Shield posture solution method and equipment based on dynamics of stratum flexible constraint mechanism

Abstract

The present invention relates to the technical field of shield machines, and provides a shield machine posture solving method and device based on the dynamics of a stratum flexible constraint mechanism. The method constructs an equivalent mechanism model of a propulsion system of a shield machine; based on the equivalent mechanism model, the shield machine is mechanically analyzed, and the equivalent mechanism model is dynamically modeled by the Lagrangian method to construct a corresponding dynamic equation; the dynamic equation is added with the constraint conditions to be satisfied, and the corresponding constraint equation is constructed; based on the dynamic equation and the constraint equation, the dynamic differential algebraic equation of the shield machine propulsion system is constructed, and the dynamic differential algebraic equation is solved to obtain the posture information of the shield machine. The present invention constructs a dynamic equation of a shield machine, adds constraint conditions to it, and then constructs a corresponding constraint equation, and solves the posture of the shield machine according to the dynamic equation and the constraint equation to obtain the posture information of the shield machine.

Description

Technical Field

[0001] The present invention relates to the technical field of shield machines, and in particular to a method and device for solving the posture of a shield machine based on the dynamics of a stratum flexible constraint mechanism. Background Art

[0002] Underground tunneling equipment / robots are the core technology carriers in cutting-edge scientific fields such as extraterrestrial space exploration and deep earth and deep sea development. However, compared with ground and aerial equipment, underground tunneling equipment has a complex coupling effect with its working medium, namely the stratum, which makes its intelligent control of travel posture still face huge challenges. At present, the control of typical underground tunneling equipment such as shield machines still relies on manual labor, which has significant subjectivity and lag. Its posture over-limit is the main reason for the misalignment and damage of tunnel segments, which in turn induces damage and collapse of lining structures. Therefore, there is an urgent need for a solution to determine the posture of shield machines. Summary of the invention

[0003] The present invention provides a shield posture solution method and device based on the dynamics of a stratum flexible constraint mechanism, so as to solve the defects in the above-mentioned background technology.

[0004] The present invention provides a shield posture solution method based on the dynamics of a stratum flexible constraint mechanism, comprising:

[0005] Construct an equivalent mechanism model of the propulsion system of the shield machine;

[0006] Based on the equivalent mechanism model, the shield machine is mechanically analyzed through a stratum flexibility constraint mode, and the equivalent mechanism model is dynamically modeled through a Lagrangian method to construct a corresponding dynamic equation;

[0007] Adding constraints that need to be satisfied to the dynamic equation to construct a corresponding constraint equation;

[0008] Based on the dynamic equation and the constraint equation, a dynamic differential algebraic equation of the shield machine propulsion system is constructed, and the dynamic differential algebraic equation is solved to obtain the position and posture information of the shield machine.

[0009] According to a shield posture solving method based on the dynamics of a stratum flexible constraint mechanism provided by the present invention, the shield machine is subjected to mechanical analysis based on the equivalent mechanism model and through a stratum flexible constraint mode, comprising:

[0010] Based on the equivalent mechanism model, the stress conditions of the shield machine are analyzed; wherein, the forces acting on the shield machine include the gravity of the shield machine, the thrust generated by the oil cylinder of the shield machine, the first reaction force of the stratum acting on the side wall of the shield machine, the second reaction force of the stratum acting on the excavation surface of the shield machine, the friction between the stratum and the shield machine, and the shear resistance of the stratum; the first reaction force is described by the stratum spring and the stratum reaction force curve model.

[0011] According to a shield posture solving method based on the dynamics of a stratum flexible constraint mechanism provided by the present invention, the constraint conditions include a first constraint condition for the geometric parameters of the shield machine and a second constraint condition for the speed of the propulsion system of the shield machine.

[0012] According to a shield posture solving method based on the dynamics of the formation flexible constraint mechanism provided by the present invention, the equivalent mechanism model is dynamically modeled by the Lagrangian method to construct the corresponding dynamic equation, including:

[0013] Based on the dynamic modeling, the kinetic energy of the shield machine, the deformation potential energy of the strata around the shield machine, the shear dissipation energy, the second reaction force of the strata on the excavation surface, the friction between the strata and the shield machine, and the thrust generated by the oil cylinder are calculated;

[0014] The dynamic equation is constructed according to the generalized coordinates of the shield machine, the kinetic energy of the shield machine, the deformation potential energy, the shear dissipation energy, the second reaction force, the friction force and the thrust.

[0015] According to a shield posture solving method based on the dynamics of a stratum flexible constraint mechanism provided by the present invention, the calculation of the kinetic energy of the shield machine, the deformation potential energy of the stratum around the shield machine, the shear dissipation energy, the second reaction force of the stratum on the excavation surface, the friction between the stratum and the shield machine, and the thrust generated by the cylinder based on the dynamic modeling includes:

[0016] Based on the dynamic modeling, calculating the elastic potential energy of the soil and the shear soil spring potential energy around the shield machine;

[0017] The deformation potential energy is calculated based on the soil elastic potential energy and the shear soil spring potential energy.

[0018] According to a shield machine posture solving method based on the dynamics of a stratum flexible constraint mechanism provided by the present invention, the equivalent mechanism model of the propulsion system of the shield machine is constructed, including:

[0019] Acquire the oil cylinder partitions of the propulsion system, and establish equivalent branch chains corresponding to each of the oil cylinder partitions according to the articulation relationship between the front and rear ends of the oil cylinders in the oil cylinder partitions;

[0020] Calculate the effective radius and azimuth of each of the equivalent branch chains, and analyze the hinge positions of the front and rear ends of the equivalent branch chains at the middle shield and the segment;

[0021] The equivalent mechanism model is constructed according to the action radius and the azimuth angle, as well as the hinged positions of the front and rear ends of the equivalent branch chain at the middle shield and the pipe segment.

[0022] According to a shield posture solving method based on the dynamics of a formation flexible constraint mechanism provided by the present invention, the dynamic differential algebraic equation of the shield machine propulsion system is constructed based on the dynamic equation and the constraint equation, and the dynamic differential algebraic equation is solved to obtain the posture information of the shield machine, including:

[0023] Based on the dynamic equation and the constraint equation, converting the dynamic equation into the dynamic differential algebraic equation;

[0024] The dynamic differential algebraic equation is iteratively solved by the generalized α method to obtain the position and posture information of the shield machine.

[0025] The present invention also provides a shield posture solving device based on the dynamics of the formation flexible constraint mechanism, comprising:

[0026] A second construction module is configured to perform mechanical analysis on the shield machine based on the equivalent mechanism model, and to perform dynamic modeling on the equivalent mechanism model by Lagrangian method to construct corresponding dynamic equations;

[0027] A third construction module is configured to add constraints that need to be satisfied to the kinetic equation and construct a corresponding constraint equation;

[0028] The solving module is configured to construct a dynamic differential algebraic equation of the shield machine propulsion system based on the dynamic equation and the constraint equation, solve the dynamic differential algebraic equation, and obtain the posture information of the shield machine.

[0029] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements a shield posture solution method based on the dynamics of a flexible constraint mechanism of the formation as described in any one of the above-mentioned methods.

[0030] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for solving the shield posture based on the dynamics of the flexible constraint mechanism of the formation as described in any one of the above is implemented.

[0031] The present invention also provides a computer program product, comprising a computer program, which, when executed by a processor, implements any of the above-mentioned shield posture solution methods based on the dynamics of a formation flexible constraint mechanism.

[0032] The present invention provides a shield posture solving method and device based on the dynamics of the formation flexible constraint mechanism, which constructs an equivalent mechanism model of the propulsion system of the shield machine, and then based on the equivalent mechanism model, performs mechanical analysis on the shield machine, and performs dynamic modeling on the equivalent mechanism model of the shield machine propulsion system through the Lagrangian method, and converts the complex excavation process of the shield machine in the soil into corresponding dynamic equations. Based on the corresponding required constraint conditions, the corresponding constraint equations are constructed. Based on the dynamic equations and the constraint equations, the dynamic differential algebraic equations of the shield machine propulsion system are constructed. The differential algebraic equations are solved to obtain the posture information of the shield machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 It is a flow chart of a shield posture solving method based on the dynamics of a stratum flexible constraint mechanism provided by the present invention.

[0035] Figure 2 It is a schematic diagram of constructing equivalent branch chains in the embodiments provided by the present invention.

[0036] Figure 3 It is a schematic diagram of constructing an equivalent mechanism model in the embodiment provided by the present invention.

[0037] Figure 4 It is a schematic diagram of characterizing the shear resistance of the formation in the embodiment provided by the present invention.

[0038] Figure 5 It is a schematic diagram of the shield machine stress analysis in the stratum flexibility constraint mode according to the embodiment provided by the present invention.

[0039] Figure 6 It is a schematic diagram of kinetic modeling in the embodiment provided by the present invention.

[0040] Figure 7 It is a force diagram equivalent to the first constraint condition in the embodiment provided by the present invention.

[0041] Figure 8It is a force diagram equivalent to the second constraint condition in the embodiment provided by the present invention.

[0042] Fig. 9 It is a schematic diagram of a shield machine and a soil layer in an embodiment provided by the present invention.

[0043] Fig.10 It is a schematic diagram of a flow chart for solving dynamic differential algebraic equations in an embodiment provided by the present invention.

[0044] Fig.11 It is a structural schematic diagram of a shield posture solving device based on the dynamics of a stratum flexible constraint mechanism provided by the present invention.

[0045] Fig.12 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] Combine the following Figure 1-Figure 10 The present invention describes the shield posture solution method based on the dynamics of the formation flexible constraint mechanism.

[0048] Figure 1 FIG. 1 is a flowchart of a shield posture solution method based on the dynamics of a formation flexible constraint mechanism according to an exemplary embodiment. Figure 1 As shown, the shield posture solution method based on the dynamics of the formation flexible constraint mechanism includes steps 110 to 140, which are described in detail as follows.

[0049] Step 110, constructing an equivalent mechanism model of the propulsion system of the shield machine.

[0050] Step 120, based on the equivalent mechanism model, the shield machine is mechanically analyzed through a stratum flexibility constraint mode, and the equivalent mechanism model is dynamically modeled through a Lagrangian method to construct a corresponding dynamic equation.

[0051] Step 130, adding the constraint conditions that need to be satisfied to the dynamic equation, and constructing the corresponding constraint equation.

[0052] Step 140: construct a dynamic differential algebraic equation of the shield machine propulsion system based on the dynamic equation and the constraint equation, solve the dynamic differential algebraic equation, and obtain the position and posture information of the shield machine.

[0053] In the embodiment of the present invention, the propulsion system of the shield machine is the main carrier for realizing complex movements such as forward excavation, curved travel and posture correction of the shield machine. It is usually composed of a number of hydraulic cylinders arranged in parallel along the circumference of the shield body. The front and rear ends of each hydraulic cylinder are respectively hinged to the shield body and the top shoe. Since the propulsion system has motion characteristics similar to those of a parallel mechanism, the propulsion system can be equivalent to a super-redundant parallel mechanism using the parallel mechanism method, such as Figure 2 and 3 The 4-partition form in the figure is used to convert the entire propulsion system into an equivalent mechanism model of a 4-SPS branch chain according to the partition form. The equivalent mechanism model can accurately reflect the relationship between the shield posture and the kinematic parameters such as the position and speed of each propulsion cylinder, and also provides a motion control model for the shield posture correction. The shield posture control is completed by actively regulating the extension and contraction of the cylinders in each partition of the propulsion system. If the influence of the formation constraint is not considered, the parallel mechanism itself can move perpendicular to the cylinder direction and rotate around the excavation direction, that is, it is in an under-constrained state. Therefore, the forward kinematics of the shield propulsion system has multiple solutions, that is, a single cylinder motion parameter corresponds to an infinite number of shield end postures. Only by considering the influence of formation constraints can the forward kinematics solution of the shield excavation posture be achieved.

[0054] An equivalent mechanism model of the propulsion system of a shield machine is constructed, and then based on the equivalent mechanism model, the mechanical analysis of the shield machine is performed, and the equivalent mechanism model of the shield machine propulsion system is dynamically modeled by the Lagrangian method, and the complex excavation process of the shield machine in the soil is converted into the corresponding dynamic equation. Based on the corresponding required constraint conditions, the corresponding constraint equation is constructed. Based on the dynamic equation and the constraint equation, the dynamic differential algebraic equation of the shield machine propulsion system is constructed. The differential algebraic equation is solved to obtain the posture information of the shield machine.

[0055] In an exemplary embodiment of the present invention, step 110 of constructing an equivalent mechanism model of the propulsion system of the shield machine includes the following steps, which are described in detail as follows.

[0056] The oil cylinder partitions of the propulsion system are obtained, and according to the front and rear end articulation relationship of the oil cylinders in the oil cylinder partitions, equivalent branch chains corresponding to the oil cylinder partitions are established.

[0057] The effective radius and azimuth of each of the equivalent branch chains are calculated, and the hinge positions of the front and rear ends of the equivalent branch chains at the middle shield and the segment are analyzed.

[0058] The equivalent mechanism model is constructed according to the action radius and the azimuth angle, as well as the hinged positions of the front and rear ends of the equivalent branch chain at the middle shield and the pipe segment.

[0059] In the embodiment of the present invention, the propulsion system of the shield machine is mainly composed of a hydraulic propulsion cylinder and a power supply hydraulic system. Generally, an annular beam is arranged on the inner side of the long cylindrical shield shell, and dozens of hydraulic propulsion cylinders are evenly arranged in the annular beam. One end of the propulsion cylinder is equipped with a support shoe, which pushes on the assembled segment. The reaction force provided by the segment can provide the shield machine with forward excavation force. The front end of the propulsion cylinder is generally connected to the panel in the middle shield with a ball joint. The shield machine is usually divided into four cylinder partitions according to the up, down, left and right directions, and other multiple cylinder partitions can also be set. According to the hinged relationship between the front and rear ends of the propulsion cylinder, an equivalent branch chain of "ball pair-moving pair-ball pair" of the propulsion cylinder in each partition is established, as shown in the following details. Figure 2 As shown in the figure, the action radius and azimuth of the equivalent branch chain of each cylinder partition are calculated, the hinge position of the front and rear ends of the equivalent branch chain of each cylinder partition at the middle shield and the pipe segment is analyzed, and the equivalent model of the propulsion system is constructed. Figure 3 As shown, each cylinder partition has a corresponding equivalent branch chain.

[0060] In an exemplary embodiment of the present invention, based on the equivalent mechanism model, a mechanical analysis of the shield machine is performed through a stratum flexibility constraint mode, including the following steps, which are described in detail as follows.

[0061] Based on the equivalent mechanism model, the stress condition of the shield machine is analyzed through the stratum flexible constraint mode; wherein, the forces acting on the shield machine include the gravity of the shield machine, the thrust generated by the oil cylinder of the shield machine, the first reaction force of the stratum acting on the side wall of the shield machine, the second reaction force of the stratum acting on the excavation surface of the shield machine, the friction between the stratum and the shield machine, and the stratum shear resistance; the first reaction force is described by the stratum spring and the stratum reaction force curve model.

[0062] In the embodiment of the present invention, the shield machine is always affected by the restraining effect of the environmental soil during the advancement process. Considering that the shield machine is affected by a total of 6 forces during the excavation process, the forces acting on the shield machine include the shield machine's gravity f1, the thrust f2 generated by the shield machine's cylinder, the first reaction force f3 of the stratum on the side wall of the shield machine, the second reaction force f4 of the stratum on the excavation face of the shield machine, the friction f5 between the stratum and the shield machine, and the stratum shear resistance f6.

[0063] Specifically, the shield machine's own gravity f1 acts on the shield machine's own center of gravity, and its direction is vertically downward.

[0064] The thrust f2 generated by the cylinder is the force applied by the hydraulic cylinder of the propulsion system, which is specifically expressed as follows.

[0065]

[0066] in, is the thrust generated by cylinder i.

[0067] The side wall of the shield machine is subjected to the first reaction force f3 of the stratum, which is described by the stratum spring and stratum reaction force curve model. This is because the stratum stiffness is relatively small compared to the shield shell. Considering the change process of the shield machine's posture, the constraint surrounding the shield body is a process of energy absorption and release, and the water and soil pressure also changes with the stratum distribution. Therefore, the stress state of the soil around the shield body is described by the assumed stratum spring and stratum reaction force curve model. The first reaction force f3 of the stratum is shown below.

[0068]

[0069]

[0070] in: is the formation spring stiffness coefficient; is the static earth pressure coefficient; is the active earth pressure coefficient; is the passive earth pressure coefficient; is the ground deformation caused by the radial movement of the shield, that is is the displacement of the soil in the i direction, is the foundation reaction coefficient.

[0071] The shield machine excavation face is subjected to the second reaction force f4 of the stratum, which can be expressed as the static soil and water pressure of the excavation face. express.

[0072]

[0073] in, It is the static soil and water pressure on the shield excavation surface; is the shield excavation area.

[0074] The friction force f5 between the stratum and the shield machine accounts for 53.5% to 73% of the total thrust, and the friction resistance between the shield shell and the soil is mainly caused by the radial movement of the shield.

[0075]

[0076] in: is the friction coefficient; is the dynamic correction coefficient; is the side wall normal force; is the relative tangential velocity between the side wall and the soil.

[0077] The stratum shear resistance f6 is formed by the shear interaction between the shield shell and the soil during the movement of the shield machine. The Smith rheological soil model is introduced here to determine the friction resistance between the shield shell and the soil, such as Figure 4 As shown, a massless spring is used to represent the static resistance of the soil and a damper is used to represent the dynamic resistance of the soil, as shown below.

[0078]

[0079] in, is the formation shear resistance f6, is the maximum force of the plastic sliding key, Q is the maximum elastic displacement, is the damping coefficient, is the Smith damping coefficient, is the relative displacement between the shield and the soil, is the relative velocity between the shield and the soil.

[0080] Incorporating the above forces into the equivalent mechanism model, the complete force analysis of the shield machine is as follows: Figure 5 As shown, we can get Figure 6 Kinetic modeling shown.

[0081] In an exemplary embodiment of the present invention, the constraint conditions include a first constraint condition on a geometric parameter of the shield machine and a second constraint condition on a speed of a propulsion system of the shield machine.

[0082] In the embodiment of the present invention, the variables are defined as: cylinder angle , angular velocity , angular acceleration , given variable: total stroke of the cylinder , Advance speed , Propulsion acceleration .

[0083] The components in the equivalent mechanism model are regarded as rigid bodies, such as Figure 7 As shown, the total stroke of the cylinder The geometric parameters of the shield machine should satisfy the first constraint as shown below.

[0084]

[0085] in, , is the elongation of the corresponding cylinder; , is the angle between the corresponding cylinder and the vertical axis; CD represents Figure 8 The distance between the hinge points of the front shield of the middle oil cylinder; Represents the coordinates of the hinge point C; Represents the coordinates of the hinge point D.

[0086] like Figure 8 As shown, the speed of the propulsion system can be divided into active speed (i.e. cylinder propulsion speed) ) and passive velocity (i.e. the cylinder moves around the base {a i}Angular velocity perpendicular to the plane ). Decompose the velocity of the propulsion cylinder into the end effector coordinate {b i} horizontal speed in the x direction and the velocity in the vertical direction y . The velocity in the horizontal direction x satisfies the following second constraint relationship.

[0087]

[0088] Among them, Figure 8 In, is the coordinate of each cylinder at the end effector {b i} in the horizontal direction. and angular velocity By introducing it, we can get the following formula.

[0089]

[0090]

[0091] in, is the end effector coordinate {b i} in the horizontal direction x and the base coordinate {a i}Horizontal direction The angle of is the distance between the hinge points of the two cylinders on the end effector.

[0092] In an exemplary embodiment of the present invention, the dynamic modeling of the equivalent mechanism model by the Lagrangian method and the construction of the corresponding dynamic equations include the following steps, which are described in detail as follows.

[0093] Based on the dynamic modeling, the kinetic energy of the shield machine, the deformation potential energy of the strata around the shield machine, the shear dissipation energy, the second reaction force of the strata on the excavation surface, the friction between the strata and the shield machine, and the thrust generated by the cylinder are calculated.

[0094] The dynamic equation is constructed according to the generalized coordinates of the shield machine, the kinetic energy of the shield machine, the deformation potential energy, the shear dissipation energy, the second reaction force, the friction force and the thrust.

[0095] In the embodiment of the present invention, the established Lagrangian dynamic equation is as follows.

[0096]

[0097] in, are generalized coordinates, , T is the kinetic energy of the shield machine, and V is the deformation potential energy; is the shear dissipated energy; is the second reaction force; is the friction force; The thrust generated by the cylinder.

[0098] Specifically, the calculation formula for the kinetic energy of the shield machine is as follows.

[0099]

[0100] in, and are the mass and moment of inertia of the ith shield component, and are the translational velocity and rotational angular velocity of the i-th shield component.

[0101] Shear dissipation energy It comes from the damping force generated by the shear deformation of the soil when the shield shears the soil.

[0102] Smith rheological soil model The term is related to the velocity, and the shear dissipation energy is obtained through the Rayleigh dissipation function for:

[0103]

[0104] in, is the damping coefficient; is the relative velocity between the shield and the soil interface .

[0105] The second reaction force The calculation formula is as follows:

[0106]

[0107] in, is the static water and soil pressure on the excavation surface; is the cutter disc area.

[0108] Friction The velocity-based friction model is used as follows:

[0109]

[0110] in: is the friction coefficient; is the dynamic correction coefficient; is the side wall normal force; is the relative tangential velocity between the side wall and the soil.

[0111] Thrust generated by the cylinder The expression is as follows:

[0112]

[0113] in: is the thrust of the i cylinders.

[0114] In an exemplary embodiment of the present invention, the calculation of the kinetic energy of the shield machine based on the posture dynamics model includes: the deformation potential energy of the strata around the shield machine, the shear dissipation energy, the second reaction force of the strata acting on the excavation surface, the friction between the strata and the shield machine, and the thrust generated by the cylinder.

[0115] Based on the dynamic modeling, the elastic potential energy of the soil around the shield machine and the shear soil spring potential energy are calculated.

[0116] The deformation potential energy is calculated based on the soil elastic potential energy and the shear soil spring potential energy.

[0117] In the embodiment of the present invention, Fig. 9 As shown in the figure, due to the change of shield posture during excavation, if the shield-soil interface moves in the same direction as the elastic force of the soil, the surrounding soil is in an elastic recovery state; if the shield-soil interface moves in the opposite direction of the elastic force of the soil, the surrounding soil is in an elastic energy storage state. Therefore, the shield-soil interface contact judgment criterion is established according to the different postures of the shield machine.

[0118] Elastic potential energy of soil around the shield machine The calculation formula is as follows:

[0119] =

[0120] in, Determined by the foundation reaction curve. The foundation reaction curve is as follows:

[0121]

[0122] in: is the formation spring stiffness coefficient; is the static earth pressure coefficient; is the active earth pressure coefficient; is the passive earth pressure coefficient; is the ground deformation caused by the radial movement of the shield, that is is the displacement of the soil in the i direction, is the foundation reaction coefficient.

[0123] The Smith rheological soil model considers the friction resistance between the shield and the soil, that is, a massless spring is used to represent the static resistance of the soil and a damper is used to represent the dynamic resistance of the soil, as shown below:

[0124]

[0125] in, It is related to the displacement and can be regarded as the shear elastic potential energy of the soil.

[0126] The relative velocity of the shield-soil interface can be expressed as the velocity of the side wall in the vertical direction of the end effector coordinate {bi} . Its interface relative velocity can be expressed as:

[0127]

[0128]

[0129]

[0130]

[0131]

[0132] The relative displacement of the shield-soil interface can be expressed as:

[0133]

[0134]

[0135] The shear force at the shield-soil interface can be expressed by the Mohr-Coulomb formula:

[0136]

[0137] in, is the normal stress, and its value is equal to the first reaction force f3; is the internal friction angle of soil, It is the cohesion of soil.

[0138] Therefore, the shear soil spring potential energy It can be expressed as:

[0139]

[0140] In summary, the deformation potential energy V can be expressed as:

[0141]

[0142] In an exemplary embodiment of the present invention, solving the Lagrangian dynamic equation to obtain the posture information of the shield machine includes the following steps, which are described in detail as follows:

[0143] Based on the dynamic equation and the constraint equation, the dynamic equation is converted into the dynamic differential algebraic equation.

[0144] The dynamic differential algebraic equation is iteratively solved by the generalized α method to obtain the position and posture information of the shield machine.

[0145] In the embodiment of the present invention, based on the dynamic equation, the Lagrangian equations are established as follows.

[0146]

[0147]

[0148] in, is the generalized coordinate, i is the number of generalized coordinates; is the constraint condition, j is the number of constraints; is the Lagrange multiplier.

[0149] Then convert the above Lagrange equations into dynamic differential algebraic equations. The dynamic differential algebraic equations at the n+1 time step are as follows:

[0150]

[0151] in,

[0152]

[0153]

[0154]

[0155]

[0156] In the process of displacement-controlled shield tunneling, the speed and acceleration of the cylinder are given, that is, , For a given variable, we only need to , , Perform iterative solution.

[0157] like Fig.10As shown, the generalized α method is used to iteratively solve the Lagrangian equation of the dynamic system, including the following steps 1 to 8, which are described in detail as follows:

[0158] Step 1, starting from time step 0, defines:

[0159] .

[0160] Step 2, set the iteration parameters, as shown below, and perform iteration of the n+1th time step; .

[0161] Step 3, generalized α form:

[0162] Where h is the time step, is a numerical parameter, They represent the generalized coordinates, generalized velocity, and generalized acceleration of the nth step, respectively, as shown below:

[0163]

[0164] Step 4, recursion:

[0165] Given are auxiliary variables, where:

[0166]

[0167]

[0168]

[0169]

[0170]

[0171]

[0172]

[0173] Step 5, Iteration:

[0174] Find the residual matrix:

[0175]

[0176] in:

[0177]

[0178] Find the residual Jacobian matrix:

[0179]

[0180] Calculate the increment and iteration parameters:

[0181]

[0182]

[0183]

[0184]

[0185]

[0186]

[0187] in, represents the generalized coordinate iteration increment, represents the iterative increment of the Lagrangian parameter.

[0188] Step 6: Determine whether the residual is less than the allowable value tol:

[0189] If the residual is less than the allowable value tol, proceed to step 7;

[0190] If the residual is greater than or equal to the allowable value tol, return to step 5 for iteration;

[0191] Step 7, Update a:

[0192]

[0193] Step 8, determine whether t is less than T:

[0194] If t is less than T, then t=t+h, and return to step 2 to iterate the next time step;

[0195] If t is greater than or equal to T, the iteration ends, where T represents the deadline.

[0196] The shield posture solving device based on the dynamics of the formation flexible constraint mechanism provided by the present invention is described below. The shield posture solving device based on the dynamics of the formation flexible constraint mechanism described below and the shield posture solving method based on the dynamics of the formation flexible constraint mechanism described above can be referred to each other. It should be noted that the device provided in the following embodiment and the method provided in the above embodiment belong to the same concept, and the specific way in which each module and unit performs the operation has been described in detail in the method embodiment, which will not be repeated here.

[0197] In an exemplary embodiment of the present invention, see Fig.11 , Fig.11A shield posture solving device based on the dynamics of a formation flexible constraint mechanism is shown according to an exemplary embodiment, and includes the following modules.

[0198] The first construction module 1110 is configured to construct an equivalent mechanism model of the propulsion system of the shield machine.

[0199] The second construction module 1120 is configured to perform mechanical analysis on the shield machine through a stratum flexibility constraint mode based on the equivalent mechanism model, and to perform dynamic modeling on the equivalent mechanism model through a Lagrangian method to construct corresponding dynamic equations.

[0200] The third construction module 1130 is configured to add the constraint conditions that need to be satisfied to the dynamic equation and construct the corresponding constraint equation.

[0201] The solving module 1140 is configured to construct a dynamic differential algebraic equation of the shield machine propulsion system based on the dynamic equation and the constraint equation, solve the dynamic differential algebraic equation, and obtain the posture information of the shield machine.

[0202] In an exemplary embodiment of the present invention, the second building module 1120 includes the following sub-modules.

[0203] The analysis submodule is configured to analyze the stress condition of the shield machine based on the equivalent mechanism model through the stratum flexible constraint mode to construct a mechanical model; wherein the forces acting on the shield machine include the gravity of the shield machine, the thrust generated by the oil cylinder of the shield machine, the first reaction force of the stratum on the side wall of the shield machine, the second reaction force of the stratum on the excavation surface of the shield machine, the friction between the stratum and the shield machine, and the stratum shear resistance; the first reaction force is described by the stratum spring and the stratum reaction force curve model.

[0204] In an exemplary embodiment of the present invention, the constraint conditions include a first constraint condition on a geometric parameter of the shield machine and a second constraint condition on a speed of a propulsion system of the shield machine.

[0205] In an exemplary embodiment of the present invention, the third building block 1130 includes the following sub-modules.

[0206] The first calculation submodule is configured to calculate the kinetic energy of the shield machine, the deformation potential energy of the strata around the shield machine, the shear dissipation energy, the second reaction force of the strata on the excavation surface, the friction between the strata and the shield machine, and the thrust generated by the cylinder based on the dynamic modeling.

[0207] A construction submodule is configured to construct the dynamic equation according to the generalized coordinates of the shield machine, the kinetic energy of the shield machine, the deformation potential energy, the shear dissipation energy, the second reaction force, the friction force and the thrust.

[0208] In an exemplary embodiment of the present invention, the first computing submodule includes the following units.

[0209] The first calculation unit is configured to calculate the elastic potential energy and shear soil spring potential energy of the soil around the shield machine based on the dynamic modeling.

[0210] The second calculation unit is configured to calculate the deformation potential energy according to the soil elastic potential energy and the shear soil spring potential energy.

[0211] In an exemplary embodiment of the present invention, the first building module 1110 includes the following sub-modules.

[0212] The acquisition submodule is configured to acquire the cylinder partitions of the propulsion system and establish an equivalent branch chain corresponding to each cylinder partition according to the front and rear end articulation relationship of the cylinders in the cylinder partitions.

[0213] The second calculation submodule is configured to calculate the effective radius and azimuth of each of the equivalent branch chains, and analyze the hinge positions of the front and rear ends of the equivalent branch chains at the middle shield and the segment.

[0214] The equivalent mechanism model is constructed according to the action radius and the azimuth angle, as well as the hinged positions of the front and rear ends of the equivalent branch chain at the middle shield and the pipe segment.

[0215] In an exemplary embodiment of the present invention, the solution module 1140 includes the following sub-modules.

[0216] The conversion submodule is configured to convert the dynamic equation into the dynamic differential algebraic equation based on the dynamic equation and the constraint equation.

[0217] The iterative solution submodule is configured to iteratively solve the dynamic differential algebraic equation through a generalized alpha method to obtain the posture information of the shield machine.

[0218] Fig.12 An example of a physical structure diagram of an electronic device is shown in FIG. Fig.12As shown, the electronic device may include: a processor 1210, a communication interface 1220, a memory 1230 and a communication bus 1240, wherein the processor 1210, the communication interface 1220 and the memory 1230 communicate with each other through the communication bus 1240. The processor 1210 may call the logic instructions in the memory 1230 to execute a shield posture solution method based on the dynamics of the formation flexible constraint mechanism, the method comprising: constructing an equivalent mechanism model of the propulsion system of the shield machine; based on the equivalent mechanism model, mechanically analyzing the shield machine through the formation flexible constraint mode, and dynamically modeling the equivalent mechanism model through the Lagrangian method to construct a corresponding dynamic equation; adding the constraint conditions required to be satisfied to the dynamic equation to construct a corresponding constraint equation; based on the dynamic equation and the constraint equation, constructing the dynamic differential algebraic equation of the shield machine propulsion system, solving the dynamic differential algebraic equation, and obtaining the posture information of the shield machine.

[0219] In addition, the logic instructions in the above-mentioned memory 1230 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0220] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the shield posture solution method based on the dynamics of the stratum flexible constraint mechanism provided by the above-mentioned methods. The method includes: constructing an equivalent mechanism model of the propulsion system of the shield machine; based on the equivalent mechanism model, mechanically analyzing the shield machine through the stratum flexible constraint mode, and dynamically modeling the equivalent mechanism model through the Lagrangian method to construct corresponding dynamic equations; adding the constraints that need to be satisfied to the dynamic equations to construct corresponding constraint equations; based on the dynamic equations and the constraint equations, constructing the dynamic differential algebraic equations of the shield machine propulsion system, solving the dynamic differential algebraic equations, and obtaining the posture information of the shield machine.

[0221] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the shield posture solution method based on the dynamics of the stratum flexible constraint mechanism provided by the above-mentioned methods. The method includes: constructing an equivalent mechanism model of the propulsion system of the shield machine; based on the equivalent mechanism model, mechanically analyzing the shield machine through the stratum flexible constraint mode, and dynamically modeling the equivalent mechanism model through the Lagrangian method to construct corresponding dynamic equations; adding the constraints that need to be satisfied to the dynamic equations to construct corresponding constraint equations; based on the dynamic equations and the constraint equations, constructing the dynamic differential algebraic equations of the shield machine propulsion system, solving the dynamic differential algebraic equations to obtain the posture information of the shield machine.

[0222] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0223] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0224] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A shield posture solution method based on the dynamics of the formation flexible constraint mechanism, characterized in that: include: Construct an equivalent mechanism model of the propulsion system of the shield machine; Based on the equivalent mechanism model, the shield machine is mechanically analyzed through a stratum flexibility constraint mode, and the equivalent mechanism model is dynamically modeled through a Lagrangian method to construct a corresponding dynamic equation; Adding constraints that need to be satisfied to the dynamic equation to construct a corresponding constraint equation; the constraints include a first constraint for the geometric parameters of the shield machine and a second constraint for the speed of the propulsion system of the shield machine; Based on the dynamic equation and the constraint equation, a dynamic differential algebraic equation of the shield machine propulsion system is constructed, and the dynamic differential algebraic equation is solved to obtain the position and posture information of the shield machine; The mechanical analysis of the shield machine based on the equivalent mechanism model through the stratum flexibility constraint mode includes: Based on the equivalent mechanism model, the stress condition of the shield machine is analyzed through the stratum flexibility constraint mode; The equivalent mechanism model of the propulsion system of the shield machine is constructed, including: Acquire the oil cylinder partitions of the propulsion system, and establish equivalent branch chains corresponding to each of the oil cylinder partitions according to the articulation relationship between the front and rear ends of the oil cylinders in the oil cylinder partitions; Calculate the effective radius and azimuth of each of the equivalent branch chains, and analyze the hinge positions of the front and rear ends of the equivalent branch chains at the middle shield and the segment; The equivalent mechanism model is constructed according to the action radius and the azimuth angle, as well as the hinged positions of the front and rear ends of the equivalent branch chain at the middle shield and the pipe segment.

2. The shield posture solution method based on the dynamics of the formation flexible constraint mechanism according to claim 1 is characterized in that: The forces acting on the shield machine include the gravity of the shield machine, the thrust generated by the oil cylinder of the shield machine, the first reaction force of the stratum on the side wall of the shield machine, the second reaction force of the stratum on the excavation surface of the shield machine, the friction between the stratum and the shield machine, and the shear resistance of the stratum; the first reaction force is described by the stratum spring and stratum reaction force curve model.

3. The shield posture solution method based on the dynamics of the formation flexible constraint mechanism according to claim 1 is characterized in that: The Lagrangian method is used to perform dynamic modeling on the equivalent mechanism model and construct corresponding dynamic equations, including: Based on the dynamic modeling, the kinetic energy of the shield machine, the deformation potential energy of the strata around the shield machine, the shear dissipation energy, the second reaction force of the strata on the excavation surface, the friction between the strata and the shield machine, and the thrust generated by the oil cylinder are calculated; The dynamic equation is constructed according to the generalized coordinates of the shield machine, the kinetic energy of the shield machine, the deformation potential energy, the shear dissipation energy, the second reaction force, the friction force and the thrust.

4. The shield posture solution method based on the dynamics of the formation flexible constraint mechanism according to claim 3 is characterized in that: The calculation of the kinetic energy of the shield machine, the deformation potential energy of the strata around the shield machine, the shear dissipation energy, the second reaction force of the strata on the excavation surface, the friction between the strata and the shield machine, and the thrust generated by the oil cylinder based on the dynamic modeling includes: Based on the dynamic modeling, calculating the elastic potential energy of the soil and the shear soil spring potential energy around the shield machine; The deformation potential energy is calculated based on the soil elastic potential energy and the shear soil spring potential energy.

5. The shield posture solution method based on the dynamics of the formation flexible constraint mechanism according to any one of claims 1 to 4 is characterized in that: The method of constructing a dynamic differential algebraic equation of a shield machine propulsion system based on the dynamic equation and the constraint equation, solving the dynamic differential algebraic equation, and obtaining the posture information of the shield machine includes: Based on the dynamic equation and the constraint equation, converting the dynamic equation into the dynamic differential algebraic equation; The dynamic differential algebraic equation is iteratively solved by the generalized α method to obtain the position and posture information of the shield machine.

6. A shield posture solving device based on the dynamics of the formation flexible constraint mechanism, characterized in that: include: A first building module is configured to build an equivalent mechanism model of a propulsion system of a shield machine; A second construction module is configured to perform mechanical analysis on the shield machine based on the equivalent mechanism model, and to perform dynamic modeling on the equivalent mechanism model by Lagrangian method to construct corresponding dynamic equations; A third construction module is configured to add constraints to be satisfied for the dynamic equation to construct a corresponding constraint equation; the constraints include a first constraint for the geometric parameters of the shield machine and a second constraint for the speed of the propulsion system of the shield machine; A solution module is configured to construct a dynamic differential algebraic equation of a shield machine propulsion system based on the dynamic equation and the constraint equation, solve the dynamic differential algebraic equation, and obtain the posture information of the shield machine; The second building block includes: An analysis submodule is configured to analyze the stress condition of the shield machine based on the equivalent mechanism model through a stratum flexibility constraint mode to construct a mechanical model; The first building block includes: An acquisition submodule configured to acquire the cylinder partitions of the propulsion system and establish an equivalent branch chain corresponding to each cylinder partition according to the front and rear end articulation relationship of the cylinders in the cylinder partitions; The second calculation submodule is configured to calculate the action radius and azimuth of each of the equivalent branch chains, and analyze the hinge positions of the front and rear ends of the equivalent branch chains at the middle shield and the segment; The equivalent mechanism model is constructed according to the action radius and the azimuth angle, as well as the hinged positions of the front and rear ends of the equivalent branch chain at the middle shield and the pipe segment.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the shield posture solution method based on the dynamics of the formation flexible constraint mechanism as described in any one of claims 1 to 5 is implemented.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the shield posture solution method based on the dynamics of the formation flexible constraint mechanism as described in any one of claims 1 to 5 is implemented.

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