A method and system for automatic constant-speed tunneling energy-saving control of a shield machine

Abstract

This invention relates to an automatic constant-speed tunneling energy-saving control method and system for tunnel boring machines (TBMs), belonging to the field of TBM construction automation and intelligent technology. The solution includes obtaining the TBM's tunneling parameters and corresponding overall power consumption; selecting a set of optimal tunneling parameters with the lowest overall power consumption; ensuring the TBM tunnels according to these optimal parameters; and maintaining the tunneling speed within a pre-set target range by adjusting the cutterhead rotation speed and hydraulic oil flow rate when a change in tunneling speed is detected. This solution addresses the problems of existing technologies that use mechanical specific energy to derive optimal tunneling parameters for energy saving, which are complex to derive and lack adaptability to different geological formations. Furthermore, constant-speed tunneling facilitates overall macro-control and organization of all aspects of the project by the operator.

Description

Technical Field

[0001] This invention relates to an automatic constant-speed tunneling energy-saving control method and system for tunnel boring machines, belonging to the field of tunnel boring machine construction automation and intelligent technology. Background Technology

[0002] A tunnel boring machine (TBM) is a specialized engineering device for tunnel excavation, enabling face excavation, muck removal, simultaneous grouting, and segment assembly. Over the past 40 years, to improve tunnel construction efficiency (high torque, high speed, high thrust, etc.) and address unforeseen risks, as well as enhance equipment throughput, system configurations have been continuously upgraded, resulting in a near doubling of installed power. However, this overall power increase and system redundancy are only necessary in special circumstances; in most cases, only a small portion is required.

[0003] Chinese invention patent publication number CN115098559A discloses a prediction system for the relationship between tunneling speed and tunneling parameters of a tunnel boring machine. It introduces a method for predicting tunneling speed by combining the judgment of soil chamber pressure. Specifically, based on preset geological information parameters, acquired soil chamber pressure information, and cutterhead rotation speed information, regression analysis is used to fuse and calculate the received data, thereby predicting the relationship between cutterhead tunneling speed and tunneling parameters, including cutterhead thrust, acquired soil chamber pressure, and cutterhead rotation speed.

[0004] Chinese invention patent publication CN112183993A discloses an intelligent prediction and optimization decision-making method for TBM tunneling control parameters. This method uses the TBM rock-breaking energy ratio function as the objective function of a particle swarm optimization (PSO) algorithm. Based on iterative calculations using the optimization algorithm, it achieves adaptive matching of TBM tunneling control parameters (TBM penetration depth and cutterhead rotation speed are TBM tunneling control parameters) while comprehensively considering energy consumption. This rock-breaking energy ratio function is mostly applicable to rock formations. Because jointed and shale formations require greater power and cutterhead torque, the tunneling power for jointed and shale formations is sometimes greater than that for intact rock formations.

[0005] Both of the above schemes use mechanical energy density to analyze and compare various system data of shield tunneling, and then control and adjust the tunneling parameters of the shield machine in real time to enable it to tunnel with more ideal energy consumption. However, the energy density theory model is often more applicable when the geological conditions are simple, and the geological conditions are often very different during the tunneling process. Therefore, the energy density theory has large errors and unreliability in its implementation, and the amount of data analysis is large.

[0006] In addition, during operation, tunnel boring machines (TBMs) often need to consider the timing of other processes, requiring them to achieve orderly material handling and energy-saving control while maintaining a constant speed during tunneling. Therefore, it is essential to develop an automatic constant-speed tunneling energy-saving control method for TBMs that is more adaptable to geological conditions and easier to control. Summary of the Invention

[0007] The purpose of this invention is to provide an automatic constant-speed tunneling energy-saving control method and system for tunnel boring machines, in order to solve the problem that the process of deriving the optimal tunneling parameters to achieve energy saving by using mechanical specific energy in the prior art is relatively complex and has poor adaptability to different strata.

[0008] To achieve the above objectives, the present invention includes:

[0009] An energy-saving control method for automatic constant-speed tunneling of a tunnel boring machine includes the following steps:

[0010] 1) Obtain the tunneling parameters of the tunnel boring machine and the corresponding total power consumption;

[0011] 2) Select a set of optimal tunneling parameters that minimize the overall power consumption of the machine, and make the tunnel boring machine tunnel according to the optimal tunneling parameters. When it is found that the tunneling speed has changed, adjust the cutterhead speed to maintain the tunneling speed of the tunnel boring machine within a set target tunneling speed range, based on the relationship between tunneling speed, cutterhead penetration and cutterhead rotation speed.

[0012] This tunneling method, under the condition that the tunneling speed is specified by the tunneling operator and construction efficiency and progress are guaranteed, puts the tunneling machine in an energy-saving automatic tunneling state. Compared with other existing technologies, it does not require analysis and comparison of various system data of tunneling and real-time control and adjustment of tunneling parameters to achieve tunneling with ideal energy consumption. The overall control method is relatively simple. Based on the tunneling parameters corresponding to the lowest power consumption in the same type of stratum, the overall power consumption of the machine is sacrificed within an acceptable range, so that the overall power consumption of the machine is kept close to the minimum value. With the tunneling speed V constant and the cutterhead penetration depth not adjusted, the cutterhead speed R is used as the target control parameter to achieve energy-saving control in the automatic constant speed tunneling process. This reduces a lot of useless tunneling data analysis and calculation, and is relatively easy to implement. At the same time, constant speed tunneling also makes it easier for the operator to achieve overall macro-control and organization of all aspects of the project.

[0013] Furthermore, in step 2), the tunnel boring machine is kept within the target tunneling speed range by adjusting the cutterhead rotation speed according to the change in cutterhead penetration. When the tunneling speed decreases, the cutterhead rotation speed is adjusted to increase accordingly; when the tunneling speed increases, the cutterhead rotation speed is adjusted to decrease accordingly.

[0014] Under the condition that the tunneling speed is specified by the tunneling operator and construction efficiency and progress are guaranteed, and the tunneling speed V is constant and the cutterhead penetration is not adjusted, the cutterhead penetration will change with the geological changes. Based on the change of cutterhead penetration, the energy-saving control during the automatic constant speed tunneling process is achieved by using the cutterhead rotation speed R as the target control parameter. This allows the tunneling machine to operate in a relatively energy-efficient manner as a whole, simplifies the control method, and is easier to implement.

[0015] Furthermore, the relationship is:

[0016] V=P×R

[0017] Where: V is the tunneling speed, P is the cutterhead penetration, and R is the cutterhead rotation speed.

[0018] The above formula is simple, the logical relationship is clear, and it is easy to implement in code in practical applications.

[0019] Furthermore, in step 1), the tunneling parameters of the tunnel boring machine and the corresponding total power consumption are obtained during the current operation of the tunnel boring machine.

[0020] By statistically analyzing the tunneling parameters and corresponding power consumption of the tunnel boring machine (TBM) during its operation, and using the current TBM data for statistical analysis, the obtained data on the tunneling parameters and corresponding power consumption are more accurate and applicable.

[0021] Furthermore, in step 1), the tunneling parameters of the tunnel boring machine and the corresponding total power consumption of the tunnel boring machine during the most recent ring segment tunneling process before the current operating time of the tunnel boring machine.

[0022] The optimal tunneling parameters are obtained by statistically analyzing various tunneling data from the tunneling process of several ring segments prior to the current operating time. Since the statistical data used is close to the current operating time, the analysis results are more accurate and have stronger applicability.

[0023] An energy-saving control method for automatic constant-speed tunneling of a tunnel boring machine includes the following steps:

[0024] 1) Obtain the tunneling parameters of the tunnel boring machine and the corresponding total power consumption;

[0025] 2) Select a set of optimal tunneling parameters that minimize the overall power consumption of the machine, and make the tunnel boring machine tunnel according to the optimal tunneling parameters. When it is found that the tunneling speed has changed, adjust the flow rate of the hydraulic oil according to the relationship between the tunneling speed and the hydraulic oil flow rate to maintain the tunneling speed of the tunnel boring machine within a set target tunneling speed range.

[0026] This tunneling method, under the condition that the tunneling speed is specified by the tunneling operator, ensuring construction efficiency and progress, puts the tunneling machine in an energy-saving automatic tunneling state. Compared with other existing technologies, it does not require analysis and comparison of various system data of the tunneling machine to control and adjust the tunneling parameters in real time to achieve tunneling with ideal energy consumption. The overall control method is relatively simple. Based on the tunneling parameters corresponding to the lowest power consumption in the same type of stratum, the power consumption of the whole machine is kept within the range close to the minimum value. With the tunneling speed V constant, the flow rate of hydraulic oil is used as the target control parameter to achieve energy-saving control in the automatic constant speed tunneling process. This reduces a lot of useless tunneling data analysis and calculation, and is relatively easy to implement. At the same time, constant speed tunneling also makes it easier for the operator to achieve overall macro-control and organization of all aspects of the project.

[0027] Furthermore, in step 2), under the condition that the cutterhead rotation speed is constant, the tunneling speed of the tunnel boring machine is maintained within a set target tunneling speed range by adjusting the flow rate of the hydraulic oil. When the tunneling speed decreases, the flow rate of the hydraulic oil in the cylinder is increased, and when the tunneling speed increases, the flow rate of the hydraulic oil in the cylinder is decreased.

[0028] To maintain a constant cutterhead rotation speed and adjust the cutterhead penetration depth to enable the tunnel boring machine to advance at a constant speed, this scheme achieves constant tunneling speed by controlling the relative increase or decrease of the flow rate of the propulsion cylinder, thus eliminating the need for frequent speed adjustments to the main drive motor that drives the cutterhead rotation.

[0029] Furthermore, the relationship is:

[0030] V=Q / S

[0031] Where: Q is the flow rate of hydraulic oil in the cylinder, S is the cross-sectional area of ​​the cylinder, and V is the tunneling speed.

[0032] In the above formula, the extension speed of the cylinder is obtained by dividing the flow rate of the hydraulic oil in the cylinder by the cross-sectional area of ​​the cylinder. Since the extension speed of the propulsion cylinder corresponds to the tunneling speed of the tunnel boring machine, the logical relationship of the formula is clear and easy to implement in code in practical applications.

[0033] Furthermore, in step 1), the tunneling parameters of the tunnel boring machine and the corresponding total power consumption of the machine are obtained during the current operation of the tunnel boring machine.

[0034] By statistically analyzing the tunneling parameters and corresponding power consumption of the tunnel boring machine (TBM) during its operation, the obtained data on the current TBM is more accurate and applicable.

[0035] Furthermore, in step 1), the tunneling parameters of the tunnel boring machine and the corresponding total power consumption of the tunnel boring machine during the tunneling process of the most recent ring segments before the current operating time of the tunnel boring machine are obtained.

[0036] Various tunneling data are obtained by statistically analyzing various tunneling data from the tunneling process of several ring segments prior to the current operating time. Since the statistical data used is close to the current operating time, the analysis results are more accurate and have stronger applicability.

[0037] An automatic constant-speed tunneling energy-saving control system for a tunnel boring machine includes a memory and a processor, wherein the processor is used to execute computer program instructions stored in the memory to implement the automatic constant-speed tunneling energy-saving control method for a tunnel boring machine as described in any of the above claims. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the energy-saving control system of the present invention;

[0039] Figure 2 This is a schematic diagram of the control principle based on the rotational speed of the cutter head in this invention;

[0040] Figure 3 This is a schematic diagram of the control principle of hydraulic oil flow rate based on the present invention;

[0041] In the diagram: 1. Cutter head; 2. Main drive unit; 3. Screw conveyor; 4. Propulsion cylinder; 5. Segment; 6. Host computer. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0043] This invention discloses an automatic constant-speed tunneling energy-saving control method for tunnel boring machines (TBMs). The method acquires TBM tunneling parameters and corresponding overall machine power consumption through big data collection. After processing the acquired big data, it selects a set of optimal tunneling parameters that minimize overall machine power consumption, enabling the TBM to tunnel according to these optimal parameters. When a change in tunneling speed is detected, the method adjusts the cutterhead speed to maintain the TBM tunneling speed within a pre-defined target tunneling speed range, based on the relationship between tunneling speed, cutterhead penetration, and cutterhead rotation speed. Alternatively, when a change in tunneling speed is detected, the method adjusts the hydraulic oil flow rate to maintain the TBM tunneling speed within a pre-defined target tunneling speed range, based on the relationship between tunneling speed and hydraulic oil flow rate. This tunneling method, under the premise that the tunneling speed is specified by the tunnel boring machine (TBM) operator, ensuring construction efficiency and progress, puts the TBM in an energy-saving automatic tunneling state. Compared with other existing technologies, it does not require analysis and comparison of various system data of the TBM tunneling to control and adjust the tunneling parameters in real time to achieve tunneling with ideal energy consumption. The overall control method is relatively simple. Based on the tunneling parameters corresponding to the lowest power consumption in the same type of stratum, the target control parameters are the tunneling speed V, the cutterhead penetration and the cutterhead rotation speed R, or the tunneling speed V and the hydraulic oil flow rate. This achieves energy-saving control during the automatic tunneling process, reducing a large amount of useless tunneling data analysis and calculation, and is relatively easy to implement.

[0044] Method Example 1:

[0045] This embodiment provides an energy-saving control method for automatic constant-speed tunneling of a tunnel boring machine, such as... Figure 1 The tunnel boring machine (TBM) of the present invention includes a cutterhead 1 for excavating the tunnel face during underground construction; a main drive unit 2 that supports the cutterhead 1 and provides rotational power to the cutterhead 1; a screw conveyor 3 that discharges the excavated and broken soil from the cutterhead 1 to a rear-mounted belt conveyor, which then transports it to the outside of the tunnel via a tunnel belt conveyor or a muck truck; a propulsion cylinder 4 that obtains power oil from the rear-mounted hydraulic system, enabling the TBM to advance at a certain propulsion speed (i.e., tunneling speed V); tunnel lining segments 5 that support the tunnel walls formed by the excavation of the TBM, forming a stable tunnel support structure; and a host computer 6 that includes a data processing module, a control module, etc. The host computer can transmit relevant tunneling data from various systems of the TBM to the data processing and control modules via the data acquisition module, display various tunneling parameters of the TBM, and analyze and process relevant control parameters to control the normal tunneling of the TBM.

[0046] This method allows the tunneling operator to specify the tunneling speed, ensuring construction efficiency and progress while implementing automatic energy-saving control of the tunneling machine. For example... Figure 2As shown, the tunneling speed V is set as the target speed for this tunneling section. The shield machine's systems are activated with a single button, and then the cutterhead is started rotating in place at a certain speed R. The shield machine's propulsion system automatically increases thrust. If this thrust T is less than the commonly used thrust T0 for this stratum, the system automatically increases the thrust T to the target value T0. If, under the set tunneling speed, the thrust T is less than the rated thrust T... a When the speed is within the range of 0~b%, the cutterhead speed R is automatically adjusted to keep the tunneling speed V of the tunnel boring machine at a relatively stable speed.

[0047] In this invention, during the tunnel boring machine's (TBM) excavation process, the overall power consumption of the TBM can be displayed in real time on the host computer screen, especially the power of the main drive unit 2, which often accounts for a large proportion of the overall power. As described above, the TBM's control system can automatically record various target tunneling parameters and corresponding overall power consumption during the excavation of the X ring segments at the current moment, where X is a positive integer. The data processing module automatically compares the overall power consumption, selects the minimum value, and automatically records and generates several sets of tunneling parameters (cutterhead rotation speed R, cutterhead torque Tr, propulsion force T). Under the same geological conditions, after tunneling a certain distance using several ring segments, the tunnel boring machine's control system can analyze the tunneling parameters based on stored data to select the relatively excellent tunneling parameters as the optimal parameters, which are then displayed on the host computer interface. If the tunnel boring machine is in automatic tunneling mode, these optimal tunneling parameters can be automatically fed back to each execution unit through the host computer, and tunneling work will be carried out according to the optimal tunneling machine parameters analyzed by the system (this mainly includes thrust, required tunneling speed, and cutterhead speed), making the equipment tunneling relatively energy-saving or more efficient than before these parameters were used. If the tunnel boring machine is in manual mode, these optimal tunneling parameters will be displayed in a pop-up window on the host computer interface for the tunnel boring machine operator to refer to, allowing them to adjust their tunneling parameters to make the equipment more energy-efficient and reduce wear and tear.

[0048] When the system runs again, it will remember the automatic execution of reaching the corresponding thrust T and automatically advance at the currently set tunneling speed. During tunneling, geological conditions are often not absolutely homogeneous. Under the same geological conditions, the presence of inhomogeneous materials in the strata can often cause accidental geological changes. Therefore, under the thrust T, the penetration depth P of the cutterhead into the strata will change. Based on the relationship between tunneling speed, cutterhead penetration depth, and cutterhead rotation speed:

[0049] V=P×R

[0050] It can be seen that when the tunneling speed V is constant and the thrust T is at the rated thrust T a When the value is within the range of 0~b%, the specific control method for adjusting the cutter head speed R is as follows:

[0051] If the geological conditions locally become relatively difficult for the cutterhead to penetrate, the cutterhead's penetration depth P into the formation will decrease, thereby automatically increasing the cutterhead rotation speed R.

[0052] If the geological conditions locally become relatively easier for the cutterhead to penetrate, the cutterhead's penetration depth P into the formation will increase, thereby automatically reducing the cutterhead rotation speed R.

[0053] Simultaneously, the thrust T will adaptively adjust according to the uneven changes in geology. If the thrust T exceeds the rated thrust T... a When the thrust is within the range of 0 to b%, the tunnel boring machine (TBM) stops this tunneling mode. A safety upper limit b% is set for the total thrust of the propulsion system. This safety upper limit depends on the maximum bearing capacity of other structures in the TBM main unit, such as the articulated system and the cutterhead. When cutterhead speed control is implemented to achieve constant-speed tunneling, the safety protection of all components of the entire TBM system can be achieved.

[0054] This automatic tunneling energy-saving control mode does not require real-time data analysis and feedback based on information such as the tunnel boring machine's earth pressure, cutterhead torque, thrust, and tunneling data from subsequent supporting systems. With the tunneling speed specified by the tunnel boring machine operator to ensure construction efficiency and progress, it targets only the two main tunneling control parameters—thrust and tunneling speed—to enable the tunnel boring machine to operate in a relatively energy-efficient manner overall. This simplifies the control method and makes it easier to implement.

[0055] By using the above methods, the overall power consumption of the tunnel boring machine is kept close to the minimum range, and energy-saving constant-speed tunneling is achieved during the tunnel boring process by adjusting the cutterhead speed.

[0056] Under the above working modes, the tunnel boring machine (TBM) can operate at a relatively economical penetration depth and tunneling speed. The screw conveyor will automatically control the muck discharge speed according to the tunneling speed, so the belt conveyor system supporting the TBM can automatically adjust its speed according to the muck discharge speed of the screw conveyor to save energy. Other supporting components such as the grouting system, muck improvement system, hydraulic system, cooling water system and other systems can also automatically adjust their working capacity according to the tunneling speed to reduce unnecessary and useless output, thereby achieving a balanced state of the TBM's overall tunneling and realizing energy saving during the tunneling process.

[0057] This tunneling method, under the condition that the tunneling speed is specified by the tunneling operator and construction efficiency and progress are guaranteed, puts the tunneling machine in an energy-saving automatic tunneling state. Compared with other existing technologies, it does not require analysis and comparison of various system data of tunneling and real-time control and adjustment of tunneling parameters to achieve tunneling with ideal energy consumption. The overall control method is relatively simple. Based on the tunneling parameters corresponding to the lowest power consumption in the same type of stratum, the power consumption of the whole machine is kept within the range close to the minimum value. With the tunneling speed V constant, the cutterhead speed R is used as the target control parameter to achieve energy-saving control in the automatic constant speed tunneling process. This reduces a lot of useless tunneling data analysis and calculation and is relatively easy to implement.

[0058] Method Example 2:

[0059] This embodiment provides an energy-saving control method for automatic constant-speed tunneling of a tunnel boring machine, such as... Figure 1 The tunnel boring machine (TBM) of the present invention includes a cutterhead 1 for excavating the tunnel face during underground construction; a main drive unit 2 that supports the cutterhead 1 and provides rotational power to the cutterhead 1; a screw conveyor 3 that discharges the excavated and broken soil from the cutterhead 1 to a rear-mounted belt conveyor, which then transports it to the outside of the tunnel via a tunnel belt conveyor or a muck truck; a propulsion cylinder 4 that obtains power oil from the rear-mounted hydraulic system, enabling the TBM to advance at a certain propulsion speed (i.e., tunneling speed V); tunnel lining segments 5 that support the tunnel walls formed by the excavation of the TBM, forming a stable tunnel support structure; and a host computer 6 that includes a data processing module, a control module, etc. The host computer can transmit relevant tunneling data from various systems of the TBM to the data processing and control modules via the data acquisition module, display various tunneling parameters of the TBM, and analyze and process relevant control parameters to control the normal tunneling of the TBM.

[0060] This method allows the tunneling operator to specify the tunneling speed, ensuring construction efficiency and progress while implementing automatic energy-saving control of the tunneling machine. For example... Figure 3 As shown, the tunneling speed V is set as the target speed for this tunneling section. The shield machine's systems are activated with a single button, and then the cutterhead is started rotating in place at a certain speed R. The shield machine's propulsion system automatically increases thrust. If this thrust T is less than the commonly used thrust T0 for this stratum, the system automatically increases the thrust T to the target value T0. If, under the set tunneling speed, the thrust T is less than the rated thrust T... a When the speed is within the range of 0~b%, the cutterhead speed R is automatically adjusted to keep the tunneling speed V of the tunnel boring machine at a relatively stable speed.

[0061] In this invention, during the tunnel boring machine's (TBM) excavation process, the overall power consumption of the TBM can be displayed in real time on the host computer screen, especially the power of the main drive unit 2, which often accounts for a large proportion of the overall power. As described above, the TBM's control system can automatically record various target tunneling parameters and corresponding overall power consumption during the excavation of the X ring segments at the current moment, where X is a positive integer. The data processing module automatically compares the overall power consumption, selects the minimum value, and automatically records and generates several sets of tunneling parameters (cutterhead rotation speed R, cutterhead torque Tr, propulsion force T). Under the same geological conditions, after tunneling a certain distance using several ring segments, the tunnel boring machine's control system can analyze the tunneling parameters based on stored data to select the relatively excellent tunneling parameters as the optimal parameters, which are then displayed on the host computer interface. If the tunnel boring machine is in automatic tunneling mode, these optimal tunneling parameters can be automatically fed back to each execution unit through the host computer, and tunneling work will be carried out according to the optimal tunneling machine parameters analyzed by the system (this mainly includes thrust, required tunneling speed, and cutterhead speed), making the equipment tunneling relatively energy-saving or more efficient than before these parameters were used. If the tunnel boring machine is in manual mode, these optimal tunneling parameters will be displayed in a pop-up window on the host computer interface for the tunnel boring machine operator to refer to, allowing them to adjust their tunneling parameters to make the equipment more energy-efficient and reduce wear and tear.

[0062] Due to the possibility of heterogeneity in the strata, the tunnel boring machine will still encounter uneven geological changes during the tunneling process. This will cause the penetration of the cutterhead (the magnitude of the thrust corresponds to the penetration) to fluctuate within the current thrust range, resulting in frequent changes in the cutterhead rotation speed at a constant tunneling speed.

[0063] Since the extension speed of the propulsion cylinder corresponds to the forward speed of the tunnel boring machine (TBM), i.e., the tunneling speed, and the extension speed of the propulsion cylinder depends on the flow rate of the hydraulic oil input to the cylinder, a constant tunneling speed can be achieved by controlling the flow rate of the propulsion cylinder to be relatively stable. This allows for constant-speed tunneling, and the cutterhead rotation speed can also be maintained constant, thus eliminating the need for frequent speed adjustments to the main drive motor that drives the cutterhead. The relationship between tunneling speed and hydraulic oil flow rate is as follows:

[0064] V=Q / S

[0065] Where Q is the flow rate of hydraulic oil in the cylinder, S is the cross-sectional area of ​​the cylinder, and V is the tunneling speed.

[0066] According to the above formula, when the tunneling speed V and the cutterhead rotation speed R are constant, the specific control method for achieving constant speed tunneling by adjusting the flow rate of hydraulic oil in the propulsion cylinder is as follows:

[0067] When the tunneling speed decreases, the flow rate of hydraulic oil in the cylinder is increased;

[0068] When the tunneling speed increases, the flow rate of the hydraulic oil in the cylinder is reduced.

[0069] Meanwhile, the thrust force T will be adaptively adjusted according to the uneven changes of the geology. If the thrust force T exceeds the range of 0 to b% of the rated thrust force T a , the shield machine will stop this tunneling mode. A safety upper limit b% is set for the total thrust force of the propulsion system. This safety upper limit depends on the maximum bearing capacity of other structures in the main body of the shield machine, such as the maximum bearing capacity of the articulated system, the maximum bearing capacity of the cutter head, etc. When controlling the flow rate of the hydraulic oil in the cylinder to achieve constant-speed tunneling, the safety protection of each component system of the entire shield machine can be realized.

[0070] By the above method, the overall power consumption of the shield machine is within the range close to the minimum value, and the constant-speed energy-saving tunneling during the shield tunneling process is achieved by the flow rate of the hydraulic oil.

[0071] In the above working mode, the shield machine can operate at a relatively economical cutter head rotation speed and tunneling speed. The screw conveyor will automatically control the slag discharge speed according to the tunneling speed, so that the belt conveyor system in the back-up of the shield machine can automatically adjust its speed according to the slag discharge speed of the screw conveyor to save energy; the remaining components in the back-up, such as the grouting system, the muck improvement system, the hydraulic system, the cooling water system and other systems, can all automatically adjust their working capabilities according to the tunneling speed, reduce the output of redundant useless work, so as to achieve a balanced state of the whole shield machine during tunneling and realize energy saving during the tunneling process.

[0072] Under the condition that the tunneling speed is specified by the shield driver to ensure the construction efficiency and progress, this tunneling method enables the shield machine to be in an energy-saving state of automatic tunneling. Compared with other existing technologies, it does not require analyzing and comparing the system data of shield tunneling and then making real-time control adjustments to the tunneling parameters of the shield machine to make it tunnel with an ideal energy consumption. The overall control method is relatively simple; based on the tunneling parameters corresponding to the minimum power consumption during tunneling in this type of formation, the overall power consumption is within the range close to the minimum value. When the tunneling speed V is constant, the flow rate of the hydraulic oil is used as the target control parameter, and at the same time, the cutter head rotation speed can be maintained constant, so that it is not necessary to frequently adjust the speed of the main drive motor that drives the cutter head to rotate, realizing energy-saving control during the automatic constant-speed tunneling process, reducing a large amount of useless tunneling data analysis and calculation, and being relatively easy to implement.

[0073] System embodiment:

[0074] This invention discloses an automatic constant-speed tunneling energy-saving control system for a tunnel boring machine, comprising a memory, a processor, and an internal bus. The processor and memory communicate and interact with each other via the internal bus. The memory includes at least one software functional module stored in the memory. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, thereby implementing the automatic constant-speed tunneling energy-saving control method for a tunnel boring machine as described in Method Embodiment 1 or Method Embodiment 2 of this invention. Method Embodiment 1 or Method Embodiment 2 has been described sufficiently clearly above and will not be repeated here.

[0075] The processor can be a microprocessor (MCU), a programmable logic device (FPGA), or other processing devices. The memory can be any type of memory that stores information using electrical energy, such as RAM and ROM; it can also be any type of memory that stores information using magnetic energy, such as hard disks, floppy disks, magnetic tapes, magnetic core memory, bubble memory, and USB flash drives; it can also be any type of memory that stores information using optical methods, such as CDs and DVDs; and of course, it can also be other types of memory, such as quantum memory and graphene memory.

Claims

1. A method for automatic constant speed tunneling energy saving control of a shield tunneling machine, characterized in that, Includes the following steps: 1) Obtain the tunneling parameters of the tunnel boring machine and the corresponding total power consumption; 2) Select a set of optimal tunneling parameters that minimize the overall power consumption of the machine, and make the tunnel boring machine tunnel according to the optimal tunneling parameters. When it is found that the tunneling speed has changed, adjust the cutterhead speed to maintain the tunneling speed of the tunnel boring machine within a set target tunneling speed range, based on the relationship between tunneling speed, cutterhead penetration and cutterhead rotation speed.

2. The automatic constant-speed tunneling energy-saving control method of a tunneling machine according to claim 1, characterized in that, In step 2), the tunnel boring machine is kept within the target tunneling speed range by adjusting the cutterhead rotation speed according to the change in cutterhead penetration. When the tunneling speed decreases, the cutterhead rotation speed is adjusted to increase accordingly; when the tunneling speed increases, the cutterhead rotation speed is adjusted to decrease accordingly.

3. The automatic constant-speed tunneling energy-saving control method of a tunneling machine according to claim 1, characterized in that, The relationship is: V=P×R Where: V is the tunneling speed, P is the cutterhead penetration, and R is the cutterhead rotation speed.

4. The automatic constant-speed tunneling energy-saving control method of a tunneling machine according to claim 1, characterized in that, In step 1), the tunneling parameters of the tunnel boring machine and the corresponding total power consumption are obtained during the current operation of the tunnel boring machine.

5. The automatic constant-speed tunneling energy-saving control method for tunnel boring machines according to claim 4, characterized in that, In step 1), the tunneling parameters of the tunnel boring machine and the corresponding total power consumption of the tunnel boring machine during the tunneling process of the most recent ring segments before the current operating time of the tunnel boring machine are obtained.

6. A method for energy-saving control of automatic constant-speed tunneling of a tunnel boring machine, characterized in that, Includes the following steps: 1) Obtain the tunneling parameters of the tunnel boring machine and the corresponding total power consumption; 2) Select a set of optimal tunneling parameters that minimize the overall power consumption of the machine, and make the tunnel boring machine tunnel according to the optimal tunneling parameters. When it is found that the tunneling speed has changed, adjust the flow rate of the hydraulic oil according to the relationship between the tunneling speed and the hydraulic oil flow rate to maintain the tunneling speed of the tunnel boring machine within a set target tunneling speed range.

7. The automatic constant-speed tunneling energy-saving control method for tunnel boring machines according to claim 6, characterized in that, In step 2), under the condition of constant cutterhead speed, the tunneling speed of the tunnel boring machine is maintained within a set target tunneling speed range by adjusting the flow rate of hydraulic oil. When the tunneling speed decreases, the flow rate of hydraulic oil in the cylinder is increased, and when the tunneling speed increases, the flow rate of hydraulic oil in the cylinder is decreased.

8. The automatic constant-speed tunneling energy-saving control method for tunnel boring machines according to claim 6, characterized in that, The relationship is: V=Q / S Where: Q is the flow rate of hydraulic oil in the cylinder, S is the cross-sectional area of ​​the cylinder, and V is the tunneling speed.

9. The automatic constant-speed tunneling energy-saving control method for tunnel boring machines according to claim 6, characterized in that, In step 1), the tunneling parameters of the tunnel boring machine and the corresponding total power consumption are obtained during the current operation of the tunnel boring machine.

10. The automatic constant-speed tunneling energy-saving control method for tunnel boring machines according to claim 9, characterized in that, In step 1), the tunneling parameters of the tunnel boring machine and the corresponding total power consumption of the tunnel boring machine during the tunneling process of the most recent ring segments before the current operating time of the tunnel boring machine are obtained.

11. An automatic constant-speed tunneling energy-saving control system for a tunnel boring machine, characterized in that, It includes a memory and a processor, the processor being used to execute computer program instructions stored in the memory to implement the automatic constant speed tunneling energy-saving control method for tunnel boring machines as described in any one of claims 1 to 10.

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