Distributed control system and method for gas-liquid state in mud-water bin of super-large diameter shield machine

Abstract

The present invention belongs to the technical field of shield machines, and specifically relates to a distributed control system and method for the gas-liquid state in a mud and water bin of an ultra-large diameter shield machine, including a mud and water circulation and gas circulation control system, which realizes uniform distribution control of the mud and water pressure state in the bin through distributed pressure feedback and precise compensation control based on the mud and water in the front bin; realizes precise control of the mud and water pressure at the excavation interface through direct feedback of the mud and water pressure in the front bin and active regulation of the pressure in the air cushion bin; realizes control of the mud and water liquid level state in the bin through active regulation of the slurry inlet flow rate and the slurry outlet flow rate, and ensures that the amount of mud and water entering the bin matches the amount of rock and soil entering the bin from the front tunnel.

Description

Technical Field

[0001] The invention belongs to the technical field of shield machines, and in particular relates to a distributed control system and method for gas-liquid states in a mud and water bin of an ultra-large diameter shield machine. Background Art

[0002] The mud and water tank of the super-large diameter shield machine mainly consists of two parts: mud and water space and air cushion space. The stable and precise control of its gas-liquid state distribution is the key to maintaining the stability of the tunnel excavation interface. Since the state in the mud and water tank is affected by the coupling of multiple systems such as the propulsion system, slurry feeding system, slurry discharge system, air intake system, exhaust system, and tank door control system, and the mud and water state parameters are nonlinear, uneven, and uncertain, its gas-liquid state distribution is difficult to stably control, which has become the key to restricting the safety of super-large diameter submarine and riverbed tunnel construction. Summary of the invention

[0003] The present application provides a distributed control system and method for the gas-liquid state in the mud water bin of an ultra-large diameter shield machine, which can achieve accurate control of the mud water pressure at the tunneling interface and control of the mud water liquid level in the bin. The technical method is:

[0004] A distributed control system for the gas-liquid state in a mud and water bin of an ultra-large diameter shield machine comprises a plurality of mud-water ratio control nozzles, a mud circulation treatment system, a grinder, a first variable speed motor, a second variable speed motor, a first mud pump and a second mud pump; the mud circulation treatment system is connected to the first mud pump and the second mud pump respectively, the first mud pump is connected to a first flow meter; the second mud pump is connected to a second flow meter; the second flow meter is connected to the grinder, the first flow meter is connected to a plurality of mud-water ratio control nozzles respectively; the first variable speed motor is connected to the first mud pump, and the second variable speed motor is connected to the second mud pump; a plurality of mud-water ratio control nozzles are fixed on a mud plate at equal angular intervals along the circumference.

[0005] Preferably, the mud-water ratio control nozzle includes a valve port outer wall, a nozzle, a valve core, a hydraulic cylinder end cover, a hydraulic cylinder barrel, a sensor measuring block and a displacement sensor measuring rod; a plurality of nozzle holes are arranged on the nozzle, the nozzle is fixed on the front part of the valve port outer wall, the hydraulic cylinder end cover is fixed on the end face of the valve port outer wall, the displacement sensor measuring rod is fixed on the end face of the hydraulic cylinder barrel, the end face of the sensor measuring block is fixedly connected to the valve core, and is concentrically connected to the displacement sensor measuring rod.

[0006] Preferably, it includes a gas circulation control system, which includes a first pressure sensor, an air cushion chamber safety valve, an electric pressure control valve, a third flow meter, an air pump and a third variable speed motor; the first pressure sensor is connected to the electric pressure control valve line, the air pump is connected to the third variable speed motor, the third flow meter is connected to the air pump, and the air cushion chamber safety valve is connected from the air cushion space.

[0007] Preferably, the outer wall of the valve port and the valve core can move concentrically relative to each other, and the sensor measuring block and the displacement sensor measuring rod can move concentrically relative to each other; the mud inlet opening on the outer wall of the valve port is changed by the movement of the valve core, and through the concentric relative movement of the sensor measuring block and the displacement sensor measuring rod, the sensor measuring block reaches the position of different displacement sensor measuring rods, thereby realizing the function of displacement sensing.

[0008] Preferably, including:

[0009] Mud feeding process: the first variable speed motor controls the first mud pump to feed mud from the mud circulation treatment system into multiple mud-water ratio control nozzles; the valve opening of the mud-water ratio control nozzle is changed by the movement of the valve core, thereby adjusting the mud entry speed;

[0010] Mud discharge process: the mud in the mud-water space on the left flows into the space on the right through the gap at the bottom of the mud plate, and after being crushed by the crusher, it enters the second mud pump. The second variable speed motor controls the second mud pump to send the mud into the mud circulation treatment system.

[0011] Preferably, including:

[0012] Intake process: The third variable speed motor controls the air pump to send gas into the air cushion space;

[0013] Exhaust process: The gas in the air cushion space is discharged through the electric pressure control valve. The electric pressure control valve adjusts the valve opening through the motor. When the pressure in the air cushion space is too high, the valve opening of the electric pressure control valve is adjusted to a larger value to increase the gas discharge flow rate. When the pressure in the air cushion space is too low, the valve opening of the electric pressure control valve is adjusted to a smaller value to reduce the gas discharge flow rate.

[0014] A distributed control method for the gas-liquid state in the mud-water bin of an ultra-large diameter shield machine, wherein a pressure sensor is provided on the mud plate beside each mud-water ratio control nozzle; each mud-water ratio control nozzle is located at a different height, and the relationship between the height coordinate and its corresponding pressure value is assumed to be a linear relationship, and the equation is y=kx+b; the data measured by each pressure sensor is linearly fitted by the least squares method to obtain coefficients k and b; y is the local pressure value, and x is the height coordinate value.

[0015] Preferably, local pressure control: compare the calculated local pressure value y obtained by the equation y=kx+b with the pressure value measured by the pressure sensor. If there is a difference between the two, the mud-water ratio control nozzle is controlled by the local pressure controller so that the calculated local pressure value y and the pressure value measured by the pressure sensor tend to be consistent.

[0016] Preferably, height line pressure control: set the monitoring height coordinate at this time to x, set the stable mud and water tank pressure P facing the tunnel interface, if the pressure value y measured by the pressure sensor does not match P, the gas pressure controller will control the electric pressure control valve to increase or decrease its opening so that the pressure value y measured by the pressure sensor is consistent with P.

[0017] Preferably, it includes:

[0018] Inlet gas flow control: Set the inlet gas flow. If the flow measured by the third flow meter does not match the set inlet gas flow, the inlet gas flow controller controls the third variable speed motor to control the gas flow, so that the flow measured by the third flow meter is consistent with the set inlet gas flow;

[0019] Control of the mud and water flow rate entering the warehouse: The shield advancement speed data obtained by the shield excavation speed sensor is used to calculate the mud and water flow rate setting value entering the warehouse. If the flow rate measured by the first flow meter does not match the calculated mud and water flow rate setting value entering the warehouse, the mud and water flow rate controller entering the warehouse controls the first variable speed motor to control the mud and water flow rate entering the warehouse, so that the flow rate measured by the first flow meter is consistent with the calculated mud and water flow rate setting value entering the warehouse, ensuring that the amount of mud and water entering the warehouse matches the amount of rock and soil entering the warehouse from the tunnel ahead;

[0020] Mud and water level control in the bin: Set the mud and water level in the mud and water bin. If the mud and water level in the bin measured by the level gauge does not match the set mud and water level in the bin, the second variable speed motor is controlled by the bin level controller to control the mud and water level in the bin, so that the mud and water level in the bin measured by the level gauge is consistent with the set mud and water level in the bin.

[0021] Compared with the prior art, the beneficial effects are as follows:

[0022] Through distributed pressure feedback and precise compensation control based on the mud and water in the front chamber, uniform distribution control of the mud and water pressure state in the chamber is achieved; through direct feedback of the mud and water pressure in the front chamber and active adjustment of the pressure in the air cushion chamber, precise control of the mud and water pressure at the excavation interface is achieved; through active adjustment of the slurry inlet flow rate and the slurry outlet flow rate, the mud and water liquid level state in the chamber is controlled, and it is ensured that the amount of mud and water entering the chamber matches the amount of rock and soil entering the chamber from the front tunnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Isometric drawing of the mud-water ratio control nozzle.

[0024] Figure 2 This is the front view of the mud-water ratio control nozzle.

[0025] Figure 3 This is a cross-sectional view of a mud-water ratio control nozzle.

[0026] Figure 4 It is a mud and water circulation control system for super large diameter shield machines.

[0027] Figure 5 It is a gas circulation control system for super large diameter shield machines.

[0028] Figure 6 This is a distributed pressure detection diagram of mud and water in the front chamber of an ultra-large diameter shield machine.

[0029] Figure 7 A diagram of a high-precision control method for the gas-liquid state distribution in the mud-water bin of an ultra-large diameter shield machine.

[0030] In the figure, 1 is the outer wall of the valve port, 2 is the nozzle, 3 is the valve core, 4 is the end cover of the hydraulic cylinder, 5 is the cylinder barrel of the hydraulic cylinder, 6 is the sensor measuring block, and 7 is the displacement sensor measuring rod;

[0031] 11 the first mud-water ratio control nozzle, 12 the second mud-water ratio control nozzle, 13 the third mud-water ratio control nozzle, 14 the fourth mud-water ratio control nozzle, 15 the first flow meter, 17 the first mud pump, 18 the first variable speed motor, 19 the mud circulation treatment system, 20 the blender, 21 the second flow meter, 23 the second mud pump, 24 the second variable speed motor, 25 the liquid level meter, 26 the first pressure sensor, 27 the air cushion chamber safety valve, 28 the electric pressure control valve, 29 the third flow meter, 31 the air pump, 32 the third variable speed motor, 33 the second pressure sensor, 34 the third pressure sensor, 35 the fourth pressure sensor, 36 the fifth pressure sensor. DETAILED DESCRIPTION

[0032] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0033] A distributed control system for the gas-liquid state in a mud and water bin of an ultra-large diameter shield machine comprises a plurality of mud and water ratio control nozzles (four are taken as an example in this application: a first mud and water ratio control nozzle 11, a second mud and water ratio control nozzle 12, a third mud and water ratio control nozzle 13, and a fourth mud and water ratio control nozzle 14), a mud circulation treatment system 19, a pulverizer 20, a first variable speed motor 18, a second variable speed motor 24, a first mud pump 17, and a second mud pump 23; the mud circulation treatment system 19 is respectively connected to the first mud pump 17 and the second mud pump 23, the first mud pump 17 is connected to the first flow meter 15; the second mud pump 23 is connected to the second flow meter 21; the second flow meter 21 is connected to the pulverizer 20, and the first flow meter 15 is respectively connected to the plurality of mud and water ratio control nozzles; the first variable speed motor 18 is connected to the first mud pump 17, and the second variable speed motor 24 is connected to the second mud pump 23; the plurality of mud and water ratio control nozzles are fixed on a mud plate at equal angular intervals along the circumference.

[0034] The first mud-water ratio control nozzle 11, the second mud-water ratio control nozzle 12, the third mud-water ratio control nozzle 13, and the fourth mud-water ratio control nozzle 14 are fixed on the mud board at equal angle intervals along the circumference, and the second pressure sensor 33, the third pressure sensor 34, the fourth pressure sensor 35, and the fifth pressure sensor 36 are respectively fixed on the mud board beside the first mud-water ratio control nozzle 11, the second mud-water ratio control nozzle 12, the third mud-water ratio control nozzle 13, and the fourth mud-water ratio control nozzle 14. The first mud pump 17 is connected to the first variable speed motor 18, and the second mud pump 23 is connected to the second variable speed motor 24. The first mud pump 17 is connected to one side of the mud circulation treatment system 19, and the other side of the mud circulation treatment system 19 is connected to the second mud pump 23.

[0035] The mud-water ratio control nozzle comprises a valve port outer wall 1, a nozzle 2, a valve core 3, a hydraulic cylinder end cover 4, a hydraulic cylinder barrel 5, a sensor measuring block 6, and a displacement sensor measuring rod 7.

[0036] The nozzle 2 is fixed on the front part of the valve port outer wall 1, the hydraulic cylinder end cover 4 is fixed on the right end face of the valve port outer wall 1, the displacement sensor measuring rod 7 is fixed on the right end face of the hydraulic cylinder barrel 5, and the end face of the sensor measuring block 6 is fixedly connected to the valve core 3 and is concentrically connected to the displacement sensor measuring rod 7.

[0037] A plurality of nozzle holes are arranged on the nozzle 2. The valve port outer wall 1 and the valve core 3 can move relative to each other concentrically, and the sensor measuring block 6 and the displacement sensor measuring rod 7 can move relative to each other concentrically.

[0038] The mud inlet opening on the valve port outer wall 1 is changed by the movement of the valve core 3. By the concentric relative movement of the sensor measuring block 6 and the displacement sensor measuring rod 7, the sensor measuring block 6 reaches the position of different displacement sensor measuring rods 7, and the displacement sensing function can be realized.

[0039] Mud feeding process: the first variable speed motor 18 controls the first mud pump 17 to send mud from the mud circulation treatment system 19 into four mud-water ratio control nozzles (the first mud-water ratio control nozzle 11, the second mud-water ratio control nozzle 12, the third mud-water ratio control nozzle 13, the fourth mud-water ratio control nozzle 14). The valve opening of the four mud-water ratio control nozzles is changed by the movement of the valve core 3, thereby adjusting the mud entry speed.

[0040] Mud discharge process: the mud in the mud-water space on the left flows into the space on the right through the gap at the bottom of the mud plate, is crushed by the crusher 20, and then enters the second mud pump 23. The second variable speed motor 24 controls the second mud pump 23 to send the mud into the mud circulation treatment system 19.

[0041] The gas circulation control system of the super-large diameter shield machine includes a first pressure sensor 26, an air cushion chamber safety valve 27, an electric pressure control valve 28, a third flow meter 29, an air pump 31, and a third variable speed motor 32.

[0042] The electric pressure control valve 28 is connected to the first pressure sensor 26, the air pump 31 is connected to the third variable speed motor 32, the third flow meter 29 is connected to the air pump 31, and the air cushion chamber safety valve 27 is connected from the air cushion space.

[0043] Air intake process: the third variable speed motor 32 controls the air pump 31 to deliver air into the air cushion space.

[0044] Exhaust process: The gas in the air cushion space is discharged through the electric pressure control valve 28. The electric pressure control valve 28 adjusts the valve opening through the motor. When the pressure in the air cushion space is too high, the valve opening of the electric pressure control valve 28 is adjusted to a larger value to increase the gas discharge flow rate. When the pressure in the air cushion space is too low, the valve opening of the electric pressure control valve 28 is adjusted to a smaller value to reduce the gas discharge flow rate.

[0045] High-precision control method for gas-liquid state distribution in the mud and water bin of an ultra-large diameter shield machine. Four pressure sensors (second pressure sensor 33, third pressure sensor 34, fourth pressure sensor 35, fifth pressure sensor 36) are located at different heights. The height coordinate x of the second pressure sensor 33 is set to 1, the height coordinate x of the third pressure sensor 34 and the fourth pressure sensor 35 is set to 0.5, and the height coordinate x of the fifth pressure sensor 36 is set to 0. The pressure value measured by the pressure sensor is y. The relationship between the height coordinate and the pressure value is set to be a linear relationship, and the equation is y=kx+b. The four-point data measured by the four pressure sensors are recorded, and the coefficients k and b are obtained by linear fitting using the least squares method.

[0046] Local pressure control: Compare the calculated local pressure value y obtained by the equation y=kx+b with the pressure value measured by the pressure sensor. If there is a difference between the two, the four mud-water ratio control nozzles (the first mud-water ratio control nozzle 11, the second mud-water ratio control nozzle 12, the third mud-water ratio control nozzle 13, and the fourth mud-water ratio control nozzle 14) are controlled by the local pressure controller to make the calculated local pressure value y and the pressure value measured by the pressure sensor tend to be consistent.

[0047] Height line pressure control: Set the monitoring height coordinate at this time to x=0.5, and the technicians will give priority to setting the stable mud and water tank pressure P facing the tunnel interface. If the pressure value y measured by the pressure sensor does not match P, the gas pressure controller will control the electric pressure control valve 28 to increase or decrease its opening so that the pressure value y measured by the pressure sensor is consistent with P.

[0048] Gas flow control for entering the warehouse: The gas flow for entering the warehouse shall be set by the technicians first. If the flow measured by the third flowmeter 29 does not match the set gas flow for entering the warehouse, the gas flow controller for entering the warehouse controls the third variable speed motor 32 to control the gas flow, so that the flow measured by the third flowmeter 29 is consistent with the set gas flow for entering the warehouse. Mud and water flow control for entering the warehouse: The set value of the mud and water flow for entering the warehouse is calculated by the shield advancement speed data obtained by the shield excavation speed sensor. If the flow measured by the first flowmeter 15 does not match the calculated set value of the mud and water flow for entering the warehouse, the mud and water flow controller for entering the warehouse controls the first variable speed motor 18 to control the mud and water flow for entering the warehouse, so that the flow measured by the first flowmeter 15 is consistent with the calculated set value of the mud and water flow for entering the warehouse, so as to ensure that the amount of mud and water entering the warehouse matches the amount of rock and soil entering the warehouse from the tunnel ahead.

[0049] Mud and water level control in the bin: The mud and water level in the mud and water bin is set by the technical staff in priority. If the mud and water level in the bin measured by the level meter 25 does not match the set mud and water level in the bin, the second variable speed motor 24 is controlled by the bin level controller to control the mud and water level in the bin, so that the mud and water level in the bin measured by the level meter 25 is consistent with the set mud and water level in the bin.

[0050] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A distributed control system for gas-liquid state in the mud and water bunker of an ultra-large diameter shield machine, characterized in that: It includes a plurality of mud-water ratio control nozzles, a mud circulation treatment system, a gas circulation control system, a pulverizer, a first variable speed motor, a second variable speed motor, a first mud pump and a second mud pump; the mud circulation treatment system is connected to the first mud pump and the second mud pump respectively, the first mud pump is connected to the first flow meter; the second mud pump is connected to the second flow meter; the second flow meter is connected to the pulverizer, the first flow meter is connected to a plurality of mud-water ratio control nozzles respectively; the first variable speed motor is connected to the first mud pump, the second variable speed motor is connected to the second mud pump; a plurality of mud-water ratio control nozzles are fixed on the mud plate at equal angles along the circumference; The mud-water ratio control nozzle comprises a valve port outer wall, a nozzle, a valve core, a hydraulic cylinder end cover, a hydraulic cylinder barrel, a sensor measuring block and a displacement sensor measuring rod; a plurality of nozzle holes are arranged on the nozzle, the nozzle is fixed to the front part of the valve port outer wall, the hydraulic cylinder end cover is fixed to the end face of the valve port outer wall, the displacement sensor measuring rod is fixed to the end face of the hydraulic cylinder barrel, the end face of the sensor measuring block is fixedly connected to the valve core, and is concentrically connected to the displacement sensor measuring rod; The gas circulation control system comprises a first pressure sensor, an air cushion chamber safety valve, an electric pressure control valve, a third flow meter, an air pump and a third variable speed motor; the electric pressure control valve circuit is connected to the first pressure sensor, the air pump is connected to the third variable speed motor, the third flow meter is connected to the air pump, and the air cushion chamber safety valve is connected from the air cushion space; Mud feeding process: the first variable speed motor controls the first mud pump to feed mud from the mud circulation treatment system into multiple mud-water ratio control nozzles; the valve opening of the mud-water ratio control nozzle is changed by the movement of the valve core, thereby adjusting the mud entry speed; Mud discharge process: the mud in the mud-water space on the left flows into the space on the right through the gap at the bottom of the mud plate, and after being crushed by the crusher, it enters the second mud pump. The second variable speed motor controls the second mud pump to send the mud into the mud circulation treatment system.

2. The gas-liquid state distributed control system in the mud and water bunker of an ultra-large diameter shield machine according to claim 1 is characterized in that: The outer wall of the valve port and the valve core can move concentrically relative to each other, and the sensor measuring block and the displacement sensor measuring rod can move concentrically relative to each other; the mud inlet opening on the outer wall of the valve port is changed by the movement of the valve core, and through the concentric relative movement of the sensor measuring block and the displacement sensor measuring rod, the sensor measuring block reaches the position of different displacement sensor measuring rods to realize the function of displacement sensing.

3. The gas-liquid state distributed control system in the mud and water bunker of an ultra-large diameter shield machine according to claim 1 is characterized in that: include: Intake process: The third variable speed motor controls the air pump to send gas into the air cushion space; Exhaust process: The gas in the air cushion space is discharged through the electric pressure control valve. The electric pressure control valve adjusts the valve opening through the motor. When the pressure in the air cushion space is too high, the valve opening of the electric pressure control valve is adjusted to a larger value to increase the gas discharge flow rate. When the pressure in the air cushion space is too low, the valve opening of the electric pressure control valve is adjusted to a smaller value to reduce the gas discharge flow rate.

4. A method for distributed control of the gas-liquid state in the mud and water bunker of an ultra-large diameter shield machine, used for the distributed control system of the gas-liquid state in the mud and water bunker of an ultra-large diameter shield machine according to any one of claims 1 to 3, characterized in that: A pressure sensor is installed on the mud plate next to each mud-water ratio control nozzle; each mud-water ratio control nozzle is located at a different height, and the relationship between the height coordinate and its corresponding pressure value is assumed to be a linear relationship, and the equation is y=kx+b; the data measured by each pressure sensor is linearly fitted by the least squares method to obtain the coefficients k and b; y is the local pressure value, and x is the height coordinate value.

5. The method for distributed control of gas-liquid state in the mud and water bunker of an ultra-large diameter shield machine according to claim 4, characterized in that: Local pressure control: Compare the calculated local pressure value y obtained by the equation y=kx+b with the pressure value measured by the pressure sensor. If there is a difference between the two, the mud-water ratio control nozzle is controlled by the local pressure controller to make the calculated local pressure value y and the pressure value measured by the pressure sensor tend to be consistent.

6. The method for distributed control of gas-liquid state in the mud and water bunker of an ultra-large diameter shield machine according to claim 4, characterized in that: Height line pressure control: Set the monitoring height coordinate at this time to x, and set the stable mud and water tank pressure P facing the tunnel interface. If the pressure value y measured by the pressure sensor does not match P, the gas pressure controller will control the electric pressure control valve to increase or decrease its opening so that the pressure value y measured by the pressure sensor is consistent with P.

7. The method for distributed control of gas-liquid state in the mud and water bunker of an ultra-large diameter shield machine according to claim 4, characterized in that: include: Inlet gas flow control: Set the inlet gas flow. If the flow measured by the third flow meter does not match the set inlet gas flow, the inlet gas flow controller controls the third variable speed motor to control the gas flow, so that the flow measured by the third flow meter is consistent with the set inlet gas flow; Control of the mud and water flow rate entering the warehouse: The shield advancement speed data obtained by the shield excavation speed sensor is used to calculate the mud and water flow rate setting value entering the warehouse. If the flow rate measured by the first flow meter does not match the calculated mud and water flow rate setting value entering the warehouse, the mud and water flow rate controller entering the warehouse controls the first variable speed motor to control the mud and water flow rate entering the warehouse, so that the flow rate measured by the first flow meter is consistent with the calculated mud and water flow rate setting value entering the warehouse, ensuring that the amount of mud and water entering the warehouse matches the amount of rock and soil entering the warehouse from the tunnel ahead; Mud and water level control in the bin: Set the mud and water level in the mud and water bin. If the mud and water level in the bin measured by the level gauge does not match the set mud and water level in the bin, the second variable speed motor is controlled by the bin level controller to control the mud and water level in the bin, so that the mud and water level in the bin measured by the level gauge is consistent with the set mud and water level in the bin.

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