Energy-saving control method and system for a tunneling machine

Abstract

The application relates to an energy-saving control method and system of a shield machine. The method comprises adjusting one or more of a slag removal system, a fluid system and an electrical system according to a change in a pushing speed of the shield machine when the pushing speed changes during tunneling. The slag removal system is adjusted by the following method: calculating a corresponding earth volume according to the pushing speed, then calculating a theoretical slag removal speed according to the earth volume, and then adjusting a slag removal speed of the slag removal system according to the theoretical slag removal speed. The fluid system is adjusted by the following method: adjusting a flow of fluid in the fluid system according to the pushing speed of the shield machine. The electrical system is adjusted by the following method: adjusting an active power of a transformer of the electrical system according to the pushing speed of the shield machine. The method is used to solve the problem that the shield machine in the prior art has a large equipment installed power, many auxiliary devices, and an unreasonable design, so that the equipment consumes a large amount of energy and energy is wasted seriously.

Description

Technical Field

[0001] This invention relates to an energy-saving control method and system for tunnel boring machines, belonging to the field of tunnel construction equipment. Background Technology

[0002] As a large-scale tunnel construction equipment integrating mechanical, electrical, fluid, and hydraulic systems, the tunnel boring machine (TBM) has seen a significant increase in its total installed power in recent years, nearly doubling for machines of the same diameter and type, thanks to technological advancements and improved tunnel construction efficiency. This growth is primarily due to the continued demand for higher torque, speed, and thrust, as well as the astonishing increase in the number of auxiliary devices installed on standby equipment.

[0003] However, this increased power is only needed in special circumstances, and in most cases only a small fraction of it is required. The same applies to many auxiliary devices.

[0004] Chinese invention patent publication number CN105864126A discloses an energy-saving TBM propulsion support hydraulic system. The system includes an oil supply system, a propulsion system, a support system, and an oil tank. The propulsion and support systems are connected to the oil tank via the oil supply system and are connected in parallel. The oil supply system, propulsion system, support system, and oil tank are connected via a main oil circuit and a pilot oil circuit. The pilot oil circuit includes a load-sensitive valve, a variable displacement cylinder, a pressure switching valve, and an accumulator for support and propulsion control. This invention optimizes the propulsion support system by setting a pump to supply oil to the large chamber of the support cylinder under pressure cutoff conditions, and then using an accumulator to maintain pressure after support is completed. It also optimizes the propulsion system by setting a pump to supply oil to the propulsion cylinder under load-sensitive conditions. However, this energy-saving optimization is achieved by redesigning the hardware structure of the hydraulic system. Existing tunnel boring machines (TBMs) suffer from high energy consumption and significant energy waste due to large installed power, numerous auxiliary equipment, and inherent design flaws. Therefore, energy saving through individual equipment or systems alone cannot achieve the overall energy saving goal of the TBM.

[0005] The development of green and energy-saving tunnel boring machines (TBMs) aims to manage the enormous energy of modern TBMs. The goal is to maximize energy efficiency through automated management and the design of the TBM itself. Currently, there is relatively little research on green and energy-saving TBMs in China. Summary of the Invention

[0006] The purpose of this invention is to provide an energy-saving control method and system for tunnel boring machines (TBMs) to solve the problems of high energy consumption and serious energy waste caused by the large installed power, numerous auxiliary equipment, and unreasonable design of existing TBMs.

[0007] To achieve the above objectives, the present invention includes:

[0008] An energy-saving control method for a tunnel boring machine (TBM) involves adjusting one or more of the following systems—the muck removal system, the fluid system, and the electrical system—based on the change in the advance speed of the TBM during tunneling:

[0009] The slag removal system is adjusted as follows: the corresponding amount of soil to be removed is calculated based on the propulsion speed, and then the theoretical slag removal speed is calculated based on the amount of soil to be removed. The slag removal system is then adjusted to its slag removal speed based on the theoretical slag removal speed.

[0010] The fluid system is adjusted by adjusting the flow rate of the fluid in the corresponding fluid system according to the tunnel boring machine's propulsion speed.

[0011] The electrical system is adjusted by adjusting the active power of the electrical system transformer according to the tunnel boring machine's advance speed.

[0012] The tunnel boring machine (TBM) of this invention can adjust the muck removal speed of its downstream system in real time according to changes in the tunneling speed; its fluid system can adjust the flow rate of its fluids according to changes in the tunneling speed; and its electrical system can automatically correct its power factor to meet high power quality requirements based on the tunneling speed. As a result, the TBM can adjust the operation of each system accordingly to changes in the tunneling speed during the excavation process, enabling it to start up as needed, improving equipment utilization, reducing energy consumption, and maximizing energy efficiency.

[0013] Furthermore, the amount of excavated soil is calculated based on the excavation area and the loosening coefficient.

[0014] The amount of excavated soil is calculated by increasing the excavation area and the loosening coefficient, making the calculation results more accurate.

[0015] Furthermore, the relationship between the theoretical slag discharge rate and the slag discharge rate of the subsequent supporting slag discharge system is as follows:

[0016] N=μ×Ns

[0017] Where: Ns is the slag discharge rate of the downstream slag discharge system, N is the theoretical slag discharge rate, and μ is the conversion coefficient.

[0018] Adjusting the relationship between the slag discharge speed of the subsequent slag discharge system and the theoretical slag discharge speed according to the above formula allows for precise control of the slag discharge speed of the subsequent slag discharge system in accordance with changes in the theoretical slag discharge speed, making it easy to implement and control in engineering projects.

[0019] Furthermore, the fluid system includes a coolant circulation system, which adjusts the frequency of the circulating water pump according to the tunnel boring machine's propulsion speed, thereby adjusting the flow rate of the exchanged coolant.

[0020] This solution adjusts the frequency of the circulating water pump to regulate the flow rate of the exchanged coolant, thereby matching the changes in the tunnel boring machine's (TBM) propulsion speed. This approach better achieves green and energy-saving cooling in the TBM's coolant circulation system, reduces energy consumption, and maximizes energy efficiency.

[0021] Furthermore, the frequency of the circulating water pump is adjusted and controlled based on the temperature difference between the internal circulating coolant temperature and the external circulating coolant temperature used for cooling the relevant systems of the tunnel boring machine.

[0022] The frequency of the circulating water pump is adjusted and controlled based on the temperature difference between the internal and external circulating coolant temperatures of the tunnel boring machine's related systems. This method is simple and easy to implement in engineering projects.

[0023] Furthermore, the relationship between the exchanged coolant flow rate and the temperature difference between the internal circulating coolant temperature and the external circulating coolant temperature is as follows:

[0024] Q = t × (T1 - T0)

[0025] Where Q is the exchanged coolant flow rate, T1 is the internal circulation coolant temperature, T0 is the external circulation coolant temperature, and t is the heat conversion coefficient.

[0026] The exchanged coolant flow rate is calculated by the temperature difference between the internal and external circulating coolant. When the temperature difference increases, the exchanged coolant flow rate increases; when the temperature difference decreases, the exchanged coolant flow rate decreases. By controlling the change in temperature difference, the exchanged coolant flow rate can be precisely controlled, thereby reducing energy consumption.

[0027] Furthermore, the fluid system also includes a foam system, a bentonite system, and a grouting system. When the propulsion speed increases, the injection volume of the corresponding fluid in the system is increased; when the propulsion speed decreases, the injection volume of the corresponding fluid in the system is decreased.

[0028] This solution achieves green energy conservation in the foam system, bentonite system, and grouting system by adjusting the increase or decrease of fluid injection volume to match the increase or decrease of propulsion speed, thereby realizing overall energy conservation of the tunnel boring machine.

[0029] Furthermore, the active power of the transformer in the electrical system is achieved by adjusting the power factor of the transformer.

[0030] Active power is achieved by adjusting the power factor of the transformer, resulting in more precise control.

[0031] Furthermore, the relationship between the active power of the transformer and the power factor of the transformer is as follows:

[0032] S 2 =P2 +Q 2

[0033]

[0034]

[0035] Where: S is apparent power, P is active power, and Q is reactive power. The power factor.

[0036] An energy-saving control system for a tunnel boring machine includes a controller for executing computer program instructions to implement the energy-saving control method for the tunnel boring machine as described in any of the preceding claims. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the overall mechanism of this embodiment;

[0038] Figure 2 This is the control flowchart of this embodiment;

[0039] In the diagram: 1. Cutterhead system; 2. Shield system; 3. Main drive system; 4. Propulsion system; 5. Segment; 6. Segment assembly system; 7. Shield muck removal system (screw conveyor system); 8. Supporting systems; 9. Supporting muck removal system (belt conveyor system); 10. Fluid system; 11. Electrical system; 12. Hydraulic system; 13. Upper computer intelligent control system. Detailed Implementation

[0040] 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.

[0041] During the tunnel boring machine (TBM) excavation process, the electrical, hydraulic, and fluid systems of the TBM are automatically managed to adjust the cutterhead speed, main drive torque, and propulsion parameters. At the same time, by automatically controlling the equipment usage of the hydraulic and fluid systems and automatically adjusting the power factor compensation of the electrical system, the energy utilization of the TBM is maximized, saving energy consumption.

[0042] The green and energy-saving tunnel boring machine of the present invention includes a cutterhead system, a shield body system, a main drive system, a propulsion system, an assembly machine system, a shield body muck removal system, tunnel support segments, a rear support system, a rear support muck removal system, a fluid system, an electrical system, a hydraulic system, and a host computer intelligent control system.

[0043] The main drive system and propulsion system are fixedly installed within the shield body system. The cutterhead system is connected to the main drive system. The propulsion system obtains reaction force from the tunnel segments supported on the tunnel walls, propelling the tunnel boring machine (TBM) forward. The segment assembly system assembles tunnel segments during TBM advancement to support the excavated tunnel. The propulsion system, supported on the segments, propels the TBM forward. The muck removal system is fixed within the shield body system. The auxiliary muck removal system, hydraulic system, electrical system, and fluid system are installed on the auxiliary system, which is connected to the shield body system. The fluid system, including a coolant circulation system, is located on the auxiliary system.

[0044] During tunnel boring machine (TBM) excavation, the cutterhead system, main drive system, and propulsion system, based on the TBM's excavation parameters, excavate the ground and advance the equipment. The muck removal system and its supporting systems discharge the excavated soil and debris outside the tunnel. The hydraulic, fluid, and electrical systems coordinate according to the needs of the TBM's excavation process to complete the entire excavation operation.

[0045] During the tunneling process of a tunnel boring machine, the rock-breaking efficiency of the excavation face mainly depends on the cutter spacing, penetration depth (the depth to which the cutterhead cuts into the rock layer or excavation face in one revolution), and the propulsion force applied to the cutterhead system by the propulsion system. For the same or similar strata, maintaining a constant penetration depth in principle can achieve the most economical and efficient construction efficiency.

[0046] Method Implementation Examples:

[0047] This embodiment provides an energy-saving control method for a tunnel boring machine, specifically, as follows: Figure 1 As shown, the green and energy-saving tunnel boring machine of the present invention includes a cutterhead system 1, a shield body system 2, a main drive system 3, a propulsion system 4, tunnel segments 5, a tunnel segment assembly system 6, a shield muck removal system 7, a rear support system 8, a rear support muck removal system 9, a fluid system 10, an electrical system 11, a hydraulic system 12, and a host computer intelligent control system 13. The main drive system 3 and the propulsion system 4 are fixedly installed inside the shield body system 2, and the cutterhead system 1 is connected to the main drive system 3. The tunnel segment assembly system 6 assembles tunnel segments during the tunnel boring machine's propulsion process to support the excavated tunnel. The propulsion system 4 obtains reaction force from the tunnel segments 5 supported in the tunnel, propelling the tunnel boring machine forward. The shield muck removal system 7 is fixed inside the shield body system 2. The rear support muck removal system 9, the hydraulic system 12, the electrical system 11, and the fluid system 10 are installed on the rear support system 9, and the rear support system 8 is connected to the shield body system 2. When the tunnel boring machine is excavating, the cutterhead system 1 rotates relative to the shield system 2 and discharges the excavated soil and excavated material out of the tunnel through the shield muck removal system 7 and the subsequent muck removal system 9.

[0048] like Figure 2As shown, during the tunnel boring machine's excavation process, after setting the parameter values ​​for the penetration depth of the cutterhead system 1 and the propulsion speed of the propulsion system 4, the rotational speed of the cutterhead system 1 is adjusted to make the propulsion speed of the propulsion system 4 reach the preset propulsion speed value. The relationship between their mutual adjustments is as follows:

[0049] S = N × Pr

[0050] Where N is the cutter head rotation speed (r / min), Pr is the penetration depth (mm / r), and S is the feed speed (mm / min).

[0051] When the penetration value remains constant, an increase in the cutter head rotation speed leads to an increase in the feed rate; conversely, a decrease in the feed rate leads to a decrease in the feed rate.

[0052] Simultaneously, the upper-level intelligent control system 13 calculates the theoretical excavation volume of the tunnel boring machine based on the propulsion speed, excavation area, and loosening coefficient. The shield muck removal system 7 calculates the theoretical muck removal speed N based on its muck removal efficiency. The subsequent muck removal system 9 automatically adjusts its muck removal speed Ns based on the muck removal speed N of the shield muck removal system 7. The adjustment relationship is as follows:

[0053] N=μ×Ns

[0054] Where Ns is the slag discharge speed of the downstream slag discharge system 9, N is the slag discharge speed of the shield slag discharge system 7, and μ is the conversion coefficient.

[0055] The coolant circulation system of fluid system 10 varies with the tunneling speed (propulsion speed) of the tunnel boring machine. The temperature of the internal circulating cooling water used to cool the electrical system 11, main drive system 3, and hydraulic system 12 also changes. In this embodiment, the exchanged coolant is water, while the external water temperature remains constant. Therefore, the upper-level intelligent control system 13 automatically adjusts the frequency of the circulating water pump based on the detected temperature difference, thereby automatically adjusting the exchanged water flow rate. The adjustment relationship is as follows:

[0056] Q = t × (T1 - T0)

[0057] Where Q is the water flow rate, T1 is the internal circulating water temperature, T0 is the external circulating water temperature, and t is the heat conversion coefficient.

[0058] When the temperature difference between the internal and external circulating water increases, the operating frequency of the corresponding circulating water pump increases, thus increasing the water flow rate; conversely, the water flow rate decreases. The coolant circulation system of fluid system 10 automatically adjusts the frequency of the circulating water pump according to the change in the temperature difference between the internal and external circulating water.

[0059] The foam system of fluid system 10 adjusts the amount of foam injected into the excavation face and soil chamber according to the tunneling speed of the tunnel boring machine (TBM). Because foam-conditioned soil has good fluidity, plasticity, and waterproofing, it ensures smooth discharge of excavated soil, maintains the stability of the excavation face, expands the range of soil types the TBM can excavate, and reduces cutterhead torque and cutter wear. When the TBM's excavation speed increases, the foam injection amount of the foam system also increases to improve the soil. The upper-level intelligent control system 13 automatically adjusts the number of corresponding injection pumps based on the change in injection amount. Conversely, when the TBM's excavation speed decreases, the foam injection amount of the foam system decreases, and the upper-level intelligent control system 13 automatically adjusts the number of corresponding injection pumps based on the change in injection amount. This achieves green energy saving and reduces energy consumption during the TBM's foam system excavation process.

[0060] The grouting system of fluid system 10 adjusts the injection volume of grout into the annular gap between the tunnel segments and the excavated tunnel body according to the tunneling speed of the tunnel boring machine. When the tunneling speed increases, the annular gap excavated within a certain time also increases, and the required injection volume of grout also increases. The grouting system automatically adjusts the injection volume of grout accordingly to increase the tunneling speed. When the tunneling speed decreases, the required injection volume of grout also decreases. The grouting system automatically adjusts the injection volume of grout accordingly to decrease the tunneling speed. This achieves green energy saving and reduces energy consumption in the tunneling process of the tunnel boring machine's grouting system.

[0061] The amount of bentonite injected into the fluid system 10 to form a lubricating film between the shield and the soil varies with the tunneling speed of the tunnel boring machine (TBM). When the tunneling speed increases, the amount of bentonite injected between the shield and the soil also increases, and the host computer intelligent control system 13 automatically adjusts the number of injection pumps accordingly. When the tunneling speed decreases, the amount of bentonite injected between the shield and the soil also decreases, and the host computer intelligent control system 13 automatically adjusts the number of injection pumps accordingly. This achieves green energy saving of the bentonite system of the TBM during the tunneling process and reduces energy consumption.

[0062] The electrical system 11 automatically adjusts the number of motors involved in the main drive system based on changes in the cutter head torque. The cutter head torque is directly proportional to the cutter head speed. When the cutter head speed increases, the required torque increases, and the motor power of the main drive system 3 increases. Therefore, the host computer intelligent control system 13 automatically increases the number of motors involved. Conversely, when the speed decreases, the host computer intelligent control system 13 automatically decreases the number of motors involved. The adjustment relationship is as follows:

[0063] P1=k×T

[0064] Where P1 is the motor power, k is a constant, and T is the cutter head torque.

[0065] Finally, the electrical system 11 adjusts according to the tunneling speed of the tunnel boring machine. As the tunneling speed changes, the load on the transformer in the electrical system also changes. When the power factor decreases, the power loss of the electrical system increases accordingly. To maximize the power quality required during tunneling and reduce energy loss, the upper-level intelligent control system 13 automatically corrects the power factor of the transformer in the electrical system 11, ensuring that the corrected power factor reaches a higher target range, thereby increasing active power and improving energy utilization.

[0066] S 2 =P 2 +Q 2

[0067]

[0068]

[0069] Where S is apparent power, P is active power, and Q is reactive power. The power factor.

[0070] Finally, the working sequence of the tunnel boring machine (TBM) propulsion system 4 and segment assembly system 6 is optimized and adjusted to increase equipment utilization. During the TBM's forward excavation, the host computer intelligent control system 13 automatically adjusts the working times of the propulsion system 4 and segment assembly system 6, allowing both processes to proceed simultaneously. That is, during the TBM's excavation, while the propulsion system 4 advances, the segment assembly system 6 completes the tunnel segment assembly process, with the two equipment working in coordination. This replaces the previous work mode where one process is completed before the next, enabling the TBM to continuously excavate, shortening the excavation time for a single ring of segments, increasing the TBM's construction efficiency, and improving energy utilization.

[0071] Therefore, in this embodiment, the tunnel boring machine (TBM) can adjust the muck removal speed of its downstream system in real time according to changes in the advance speed; its fluid system can adjust the flow rate of its fluids according to the advance speed, thereby adjusting the frequency or number of pumps to be started; and its electrical system can automatically correct its power factor according to the advance speed to meet the requirements of high power quality. As a result, the TBM can adjust the operation of each system device accordingly to changes in the advance speed during tunneling, enabling them to start according to actual needs, improving equipment utilization, reducing energy consumption, and maximizing energy efficiency.

[0072] Compared to standard tunnel boring machines (TBMs) of the same type and diameter, green and energy-saving TBMs address the problems of high energy consumption and significant energy waste in existing TBMs due to their large installed power, numerous auxiliary devices, and inherent design flaws. This is achieved through automated management of various systems and optimized design of the TBM itself. This solution maximizes energy efficiency while ensuring construction efficiency, thereby improving equipment utilization and reducing energy waste.

[0073] System Implementation Example:

[0074] This embodiment of an energy-saving control system for a tunnel boring machine includes a controller that executes computer-readable instructions to implement an energy-saving control method for a tunnel boring machine as described in the method implementation of this invention. The implementation of this method has been described sufficiently clearly above and will not be repeated here.

Claims

1. An energy-saving control method for a tunnel boring machine, characterized in that, When the tunnel boring machine's advance speed changes during the tunneling process, the fluid system and / or electrical system are adjusted according to the change in advance speed: The fluid system is adjusted as follows: the fluid system adjusts the flow rate of the fluid in the corresponding fluid system according to the tunnel boring machine's (TBM) advancing speed; the fluid system includes a coolant circulation system, which adjusts the frequency of the circulating water pump according to the TBM's advancing speed, thereby adjusting the flow rate of the exchanged coolant; the frequency of the circulating water pump is adjusted and controlled based on the detected temperature difference between the internal circulating coolant temperature and the external circulating coolant temperature used for cooling the relevant systems of the TBM. The electrical system is adjusted as follows: the active power of the electrical system transformer is adjusted according to the tunnel boring machine's advancing speed; the active power of the electrical system transformer is achieved by adjusting the transformer's power factor. The relationship between the active power of the transformer and the power factor of the transformer is as follows: S 2 =P 2 +Q 2 P=S cosφ Q=S sinφ Where S is apparent power, P is active power, Q is reactive power, and φ is power factor.

2. The energy-saving control method for a tunnel boring machine according to claim 1, characterized in that, The slag discharge system is also adjusted according to the changes in the propulsion speed: the corresponding amount of soil to be discharged is calculated based on the propulsion speed, and then the theoretical slag discharge speed is calculated based on the amount of soil discharged. The slag discharge system is then adjusted to discharge its slag discharge speed according to the theoretical slag discharge speed.

3. The energy-saving control method for a tunnel boring machine according to claim 2, characterized in that, The amount of excavated soil is also calculated based on the excavation area and the loosening coefficient.

4. The energy-saving control method for a tunnel boring machine according to claim 3, characterized in that, The relationship between the theoretical slag discharge rate and the slag discharge rate of the subsequent supporting slag discharge system is as follows: N=μ Us Where Ns is the slag discharge rate of the downstream slag discharge system, N is the theoretical slag discharge rate, and μ is the conversion coefficient.

5. The energy-saving control method for a tunnel boring machine according to claim 1, characterized in that, The electrical system automatically adjusts the number of motors involved in the main drive system based on changes in the cutter head torque, and the cutter head torque is directly proportional to the cutter head speed.

6. The energy-saving control method for a tunnel boring machine according to claim 1, characterized in that, The relationship between the exchanged coolant flow rate and the temperature difference between the internal circulating coolant temperature and the external circulating coolant temperature is as follows: Q=t (T1-T0) Where Q is the exchanged coolant flow rate, T1 is the internal circulation coolant temperature, T0 is the external circulation coolant temperature, and t is the heat conversion coefficient.

7. The energy-saving control method for a tunnel boring machine according to claim 1, characterized in that, The fluid system includes a foam system, a bentonite system, and a grouting system. When the propulsion speed increases, the injection volume of the corresponding fluid in the system is increased; when the propulsion speed decreases, the injection volume of the corresponding fluid in the system is decreased.

8. The energy-saving control method for a tunnel boring machine according to claim 5, characterized in that, When the cutter head speed increases, the torque required by the cutter head increases, and the motor power of the main drive system increases, thus increasing the number of motors involved; conversely, the number of motors involved decreases.

9. The energy-saving control method for a tunnel boring machine according to claim 8, characterized in that, P1=k T; P1 is the motor power, k is a constant, and T is the cutter head torque.

10. An energy-saving control system for a tunnel boring machine, characterized in that, Includes a controller, which executes computer program instructions to implement the following energy-saving control method for the tunnel boring machine: When the tunnel boring machine's advance speed changes during the tunneling process, the fluid system and / or electrical system are adjusted according to the change in advance speed: The fluid system is adjusted as follows: the fluid system adjusts the flow rate of the fluid in the corresponding fluid system according to the tunnel boring machine's (TBM) advancing speed; the fluid system includes a coolant circulation system, which adjusts the frequency of the circulating water pump according to the TBM's advancing speed, thereby adjusting the flow rate of the exchanged coolant; the frequency of the circulating water pump is adjusted and controlled based on the detected temperature difference between the internal circulating coolant temperature and the external circulating coolant temperature used for cooling the relevant systems of the TBM. The electrical system is adjusted as follows: the active power of the electrical system transformer is adjusted according to the tunnel boring machine's advancing speed; the active power of the electrical system transformer is achieved by adjusting the transformer's power factor. The relationship between the active power of the transformer and the power factor of the transformer is as follows: S 2 =P 2 +Q 2 P=S cosφ Q=S sinφ Where S is apparent power, P is active power, Q is reactive power, and φ is power factor.

11. The energy-saving control system for a tunnel boring machine according to claim 10, characterized in that, The slag discharge system is also adjusted according to the changes in the propulsion speed: the corresponding amount of soil to be discharged is calculated based on the propulsion speed, and then the theoretical slag discharge speed is calculated based on the amount of soil discharged. The slag discharge system is then adjusted to discharge its slag discharge speed according to the theoretical slag discharge speed.

12. The energy-saving control system for a tunnel boring machine according to claim 11, characterized in that, The amount of excavated soil is also calculated based on the excavation area and the loosening coefficient.

13. The energy-saving control system for a tunnel boring machine according to claim 12, characterized in that, The relationship between the theoretical slag discharge rate and the slag discharge rate of the subsequent supporting slag discharge system is as follows: N=μ Us Where Ns is the slag discharge rate of the downstream slag discharge system, N is the theoretical slag discharge rate, and μ is the conversion coefficient.

14. The energy-saving control system for a tunnel boring machine according to claim 10, characterized in that, The electrical system automatically adjusts the number of motors involved in the main drive system based on changes in the cutter head torque, and the cutter head torque is directly proportional to the cutter head speed.

15. The energy-saving control system for a tunnel boring machine according to claim 10, characterized in that, The relationship between the exchanged coolant flow rate and the temperature difference between the internal circulating coolant temperature and the external circulating coolant temperature is as follows: Q=t (T1-T0) Where Q is the exchanged coolant flow rate, T1 is the internal circulation coolant temperature, T0 is the external circulation coolant temperature, and t is the heat conversion coefficient.

16. The energy-saving control system for a tunnel boring machine according to claim 10, characterized in that, The fluid system includes a foam system, a bentonite system, and a grouting system. When the propulsion speed increases, the injection volume of the corresponding fluid in the system is increased; when the propulsion speed decreases, the injection volume of the corresponding fluid in the system is decreased.

17. The energy-saving control system for a tunnel boring machine according to claim 14, characterized in that, When the cutter head speed increases, the torque required by the cutter head increases, and the motor power of the main drive system increases, thus increasing the number of motors involved; conversely, the number of motors involved decreases.

18. The energy-saving control system for a tunnel boring machine according to claim 17, characterized in that, P1=k T; P1 is the motor power, k is a constant, and T is the cutter head torque.

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