitting function is obtained with the cutting force of the chain cutter motor as the dependent variable and the rock layer hardness, chain cutter motor speed, horizontal push cylinder propulsion speed and horizontal push cylinder propulsion pressure as independent variables, and the range of each independent variable as the constraint condition.

[0103] like Figure 3 As shown, step S2 includes:

[0104] S21. Based on the working point data in the database, different function types are fitted. Among multiple function types, the function type with the smallest error is selected as the function type to be fitted. Specifically, different function types are tried to fit these data using actual data of cutting force, lateral thrust, lateral thrust speed, chain cutter speed, and rock hardness. The function type with the smallest error is obtained, including polynomial, exponential, and logarithmic relationships. Through fitting, the function type with the smallest error is finally determined.

[0105] S22. Based on the type of function to be fitted and the data in the database, determine the coefficient values ​​of the fitting function with the cutting force of the chain cutter motor as the dependent variable and the rock hardness, chain cutter motor speed, horizontal push cylinder propulsion speed and horizontal push cylinder propulsion pressure as independent variables.

[0106] S23. Determine the domain and range of the fitting function using the configuration parameters of the chain-type diaphragm wall equipment, and finally output the following multivariate fitting function:

[0107] F = g(n, v, p, f);

[0108] Where F is the cutting force of the chain cutter motor, n is the motor speed, P is the thrust pressure of the transverse push cylinder, v is the thrust speed of the transverse push cylinder, and f is the rock hardness.

[0109] In the independent variable, such as the rotational speed *n*, there is a set range, for example, a minimum of 10 r / min and a maximum of 120 r / min. The range of values ​​for the rotational speed *n* is 10 ≤ *n* ≤ 120, which is its domain. The transverse thrust speed *v* and transverse thrust pressure *p* are similar. Similarly, in the dependent variable *F*, there is also a set range, for example, a minimum of 0 Kn and a maximum of 300 Kn. The range of values ​​for the cutting force *F* is 0 ≤ *F* ≤ 300. These parameters are all determined by the equipment's configuration parameters.

[0110] S3. When the cutting force of the chain cutter motor deviates from the set range, find the set of working points that satisfy the set range of the cutting force of the chain cutter motor and the maximum propulsion speed of the horizontal push cylinder based on the current working point data and the multivariate fitting function, and solve for the new working point that is closest to the current working point in the working point set.

[0111] like Figure 4 As shown, step S3 includes:

[0112] S31. Obtain the current working point data and determine whether the cutting force of the chain cutter motor deviates from the set range.

[0113] S32. When the cutting force of the chain cutter motor deviates from the set range, the function solution set that satisfies the set range of the cutting force of the chain cutter motor and is within the domain of each variable is obtained according to the set range of the cutting force of the chain cutter motor and the multivariate fitting function.

[0114] S33. Find the sub-set with the largest thrust speed of the horizontal push cylinder in the solution set of this function as the working point solution set, and find the new working point that is closest to the current working point in the working point solution set.

[0115] S4. Control the chain cutter motor speed, the horizontal push cylinder propulsion speed and the horizontal push cylinder propulsion pressure to reach the corresponding target values ​​in the new working condition point, so that the chain cutter diaphragm wall equipment can ensure the maximum horizontal push cylinder propulsion speed when the chain cutter motor cutting force within the set range is met.

[0116] like Figure 5 As shown, after step S4, the following steps are also included:

[0117] A41. After the chain cutter type diaphragm wall equipment reaches a new working point, the cutting force of the chain cutter motor is collected again for closed-loop control.

[0118] A42. Import new operating condition data into the database for updating, and then optimize the parameters in the multivariate fitting function based on the updated data in the database.

[0119] In addition, such as Figure 6 As shown, the present invention also provides a cutting force composite control system for a chain cutter type diaphragm wall device, including: a prime mover 1, a closed bidirectional variable piston pump 2, a load-sensitive variable piston pump 3, a chain cutter motor 4, an electro-proportional multi-way valve 8, a horizontal thrust cylinder 9, an electro-proportional overflow valve 10, a sensor assembly, an electrical control assembly, a mechanical control assembly, a control element 13, and a shuttle valve 14.

[0120] The prime mover 1 is used to provide a power source for the closed bidirectional variable displacement piston pump 2 and the load-sensitive variable displacement piston pump 3.

[0121] The closed-loop bidirectional variable displacement piston pump 2 is used to supply pressurized oil to the chain cutter motor 4, and the closed-loop bidirectional variable displacement piston pump 2 has a built-in main relief valve and has the function of electro-proportional variable displacement.

[0122] The load-sensitive variable displacement piston pump 3 is used to supply pressurized oil to the transverse thrust cylinder 9, and the load-sensitive variable displacement piston pump 3 has load-sensitive and other adjustment functions.

[0123] Chain cutter motor 4 is used to provide power for the cutting mechanism of the chain cutter type diaphragm wall equipment.

[0124] The electro-proportional multi-way valve 8 is used to change the direction of fluid flow, thereby controlling the extension and retraction of the transverse thrust cylinder 9.

[0125] The horizontal push cylinder 9 is used to drive the cutting mechanism of the chain cutter type diaphragm wall equipment to perform horizontal cutting.

[0126] The electro-proportional relief valve 10 is connected in parallel to the feedback pressure oil circuit of the load-sensitive variable piston pump 3 to limit the feedback pressure value, thereby limiting the propulsion pressure of the propulsion cylinder 9.

[0127] The sensor assembly is used to detect one or more of the following: the pressure at port A and port B of the chain cutter motor 4, the rotational speed of the chain cutter motor 4, the pushing speed of the transverse push cylinder 9, and the pushing pressure of the transverse push cylinder 9.

[0128] The mechanical control components are used to regulate the outlet pressure of the load-sensitive variable piston pump 3.

[0129] The electronic control component is used to adjust one or more of the following based on the acquired electrical signals: the displacement of the closed bidirectional variable piston pump 2, the outlet pressure of the load-sensitive variable piston pump 3, the flow rate of the electro-proportional multi-way valve 8, and the overflow pressure of the electro-proportional relief valve 10.

[0130] The control element 13 is used to receive the detection signal from the sensor assembly and convert it into corresponding parameter values, and to output the corresponding electrical signal to the electronic control assembly after performing internal calculations.

[0131] The shuttle valve 14 is used to draw out the high-pressure oil in the control circuit of the horizontal thrust cylinder 9 for propulsion pressure detection.

[0132] Furthermore, the sensor assembly includes: a first pressure sensor 5, a rotation speed sensor 6, a second pressure sensor 7, a speed sensor 11, and a pressure sensor 12.

[0133] The first pressure sensor 5 is used to detect the pressure at port A of the chain cutter motor 4 in real time.

[0134] The speed sensor 6 is used to detect the speed of the chain cutter motor 4 in real time.

[0135] The second pressure sensor 7 is used to detect the pressure at port B of the chain cutter motor 4 in real time.

[0136] Speed ​​sensor 11 is used to detect the propulsion speed v of the transverse push cylinder 9 in real time.

[0137] Pressure sensor 12 is used to detect the propulsion pressure p of the transverse thrust cylinder 9 in real time.

[0138] The mechanical control components include: a load-sensitive valve 301, which is used to regulate the outlet pressure of the load-sensitive variable displacement piston pump 3 to always be a fixed value higher than the feedback pressure.

[0139] Furthermore, the electronic control components include: an electro-proportional control valve 201, an electro-proportional multi-way valve solenoid 801, and an electro-proportional relief valve solenoid 1001.

[0140] The electro-proportional control valve 201 is connected to the closed-loop bidirectional variable displacement piston pump 2 and is used to adjust the displacement of the closed-loop bidirectional variable displacement piston pump 2 according to the input electrical signal. That is, the electro-proportional control valve 201 is an integrated component of the closed-loop bidirectional variable displacement piston pump 2. By changing the input current value of the electro-proportional control valve 201, the displacement of the closed-loop bidirectional variable displacement piston pump 2 can be changed, and thus the speed of the chain cutter motor can be changed at a constant speed.

[0141] The electro-proportional multi-way valve solenoid 801 is connected to the electro-proportional multi-way valve 8 and is used to adjust the flow rate of the electro-proportional multi-way valve 8 according to the input electrical signal, thereby controlling the pushing speed of the horizontal push cylinder 9; that is, the electro-proportional multi-way valve solenoid 801 is a component integrated into the electro-proportional multi-way valve 8, and the flow rate through the electro-proportional multi-way valve 8 can be changed by changing the input current value of the electro-proportional multi-way valve solenoid 801.

[0142] The electro-proportional relief valve solenoid 1001 is connected to the electro-proportional relief valve 10 and is used to change the relief pressure of the electro-proportional relief valve 10 according to the input electrical signal, thereby limiting the pushing pressure of the horizontal push cylinder 9. That is, the electro-proportional relief valve solenoid 1001 is a component integrated into the electro-proportional multi-way valve 10, and the relief pressure can be changed by changing the input current value of the electro-proportional relief valve solenoid 1001.

[0143] In a specific embodiment, the implementation process of a cutting force composite control system for a chain-type diaphragm wall device is as follows:

[0144] Depend on Figure 6 It can be seen that the cutting force composite control system includes: prime mover 1, closed bidirectional variable piston pump 2, load-sensitive variable piston pump 3, chain cutter motor 4, electro-proportional multi-way valve 8, electro-proportional multi-way valve 8 electromagnet 801, transverse thrust cylinder 9, electro-proportional relief valve 10, control element 13, shuttle valve 14, first pressure sensor 5, second pressure sensor 7, pressure sensor 12, speed sensor 6, and speed sensor 11.

[0145] exist Figure 6In this configuration, the prime mover 1 is connected to a closed-loop bidirectional variable displacement piston pump 2 and a load-sensitive variable displacement piston pump 3 via a coupling. Port A1 of the closed-loop bidirectional variable displacement piston pump 2 is connected to port A2 of the chain cutter motor 4 and the first pressure sensor 5, respectively. Port B1 of the closed-loop bidirectional variable displacement piston pump 2 is connected to port B2 of the chain cutter motor 4 and the second pressure sensor 7, respectively. The chain cutter motor 4 is equipped with a speed sensor 6. Port P1 of the load-sensitive variable displacement piston pump 3 is connected to port P2 of the electro-proportional multi-way valve 8. Ports A3 and B3 of the electro-proportional multi-way valve 8 are connected to ports A4 (rodless chamber) and B4 (rod chamber) of the transverse thrust cylinder 9, respectively. Connected, a shuttle valve 14 is installed in this working circuit, and the outlet of the shuttle valve 14 is connected to the pressure sensor 12; the load acquisition Ls port of the transverse push cylinder electro-proportional multi-way valve 8 is connected to the load sensitive valve 301 of the load sensitive variable piston pump 3, and an electro-proportional relief valve 10 is connected in parallel in this circuit; a speed sensor 11 is installed on the transverse push cylinder 9; pressure sensor 5, pressure sensor 7, pressure sensor 12, speed sensor 6, speed sensor 11, electro-proportional control valve 201, electro-proportional multi-way valve electromagnet 801 and electro-proportional relief valve 1001 are connected to the control element 13 through signal lines.

[0146] To illustrate the control principle more clearly, a specific implementation is given with the chain cutter motor 4 rotating forward and the horizontal thrust cylinder 9 extending as the propulsion direction: Before the equipment is running, the control range of the cutting force needs to be set, denoted as F0. During normal cutting, the electro-proportional control valve 201 receives a positive current signal i2(1), and the A1 port of the closed bidirectional variable piston pump 2 is connected to high-pressure oil, driving the motor 4 to rotate forward; the electro-proportional multi-way valve solenoid 801 receives a positive current signal i8(1), and the valve core of the electro-proportional multi-way valve 8 opens, so that the A3 port of the electro-proportional multi-way valve 8 is connected to the P1 port of the pump 3. At the same time, the Ls port of the electro-proportional multi-way valve 8 transmits the pressure of the A4 port of the horizontal thrust cylinder 9 to the load-sensitive valve 301 of the load-sensitive variable piston pump 3, so that the pump outputs high-pressure oil with a fixed value greater than the pressure of the A4 port, thereby driving the horizontal thrust cylinder 9 to extend. At the same time, the high-pressure oil is transmitted to the pressure sensor 12 through the shuttle valve 14 in the control circuit.

[0147] Furthermore, based on the data from the first pressure sensor (5) and the second pressure sensor (7), combined with the first system configuration parameter set, the functional relationship between the cutting force of the chain cutter motor (4) and the pressure at ports A and B of the chain cutter motor (4) is obtained, denoted as:

[0148] F=y1(|P A -P B |), F min ≤F≤F max (1)

[0149] In equation (1), P A The pressure at port A of the chain cutter motor (4) detected by the pressure sensor (5), PB The pressure at port B of the chain cutter motor (4) is detected by the pressure sensor (7).

[0150] Based on the data from the closed-loop bidirectional variable displacement piston pump (2) and the second system configuration parameter group, the functional relationship between the chain cutter motor speed and the input current value of the electro-proportional control valve (201) is obtained, denoted as:

[0151] n = y2(i2), n min ≤n≤n max (2)

[0152] In equation (2), n is the rotational speed of the chain cutter motor (4) detected by the speed sensor (6), and i2 is the input current value of the electro-proportional control valve (201).

[0153] Based on the data from the electro-proportional multi-way valve (8) and the configuration parameter group of the third system, the functional relationship between the thrust speed of the transverse thrust cylinder (9) and the input current of the electro-proportional multi-way valve electromagnet (801) can be obtained, denoted as:

[0154] v = y3(i8), v min ≤v≤v max (3)

[0155] In equation (3), v is the propulsion speed of the horizontal thrust cylinder (9) detected by the speed sensor (11), and i8 is the input current of the electro-proportional multi-way valve electromagnet (801).

[0156] Based on the data from the electro-proportional relief valve (10) and the fourth system configuration parameter group, the thrust pressure P of the horizontal thrust cylinder (9) and the input current i of the electro-proportional relief valve electromagnet (1001) can be obtained. 10 The functional relationship is denoted as:

[0157] P = y4(i 10 ), P min ≤P≤P max (4)

[0158] In equation (4), P is the thrust pressure of the transverse thrust cylinder (9) detected by the pressure sensor (12), and i 10 Input current to the electro-proportional relief valve electromagnet (1001).

[0159] in,

[0160] The first system configuration parameter group includes: the cutting force F of the chain cutter motor (4), and the pressure P at ports A and B of the chain cutter motor (4). A and P B 、Chain knife motor (4) displacement V2, chain knife diameter D, reducer reduction ratio i and transmission efficiency η;

[0161] According to the first system configuration parameter group, we can obtain:

[0162]

[0163] F - Chain cutter cutting force (kN)

[0164] P A P B - Chain cutter motor A and B port pressure (bar)

[0165] V2-Chain cutter motor displacement (ml / r)

[0166] D - Sprocket diameter (mm)

[0167] i- Gear reducer reduction ratio

[0168] η - Transmission efficiency

[0169] The formula is: F = y1(|P A -P B |), F min ≤F≤F max V2, D, i, and η are constants that are already fixed values ​​during equipment use. Therefore, the cutting force F is only related to the pressure P at ports A and B of the chain cutter motor. A and P B related.

[0170] The second system configuration parameter group includes: the relationship between the displacement of the closed bidirectional variable piston pump (2) and the input current value of the electro-proportional control valve (201) V(i), the displacement of the chain cutter motor V2, the total volumetric efficiency η, and the prime mover speed n_prime;

[0171] According to the second system configuration parameter group:

[0172]

[0173] n-Chain cutter motor speed (r / min)

[0174] n 原 - Prime mover speed (r / min)

[0175] V(i2) - Relationship between the displacement of a closed-loop bidirectional piston pump and the input current of an electro-proportional control valve

[0176] η 总 -Total volumetric efficiency

[0177] V2-Chain cutter motor displacement (ml / r)

[0178] The formula is: n = y²(i²), n min ≤n≤n max Where n_original, V_2, and η 总The value is already a constant when the equipment is in use, so the speed n of the chain cutter motor is only related to the input current value i2 of the electro-proportional control valve (201).

[0179] The third system configuration parameter group includes: the effective area S of the oil inlet chamber of the horizontal thrust cylinder, and the relationship between the output flow of the electro-proportional multi-way valve (8) and the input current of the electro-proportional multi-way valve electromagnet (801) Q(i8);

[0180] According to the third system configuration parameter group, we can obtain:

[0181]

[0182] v-Push cylinder propulsion speed (mm / s)

[0183] Q(i8) - The relationship between the output flow rate of the proportional multi-way valve and the electro-proportional multi-way valve solenoid (L / min)

[0184] S-Push cylinder oil inlet chamber working area (mm) 2 )

[0185] The formula is: v = y3(i8), v min ≤v≤v max S is a constant value when the equipment is in use, so the propulsion speed v of the propulsion cylinder is only related to the input current i8 of the electro-proportional multi-way valve electromagnet (801).

[0186] The fourth system configuration parameter group includes: the thrust pressure P of the transverse thrust cylinder and the input current i of the electro-proportional relief valve solenoid. 10 Relationship P(i) 10 ).

[0187] According to the third system configuration parameter group, we can obtain:

[0188] P = P(i 10 )

[0189] P - Propulsion cylinder propulsion pressure (bar)

[0190] P(i 10 The relationship between propulsion pressure and input current of the electro-proportional relief valve

[0191] The formula is: P = y4(i 10 ), P min ≤P≤P max Therefore, the pushing pressure P of the horizontal thrust cylinder is only related to the input current i of the electro-proportional relief valve solenoid. 10 related.

[0192] like Figure 6 As shown, pressure sensor 5 detects the pressure at port A2 of chain cutter motor 4 in real time, denoted as P.A Pressure sensor 7 detects the pressure at port A3 of chain cutter motor 4 in real time, denoted as P. B The speed sensor 6 detects the speed of the chain cutter motor 4 in real time, denoted as n; the pressure sensor 12 detects the pushing pressure of the horizontal push cylinder in real time, denoted as p; the speed sensor 11 detects the pushing speed of the horizontal push cylinder in real time, denoted as v; the rock hardness is obtained through pre-construction exploration and denoted as f; the data signals of each sensor and the rock hardness data are transmitted to the control element 13.

[0193] Furthermore, such as Figure 7 As shown, the control element 13 is divided into four main modules: storage and conversion unit 1301, function fitting unit 1302, calculation unit 1303, and main control unit 1304. The control element 13 processes data to obtain the optimal working point that satisfies the preset cutting force, and then applies it to each electro-proportional control valve. Its specific working process is as follows:

[0194] The storage and conversion unit is used to obtain the rock hardness of different sections and the working point data under each rock hardness by collecting historical construction data. The working point data includes the cutting force of the chain cutter motor, the speed of the chain cutter motor, the pushing speed of the horizontal pusher cylinder, and the pushing pressure of the horizontal pusher cylinder. The unit also constructs a database based on the rock hardness and the working point data corresponding to the rock hardness.

[0195] The function fitting unit is used to fit the working point data under the same rock layer hardness in the database to obtain a multivariate fitting function with the cutting force of the chain cutter motor as the dependent variable and the rock layer hardness, chain cutter motor speed, horizontal push cylinder propulsion speed and horizontal push cylinder propulsion pressure as independent variables, and the range of each independent variable as the constraint condition.

[0196] The calculation unit is used to find the set of working points that satisfy the set range of cutting force of chain cutter motor and maximize the pushing speed of horizontal push cylinder based on the current working point data and multivariate fitting function when the cutting force of chain cutter motor deviates from the set range, and solve for the new working point that is closest to the current working point in the working point set.

[0197] The main control unit is used to control the speed of the chain cutter motor, the propulsion speed of the horizontal pusher cylinder, and the propulsion pressure of the horizontal pusher cylinder to reach the corresponding target values ​​in the new working condition point, so that the chain cutter diaphragm wall equipment can ensure the maximum propulsion speed of the horizontal pusher cylinder when the cutting force of the chain cutter motor within the set range is met.

[0198] Going a step further,

[0199] The function fitting unit includes:

[0200] The import sub-unit is used to import data from the database;

[0201] The function type determination sub-unit is used to fit different function types based on the working point data of a certain rock layer hardness in the database. Among multiple function types, the function type with the smallest error is found as the function type to be fitted.

[0202] The parameter determination subunit is used to determine the coefficients of the fitted function, with the cutting force of the chain cutter motor as the dependent variable and the rock hardness, chain cutter motor speed, transverse pusher cylinder propulsion speed, and transverse pusher cylinder propulsion pressure as independent variables, based on the function type to be fitted and the data in the database. This means that a function type has been obtained, for example: F = af b +n c ×p d +v e After determining the function type by identifying the sub-units, the next step is to further determine the values ​​of the coefficients a, b, c, d, and e of the function using data from the database.

[0203] The fitting function output sub-unit determines the domain and range of the fitting function based on the configuration of the chain cutter diaphragm wall equipment. Finally, the following multivariate fitting function is output: F = g(n, v, p, f); where F is the cutting force of the chain cutter motor, n is the motor speed, P is the thrust pressure of the horizontal thrust cylinder, v is the thrust speed of the horizontal thrust cylinder, and f is the rock hardness.

[0204] like Figure 8 As shown, the data in the database is first imported into the function fitting unit 1302. Then, the type of the fitting function is determined according to the data distribution pattern. Then, the coefficients in the function are determined according to the function type and the data in the database. Then, the range of values ​​of each variable in the function is determined according to the equipment configuration. Finally, the fitting function with the cutting force F as the dependent variable is output, denoted as F = g(n, v, p, f).

[0205] Next, the computing unit includes:

[0206] The working point import subunit is used to import the current working point data and the rock layer hardness collected before cutting, denoted as (n x1 ,v x1 ,p x1 ,f0,F x1 ).

[0207] The comparison sub-unit is used to compare the current cutting force F of the chain cutter motor. x1 Compare with the set cutting force F0: If the chain cutter motor cutting force F x1 If the cutting force F0 does not deviate from the set cutting force, no operation is performed; if the cutting force F of the chain cutter motor is within the set range, no operation is performed. x1If the cutting force deviates from the set cutting force F0, the solution set of the chain cutter motor cutting force that satisfies the set range and is within the domain of each variable is obtained based on the set cutting force F0 and the multivariate fitting function, denoted as (n0,v0,p0,f0).

[0208] The first sub-unit is used to find the sub-set of solutions in the solution set (n0, v0, p0, f0) that maximizes the thrust speed of the horizontal push cylinder, which is then used as the working point solution set, denoted as (n0, v0, p0, f0). 0max ,p0,f0).

[0209] The second sub-unit is used to obtain the solution set (n0, v) at the operating point. 0max Find the distance from the current working point (n, p0, f0). x1 ,v x1 ,p x1 The nearest point (n, f0) x2 ,v 0max ,p x2 f0) is used as the new operating point.

[0210] like Figure 9 As shown, the calculation unit 1303 compares and calculates the current cutting condition point with the fitted function. The specific process is as follows: First, the calculation unit 1303 imports the current cutting condition point, denoted as (n x1 ,v x1 ,p x1 ,f0,F x1 ), set the cutting force value F0 and the rock layer hardness f0 collected before cutting, and set the cutting force F at this moment. x1 Compare with the set cutting force F0: If F x1 =F0, then keep the output parameters unchanged at this moment; if F x1 ≠F0. The calculation unit 1303 will calculate the solution set that meets the conditions based on the set cutting force F0 and the fitting function, denoted as (n0,v0,p0,f0). Next, it will find the solution set with the largest propulsion speed v in this solution set (n0,v0,p0,f0), denoted as (n0,v0,p0,f0). 0max This algorithm, p0, f0), ensures that within the set cutting force range, the propulsion speed v of the hydraulic cylinder is prioritized to its maximum value, guaranteeing that the equipment operates with maximum cutting efficiency. Finally, the solution set (n0, v) is obtained. 0max The distance between the working point (n, p0, f0) and the working point (n) x1 ,v x1 ,p x1 The nearest point (n, f0) x2 ,v 0max ,p x2This algorithm allows the chain cutter motor 4's rotational speed n, the horizontal thrust cylinder 9's horizontal thrust speed v, and the horizontal thrust cylinder 9's horizontal thrust pressure p to reach a new working point with minimal changes, enabling the equipment to reach the required cutting force as quickly as possible and improving the system's response capability.

[0211] The main control unit includes:

[0212] The first main control subunit is used to output current i2 to the electro-proportional control valve 201 according to formula (1), and to detect the speed n of the chain cutter motor 4 through the speed sensor 6. x3 Then determine n x3 Is it equal to n? x2 If n x3 Not equal to n x2 Then negative feedback adjustment will be implemented;

[0213] The second main control subunit is used to output current i8 to the electro-proportional multi-way valve electromagnet 801 according to formula (2), and to detect the pushing speed v of the horizontal thrust cylinder 9 through the speed sensor 11. x2 Therefore, we can determine v. x2 Is it equal to v? 0max If v x2 Not equal to v 0max Then negative feedback adjustment will be implemented;

[0214] The third main control subunit is used to output current i to the electro-proportional overflow valve solenoid 1001 according to formula (3). 10 The thrust pressure p of the horizontal thrust cylinder 9 is detected by pressure sensor 12. x3 Therefore, we can determine p. x3 Is it equal to p? x2 If p x3 Not equal to p x2 Then negative feedback adjustment will be implemented.

[0215] The specific working process of the main control unit 1304 is as follows: Figure 10 The main control unit 1304 obtains the solution of the fitting function (n) x2 ,v x2 ,p x2 According to formula (1), the current i2(x2) is output to the electro-proportional control valve 201, and at the same time, the speed sensor 6 detects the speed of the chain cutter motor 4 as n. x3 By judging n x3 Is it equal to n? x2 Perform negative feedback adjustment to ensure output n x2 The accuracy; according to formula (2), the current i8(x2) is output to the electro-proportional multi-way valve solenoid 801, and at the same time the speed sensor 11 detects the pushing speed v of the horizontal thrust cylinder 9. x3 By judging vx2 Is it equal to v? 0max Perform negative feedback adjustment to ensure output v 0max The accuracy; according to formula (3), the output current i to the electro-proportional overflow valve solenoid 1001 is... 10 (x2), while pressure sensor 12 detects the propulsion pressure p of propulsion cylinder 4. x3 By judging p x3 Is it equal to p? x2 Implement negative feedback control to ensure output p x2 The accuracy.

[0216] Subsequently, each sensor detects the new operating point and transmits it to control element 13 to form a closed-loop control system, increasing the control accuracy of the chain cutter motor's cutting force. Simultaneously, the new operating data imported into control element 13 updates the database, thereby optimizing the parameters of the fitting function and improving the accuracy of the function fitting.

[0217] In summary, this invention provides a method and system for composite control of cutting force in a chain cutter type diaphragm wall device. The system acquires parameters such as the cutting force F of the chain cutter motor, the chain cutter motor speed n, the thrust cylinder speed v, and the thrust cylinder pressure p by receiving signals from various sensors through a control element. Before cutting, the rock strata on the cutting surface are sampled to obtain the rock hardness f. Based on these variables, a database is formed through sensor data collection. The database data is then fitted by a function fitting unit within the control unit to obtain a multivariate fitting function F = g(n, v, p, f), with the chain cutter motor cutting force as the dependent variable and the actual variable ranges of each parameter as constraints. When the chain cutter motor cutting force F deviates from the target set value, the control element will adjust the control based on the current data of each parameter (n...). x v x p x f x F x Find the variable point (n0, v) that has the maximum thrust velocity v of the horizontal thrust cylinder and is closest to this point, and that fits the multivariate fitting function. max The control unit controls the displacement of the closed pump, the current value of the electro-proportional multi-way valve, and the current value of the electro-proportional relief valve, thereby controlling the chain cutter motor speed n, the horizontal push cylinder propulsion speed v, and the horizontal push cylinder propulsion pressure p to reach the target value of this variable point. After that, the control unit collects the cutting force F of the chain cutter motor again for negative feedback adjustment to ensure the accuracy of the actual output parameters.

[0218] Based on the above description, it can be seen that the solution of the present invention receives the chain cutter motor speed, the pushing speed and the pushing pressure of the horizontal push cylinder in real time through the control element, performs function fitting on the database formed by the construction data, and forms a functional relationship. In the process of adjusting the cutting force, the values ​​of each parameter can be adjusted in combination through the corresponding relationship of the functional relationship to achieve the set cutting force value, thus solving the problem of excessive or insufficient cutting force.

[0219] Meanwhile, by solving the optimal solution of the function, this invention ensures that the horizontal thrust cylinder propulsion speed is maximized under the premise of preset cutting force, thereby maximizing the cutting efficiency of the equipment and solving the problem of low cutting efficiency of continuous wall equipment.

[0220] It is worth mentioning that the method and system for composite control of cutting force of chain cutter type underground continuous wall equipment proposed in this invention are not limited to composite control of cutting force during lateral advance, but can also be used for composite control during the cutting of the cutter box and the cutting of the lifting cylinder.

[0221] Since the systems / devices described in the above embodiments of the present invention are systems / devices used to implement the methods of the above embodiments of the present invention, those skilled in the art can understand the specific structure and modifications of the systems / devices based on the methods described in the above embodiments of the present invention, and therefore will not be repeated here. All systems / devices used in the methods of the above embodiments of the present invention fall within the scope of protection of the present invention.

[0222] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0223] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions.

[0224] It should be noted that any reference numerals placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In claims that enumerate several means, several of these means may be embodied by the same hardware. The use of the terms first, second, third, etc., is merely for convenience of expression and does not indicate any order. These terms can be understood as part of the component names.

[0225] Furthermore, it should be noted that in the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0226] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the claims should be interpreted to include both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0227] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, then this invention should also include these modifications and variations.

Claims

1. A method for composite control of cutting force in a chain-knife type diaphragm wall device, characterized in that, include: A database is constructed based on the collected working condition data; the working condition data includes rock hardness, chain cutter motor cutting force, chain cutter motor speed, transverse pusher cylinder propulsion speed, and transverse pusher cylinder propulsion pressure. By fitting the working point data in the database, a multivariate fitting function is obtained, with the cutting force of the chain cutter motor as the dependent variable and the rock hardness, chain cutter motor speed, horizontal push cylinder propulsion speed and horizontal push cylinder propulsion pressure as independent variables, and the range of each independent variable as the constraint condition. When the cutting force of the chain cutter motor deviates from the set range, the solution set of the working point that satisfies the set range of the cutting force of the chain cutter motor and has the largest pushing speed of the horizontal push cylinder is found based on the current working point data and the multivariate fitting function, and the new working point that is closest to the current working point in the solution set of the working point is solved. The chain cutter motor speed, the horizontal push cylinder propulsion speed, and the horizontal push cylinder propulsion pressure are controlled to reach the corresponding target values ​​in the new working condition point, so that the chain cutter diaphragm wall equipment can ensure the maximum horizontal push cylinder propulsion speed while meeting the cutting force of the chain cutter motor within the set range.

2. The method for composite control of cutting force in a chain-knife type diaphragm wall device as described in claim 1, characterized in that, By fitting the working point data in the database, a multivariate fitting function was obtained, with the cutting force of the chain cutter motor as the dependent variable and the rock hardness, chain cutter motor speed, transverse pusher cylinder propulsion speed, and transverse pusher cylinder propulsion pressure as independent variables, and the range of each independent variable as the constraint condition. This function includes: Based on the working point data in the database, different function types are fitted, and the function type with the smallest error is found among multiple function types to be used as the function type to be fitted. Based on the type of function to be fitted and the data in the database, the coefficient values ​​of the fitting function with the cutting force of the chain cutter motor as the dependent variable and the rock hardness, chain cutter motor speed, horizontal push cylinder propulsion speed and horizontal push cylinder propulsion pressure as independent variables are determined. The domain and range of the fitting function were determined by the configuration parameters of the chain cutter-type diaphragm wall equipment, and the following multivariate fitting function was finally output: F = g(n, v, p, f); Where F is the cutting force of the chain cutter motor, n is the motor speed, P is the thrust pressure of the transverse push cylinder, v is the thrust speed of the transverse push cylinder, and f is the rock hardness.

3. The method for composite control of cutting force in a chain-knife type diaphragm wall device as described in claim 2, characterized in that, When the cutting force of the chain cutter motor deviates from the set range, the solution set of the working point that satisfies the set range of the chain cutter motor cutting force and maximizes the thrust cylinder propulsion speed is found based on the current working point data and the multivariate fitting function. The new working point closest to the current working point in the solution set is then calculated, including: Acquire the current operating point data and determine whether the cutting force of the chain cutter motor deviates from the set range; When the cutting force of the chain cutter motor deviates from the set range, the function solution set that satisfies the set range of the cutting force of the chain cutter motor and is within the domain of each independent variable is obtained according to the set range of the cutting force of the chain cutter motor and the multivariate fitting function; The subset with the maximum thrust speed of the horizontal push cylinder is obtained from the solution set of this function and used as the working point solution set. Then, the new working point that is closest to the current working point is found in the working point solution set.

4. A composite control system for cutting force of a chain-knife type diaphragm wall device, characterized in that, include: Prime mover (1), closed bidirectional variable piston pump (2), load-sensitive variable piston pump (3), chain cutter motor (4), electro-proportional multi-way valve (8), transverse thrust cylinder (9), electro-proportional relief valve (10), sensor assembly, electronic control assembly, mechanical control assembly, control element (13), and shuttle valve (14); The prime mover (1) is used to provide a power source for the closed bidirectional variable displacement piston pump (2) and the load-sensitive variable displacement piston pump (3); A closed-loop bidirectional variable displacement piston pump (2) is used to supply pressurized oil to the chain cutter motor (4); A load-sensitive variable displacement piston pump (3) is used to supply pressurized oil to the transverse thrust cylinder (9); The chain cutter motor (4) is used to provide power for the cutting mechanism of the chain cutter type diaphragm wall equipment; The electro-proportional multi-way valve (8) is used to change the direction of fluid flow, thereby controlling the extension and retraction of the transverse thrust cylinder (9); The horizontal push cylinder (9) is used to push the cutting mechanism of the chain knife type underground continuous wall equipment to perform horizontal cutting; An electro-proportional relief valve (10) is connected in parallel to the feedback pressure oil circuit of the load-sensitive variable piston pump (3) to limit the feedback pressure value, thereby limiting the propulsion pressure of the propulsion thrust cylinder (9); The sensor assembly is used to detect one or more of the following: the pressure at port A and port B of the chain cutter motor (4), the rotational speed of the chain cutter motor (4), the propulsion speed of the transverse push cylinder (9), and the propulsion pressure of the transverse push cylinder (9). The mechanical control components are used to regulate the outlet pressure of the load-sensitive variable displacement piston pump (3); The electronic control component is used to adjust one or more of the following based on the acquired electrical signal: the displacement of the closed bidirectional variable piston pump (2), the flow rate of the electro-proportional multi-way valve (8), and the overflow pressure of the electro-proportional relief valve (10). The control element (13) is used to receive the detection signal from the sensor assembly and convert it into corresponding parameter values, and to output the corresponding electrical signal to the electronic control assembly after internal calculation; wherein, the control element (13) includes: a storage and conversion unit (1301), used to construct a database based on the collected working point data; wherein, the working point data includes rock hardness, chain cutter motor cutting force, chain cutter motor speed, horizontal push cylinder propulsion speed and horizontal push cylinder propulsion pressure; a function fitting unit (1302), used to fit the working point data in the database to obtain a function with chain cutter motor cutting force as the dependent variable and rock hardness, chain cutter motor speed, horizontal push cylinder propulsion speed and horizontal push cylinder propulsion pressure as the dependent variable. A multivariate fitting function with force as the independent variable and the range of each independent variable as the constraint condition; a calculation unit (1303) is used to find the solution set of the working point that satisfies the cutting force of the chain cutter motor and maximizes the propulsion speed of the transverse push cylinder based on the current working point data and the multivariate fitting function when the cutting force of the chain cutter motor deviates from the set range, and solve for the new working point closest to the current working point in the solution set of the working point; a main control unit (1304) is used to control the speed of the chain cutter motor, the propulsion speed of the transverse push cylinder and the propulsion pressure of the transverse push cylinder to reach the corresponding target values ​​in the new working point, so that the chain cutter underground continuous wall equipment can ensure the maximum propulsion speed of the transverse push cylinder when the cutting force of the chain cutter motor is satisfied within the set range; The shuttle valve (14) is used to draw out the high-pressure oil in the control circuit of the horizontal thrust cylinder (9) for propulsion pressure detection.

5. The cutting force composite control system for a chain-knife type diaphragm wall device as described in claim 4, characterized in that, The sensor assembly includes: a first pressure sensor (5), a rotation speed sensor (6), a second pressure sensor (7), a speed sensor (11), and a pressure sensor (12); The first pressure sensor (5) is used to detect the pressure at port A of the chain cutter motor (4); The speed sensor (6) is used to detect the speed of the chain cutter motor (4); The second pressure sensor (7) is used to detect the pressure at port B of the chain cutter motor (4); The speed sensor (11) is used to detect the propulsion speed of the transverse thrust cylinder (9); The pressure sensor (12) is used to detect the propulsion pressure of the transverse thrust cylinder (9); The mechanical control components include: a load-sensitive valve (301), which is used to regulate the outlet pressure of the load-sensitive variable displacement piston pump (3) to always be a fixed value higher than the feedback pressure; The electronic control components include: an electro-proportional control valve (201), an electro-proportional multi-way valve solenoid (801), and an electro-proportional relief valve solenoid (1001); The electro-proportional control valve (201) is connected to the closed bidirectional variable piston pump (2) and is used to adjust the displacement of the closed bidirectional variable piston pump (2) according to the input electrical signal. The electro-proportional multi-way valve electromagnet (801) is connected to the electro-proportional multi-way valve (8) and is used to adjust the flow of the electro-proportional multi-way valve (8) according to the input electrical signal, thereby controlling the pushing speed of the horizontal push cylinder (9). The electro-proportional relief valve electromagnet (1001) is connected to the electro-proportional relief valve (10) and is used to change the relief pressure of the electro-proportional relief valve (10) according to the input electrical signal, thereby limiting the pushing pressure of the horizontal thrust cylinder (9).

6. The cutting force composite control system for a chain-knife type diaphragm wall device as described in claim 5, characterized in that, Based on the data from the first pressure sensor (5) and the second pressure sensor (7), combined with the first system configuration parameter set, the functional relationship between the cutting force of the chain cutter motor (4) and the pressure at ports A and B of the chain cutter motor (4) is obtained, denoted as: F=y1(|P A -P B |),F min ≤F≤F max (1) In equation (1), P A The pressure at port A of the chain cutter motor (4) detected by the pressure sensor (5), P B The pressure at port B of the chain cutter motor (4) is detected by the pressure sensor (7); the first system configuration parameter group includes: the cutting force F of the chain cutter motor (4), the displacement of the chain cutter motor (4), the diameter of the chain cutter, the reduction ratio of the reducer and the transmission efficiency; Based on the data from the closed-loop bidirectional variable displacement piston pump (2) and the second system configuration parameter group, the functional relationship between the chain cutter motor speed and the input current value of the electro-proportional control valve (201) is obtained, denoted as: n=y2(i2),n min ≤n≤n max (2) In equation (2), n is the rotational speed of the chain cutter motor (4) detected by the speed sensor (6), and i2 is the input current value of the electro-proportional control valve (201). The second system configuration parameter group includes: the relationship between the displacement of the closed bidirectional variable piston pump (2) and the input current value of the electro-proportional control valve (201), the displacement of the chain cutter motor, the volumetric efficiency of the closed bidirectional variable piston pump (2) and the chain cutter motor (4), and the prime mover speed. Based on the data from the electro-proportional multi-way valve (8) and the configuration parameter group of the third system, the functional relationship between the thrust speed of the transverse thrust cylinder (9) and the input current of the electro-proportional multi-way valve electromagnet (801) can be obtained, denoted as: v=y3(i8),v min ≤v≤v max (3) In equation (3), v is the propulsion speed of the horizontal push cylinder (9) detected by the speed sensor (11), and i8 is the input current of the electro-proportional multi-way valve electromagnet (801). The third system configuration parameter group includes: the working area of ​​the oil inlet chamber of the horizontal push cylinder, the relationship between the output flow of the electro-proportional multi-way valve (8) and the input current of the electro-proportional multi-way valve electromagnet (801). Based on the data from the electro-proportional relief valve (10) and the fourth system configuration parameter group, the thrust pressure P of the horizontal thrust cylinder (9) and the input current i of the electro-proportional relief valve electromagnet (1001) can be obtained. 10 The functional relationship is denoted as: P=y4(i 10 ),P min ≤P≤P max (4) In equation (4), P is the thrust pressure of the transverse thrust cylinder (9) detected by the pressure sensor (12), and i 10 The input current for the electro-proportional relief valve electromagnet (1001) is specified; the fourth system configuration parameter group includes: the pushing pressure P of the horizontal thrust cylinder (9) and the input current i of the electro-proportional relief valve electromagnet (1001). 10 The relational expression.

7. The cutting force composite control system for a chain-knife type diaphragm wall device as described in claim 6, characterized in that, The function fitting unit (1302) includes: The import sub-unit is used to import data from the database; The function type determination sub-unit is used to fit different function types based on the working point data in the database. Among multiple function types, the function type with the smallest error is selected as the function type to be fitted. The parameter determination subunit is used to determine the coefficient values ​​of the fitting function with the cutting force of the chain cutter motor as the dependent variable and the rock hardness, chain cutter motor speed, horizontal push cylinder propulsion speed and horizontal push cylinder propulsion pressure as independent variables, based on the function type to be fitted and the data in the database. The fitting function output sub-unit determines the domain and range of the fitting function based on the configuration of the chain cutter diaphragm wall equipment. Finally, the following multivariate fitting function is output: F = g(n, v, p, f); where F is the cutting force of the chain cutter motor, n is the motor speed, P is the thrust pressure of the horizontal thrust cylinder, v is the thrust speed of the horizontal thrust cylinder, and f is the rock hardness.

8. The cutting force composite control system for a chain-knife type diaphragm wall device as described in claim 7, characterized in that, The computing unit (1303) includes: The working point import subunit is used to import the current working point data and the rock layer hardness collected before cutting, denoted as (n x1 ,v x1 ,p x1 ,f0,F x1 ); The comparison sub-unit is used to compare the current cutting force F of the chain cutter motor. x1 Compare with the set cutting force F0: If the chain cutter motor cutting force F x1 If the cutting force F0 does not deviate from the set cutting force, no operation is performed; if the cutting force F of the chain cutter motor is within the set range, no operation is performed. x1 If the cutting force deviates from the set cutting force F0, the solution set of the chain cutter motor cutting force that satisfies the set range and is within the domain of each independent variable is obtained based on the set cutting force F0 and the multivariate fitting function, denoted as (n0,v0,p0,f0). The first sub-unit is used to find the sub-set with the maximum thrust speed of the horizontal thrust cylinder in the solution set (n0, v0, p0, f0) of this function, which is then used as the working point solution set, denoted as (n0, v0, p0, f0). 0max ,p0,f0); The second sub-unit is used to obtain the solution set (n0, v) at the operating point. 0max Find the distance from the current working point (n, p0, f0). x1 ,v x1 ,p x1 The nearest point (n, f0) x2 ,v 0max ,p x2 f0) is used as the new operating point.

9. The cutting force composite control system for a chain-knife type diaphragm wall device as described in claim 8, characterized in that, The main control unit (1304) includes: The first main control subunit is used to output current i2 to the electro-proportional control valve (201) according to formula (1), and to detect the speed n of the chain cutter motor (4) through the speed sensor (6). x3 Then determine n x3 Is it equal to n? x2 If n x3 Not equal to n x2 Then negative feedback adjustment will be implemented; The second main control subunit is used to output current i8 to the electro-proportional multi-way valve electromagnet (801) according to formula (2), and to detect the pushing speed v of the horizontal thrust cylinder (9) through the speed sensor (11). x2 Therefore, we can determine v. x2 Is it equal to v? 0max If v x2 Not equal to v 0max Then negative feedback adjustment will be implemented; The third main control subunit is used to output current i to the electro-proportional overflow valve electromagnet (1001) according to formula (3). 10 The thrust pressure p of the transverse thrust cylinder (9) is detected by the pressure sensor (12). x3 Therefore, we can determine p. x3 Is it equal to p? x2 If p x3 Not equal to p x2 Then negative feedback adjustment will be implemented.

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