Large diameter shield machine propulsion damping control system and method

Abstract

The present application belongs to the field of advanced control technology for large-diameter shield machines, and specifically relates to a propulsion damping control system and method for large-diameter shield machines, including a hydraulic control module and a pneumatic control module; the hydraulic control module includes a first proportional speed regulating valve, a second proportional speed regulating valve, a proportional throttle valve, an electromagnetic reversing valve group and a hydraulic cylinder group, etc.; the proportional throttle valve can increase the damping of the propulsion system and realize high-precision continuous regulation of the damping; the value of the valve core displacement sensor in the proportional throttle valve is input into the propulsion damping observer, the current propulsion damping is calculated, and it is continuously adjusted as feedback, and the flow coefficient of the proportional throttle valve is controlled by the propulsion damping controller, thereby adjusting the propulsion damping so that the propulsion damping reaches the propulsion damping set value; through the above design, the stability of the propulsion system is improved, the system vibration is suppressed, and the tunnel construction is kept stable.

Description

Technical Field

[0001] The present application belongs to the field of advanced control technology for large-diameter shield machines, and specifically relates to a propulsion damping control system and method for large-diameter shield machines. Background Art

[0002] Large-diameter shield machines can complete the safe and efficient construction of large-section tunnels, and play a key role in tunnels across the sea and across rivers. The propulsion system is mainly responsible for completing the forward movement and attitude control of the shield machine, and plays an important role in maintaining the stability of the rock-machine interface during tunnel construction. However, due to complex rock and soil loads, the propulsion system of large-diameter shield machines has the problems of easy vibration and low precision, which affects the construction safety and quality of the tunnel. Summary of the invention

[0003] The present invention proposes a propulsion damping control system and method for a large-diameter shield machine, and the technical solution is as follows:

[0004] A propulsion damping control system for a large-diameter shield machine comprises a first proportional speed regulating valve, a second proportional speed regulating valve, an electromagnetic reversing valve group and a hydraulic cylinder group; different ports of the second proportional speed regulating valve are respectively connected to the electromagnetic reversing valve group and an oil source; the oil source is connected to a lower cavity of a piston accumulator through the second proportional speed regulating valve and a proportional throttle valve, and the oil source is connected to the lower cavity of the piston accumulator through the first proportional speed regulating valve; the electromagnetic reversing valve group is respectively connected to the hydraulic cylinder group and an oil tank; the lower cavity of the piston accumulator is connected to the oil tank through a ball valve type switch valve and a third throttle valve; the value of a valve core displacement sensor in the proportional throttle valve is input into a propulsion damping observer, the current propulsion damping is calculated, and the current propulsion damping is continuously adjusted as feedback, and the flow coefficient of the proportional throttle valve is controlled by a propulsion damping controller, thereby adjusting the propulsion damping so that the propulsion damping reaches a propulsion damping set value.

[0005] Preferably, it includes an air pressure control module, which includes an electric motor, an air pump, an air cylinder and an air storage bin; the electric motor is connected to the air pump, the air pump is connected to a water separation filter, the water separation filter is connected to a one-way valve, the air storage bin is connected to a second pressure sensor and a first pressure gauge, the air storage bin is connected to a first pneumatic overflow valve, and the first pneumatic overflow valve is connected to a first air outlet; the other side of the air storage bin is connected to a first sliding valve switch valve; the first sliding valve switch valve is connected to a first throttle valve, the gas cylinder is connected to the upper cavity of a piston accumulator, the upper cavity of the piston accumulator is connected to a second pneumatic overflow valve, and the second pneumatic overflow valve is connected to a second air outlet; the upper cavity of the piston accumulator is connected to a third air outlet via a third throttle valve and a sliding valve switch valve.

[0006] Preferably, the right oil circuit of the electromagnetic reversing valve group is connected to the oil tank, and the second proportional speed control valve is also connected to the oil tank through a hydraulic overflow valve; the rod chamber of the hydraulic cylinder group is connected to the right oil circuit of the electromagnetic reversing valve group; the rodless chamber is connected to the left oil circuit of the electromagnetic reversing valve group; the second proportional speed control valve and the hydraulic overflow valve are connected to the first pressure sensor; and a displacement sensor is provided on the hydraulic cylinder group.

[0007] Preferably, the working process of the air pressure control module is as follows:

[0008] The motor drives the air pump, which releases gas and enters the water separation filter. The water separation filter separates the gas from the liquid. The gas enters the gas storage bin through the one-way valve. The gas storage bin is equipped with a second pressure sensor and a first pressure gauge, so that the gas pressure in the gas storage bin can be monitored and controlled. The gas storage bin is connected to the first pneumatic overflow valve, which acts as a safety valve, and then the gas is discharged through the first outlet. When the first sliding valve type switch valve is in the lower position, the gas passes through the first throttle valve and flows into the upper cavity of the gas cylinder and the piston accumulator. The gas cylinder and the upper cavity of the piston accumulator are connected to change the volume of the gas contained in the upper cavity of the piston accumulator, which is convenient for controlling the pressure of the piston accumulator gas. The piston accumulator is equipped with a first displacement sensor, which can further monitor and control the piston displacement. The second pneumatic overflow valve acts as a safety valve to further discharge the gas through the second outlet. When the second sliding valve type switch valve is in the lower position, the gas in the piston accumulator is discharged through the third outlet.

[0009] Preferably, the air pressure control module controls the pressure of the gas in the upper cavity of the piston accumulator so that the difference between the pressure of the piston accumulator and the load pressure borne by the hydraulic cylinder tends to be stable;

[0010] Initially, the liquid flowing out of the oil source enters the second proportional speed regulating valve and then enters the lower cavity of the piston accumulator to add oil. If the oil is insufficient, the liquid flowing out of the oil source enters the first proportional speed regulating valve and then enters the lower cavity of the piston accumulator to replenish the oil. When the ball valve type switching valve works in the right position, the oil in the lower cavity of the piston accumulator is discharged to the oil tank through the ball valve type switching valve to achieve unloading; when the load force of the propulsion system changes suddenly, the piston accumulator plays a buffering role, and the damping of the propulsion system is accurately adjusted by adjusting the flow coefficient of the proportional throttle valve.

[0011] Preferably, the piston accumulator gas pressure control: according to the stable pressure of the rock and soil of the tunnel ahead, the gas pressure of the piston accumulator is set, the pressure value measured by the third pressure sensor is used as feedback, and the gas pressure of the piston accumulator is controlled by the first slide valve type switch valve to the air intake of the upper cavity of the piston accumulator and the second slide valve type switch valve to the air discharge of the upper cavity of the piston accumulator, so that the gas pressure value in the piston accumulator reaches the gas pressure setting value of the piston accumulator;

[0012] Piston accumulator piston position control: Set the piston position of the piston accumulator, use the value of the first displacement sensor as feedback, control the first proportional speed regulating valve through the piston position controller of the piston accumulator, so that oil enters the lower cavity of the piston accumulator, and control the ball valve type switch valve at the same time, so that oil flows out of the lower cavity of the piston accumulator, thereby changing the piston position of the piston accumulator, so that the piston position of the piston accumulator reaches the piston position setting value of the piston accumulator;

[0013] Shield machine remote monitoring platform: collects shield machine system status data and tunnel geotechnical status data, and displays them to operators; operators issue propulsion damping setting values, piston accumulator gas pressure setting values, and piston accumulator piston position setting values ​​based on the monitoring platform data.

[0014] A large-diameter shield machine propulsion damping control method comprises the following steps:

[0015] S1. Calculate the flow rate of the second proportional speed regulating valve ;

[0016] S2. Obtain the hydraulic cylinder displacement through the kinematic equilibrium equation of the hydraulic cylinder output force and load force The governing equations of

[0017] S3. Calculate the damping coefficient of the system .

[0018] Preferably, assuming that the flow rate through the second proportional speed regulating valve is for

[0019] (1);

[0020] In the formula, is the flow coefficient of the second proportional speed control valve, is the current flowing through the second proportional speed regulating valve;

[0021] Flow through the second proportional speed regulating valve Also:

[0022] (2);

[0023] In the formula, The effective area of ​​the piston of the hydraulic cylinder of the propulsion system;

[0024] Piston rod displacement for the propulsion system;

[0025] is the flow coefficient of the proportional throttle valve;

[0026] is the rodless chamber pressure of the hydraulic cylinder;

[0027] is the oil pressure in the piston accumulator;

[0028] is the volume of the load chamber;

[0029] is the effective bulk elastic modulus.

[0030] Preferably, the kinematic equilibrium equation of the hydraulic cylinder output force and the load force is:

[0031] (3);

[0032] In the formula, is the equivalent load mass of the propulsion system, is the equivalent external load force of the propulsion system;

[0033] Performing Laplace transform on (1) above yields:

[0034] ;

[0035] Performing Laplace transform on (2) above yields:

[0036] ;

[0037] Performing Laplace transform on (3) above yields:

[0038] ;

[0039] The displacement of the hydraulic cylinder can be obtained The governing equations are:

[0040] ;

[0041] The control equation is simplified to:

[0042] ;

[0043] is the natural frequency of the system, is the system damping coefficient, Represents the complex frequency.

[0044] Preferably, The calculation formula is as follows:

[0045] ;

[0046] Damping coefficient Flow coefficient of proportional throttle valve Proportional to the flow coefficient of the proportional throttle valve , to achieve continuous control of the damping of the propulsion system of large-diameter shield machines, improve the stability of the propulsion system, suppress system vibration, and maintain stable tunnel construction.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] 1. By designing a damping adjustment system based on an adjustable accumulator and a proportional throttle valve, the damping of the propulsion system is improved, and continuous high-precision active control of the damping is achieved.

[0049] 2. By calculating the current propulsion damping and continuously adjusting it as feedback, the propulsion damping controller controls the flow coefficient of the proportional throttle valve, thereby adjusting the propulsion damping so that the propulsion damping reaches the propulsion damping set value, thereby improving the stability of the propulsion system, suppressing system vibration, and maintaining stable tunnel construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is the hydraulic principle diagram for this application.

[0051] Figure 2 Schematic diagram of the air pressure control module.

[0052] Figure 3 This is the control schematic diagram of the remote monitoring platform for the shield machine.

[0053] In the figure, 1-oil source, 2-first proportional speed regulating valve, 3-second proportional speed regulating valve, 4-hydraulic overflow valve, 5-first pressure sensor, 6-first pneumatic overflow valve, 7-second pressure sensor, 8-gas storage tank, 9-motor, 10-first pressure gauge, 11-check valve, 12-water separation filter, 13-air pump, 14-first slide valve switch valve, 15-third pressure sensor, 16-first throttle valve, 17-gas cylinder, 18-second pressure gauge, 19-second pneumatic overflow valve, 20-fourth pressure sensor, 21-piston accumulator, 22-proportional throttle valve, 23-second throttle valve, 24-second slide valve switch valve, 25-first displacement sensor, 26-ball valve switch valve, 2 7-third throttle valve, 28-oil tank, 29-second displacement sensor, 30-first hydraulic cylinder, 31-second hydraulic cylinder, 32-first electromagnetic reversing valve, 33-third displacement sensor, 34-third hydraulic cylinder, 35-fourth hydraulic cylinder, 36-second electromagnetic reversing valve, 37-fourth displacement sensor, 38-fifth hydraulic cylinder, 39-sixth hydraulic cylinder, 40-third electromagnetic reversing valve, 41-fifth displacement sensor, 42-seventh hydraulic cylinder, 43-eighth hydraulic cylinder, 44-fourth electromagnetic reversing valve, 45-sixth displacement sensor, 46-ninth hydraulic cylinder, 47-tenth hydraulic cylinder, 48-fifth electromagnetic reversing valve, 49-first air outlet, 50-second air outlet, 51-third air outlet. DETAILED DESCRIPTION

[0054] 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.

[0055] A propulsion damping control system for a large-diameter shield machine comprises a first proportional speed regulating valve 2, a second proportional speed regulating valve 3, an electromagnetic reversing valve group and a hydraulic cylinder group; different ports of the second proportional speed regulating valve are respectively connected to the electromagnetic reversing valve group and an oil source 1; the oil source 1 is connected to the lower cavity of a piston accumulator 21 through the second proportional speed regulating valve 3 and a proportional throttle valve 22, and the oil source 1 is connected to the lower cavity of the piston accumulator 21 through the first proportional speed regulating valve 2; the electromagnetic reversing valve group is respectively connected to the hydraulic cylinder group and an oil tank; the lower cavity of the piston accumulator 21 is connected to the oil tank through a ball valve type switch valve 26 and a third throttle valve 27.

[0056] The electromagnetic reversing valve group includes a first electromagnetic reversing valve 32 , a second electromagnetic reversing valve 36 , a third electromagnetic reversing valve 40 , a fourth electromagnetic reversing valve 44 and a fifth electromagnetic reversing valve 48 .

[0057] The hydraulic cylinder group includes a first group of hydraulic cylinders (the first group of hydraulic cylinders includes a first hydraulic cylinder 30 and a second hydraulic cylinder 31, the rod chambers of the two are interconnected, the rodless chambers are interconnected, the rod chamber is connected to the right side port of the first electromagnetic reversing valve 32; the rodless chamber is connected to the left side port of the first electromagnetic reversing valve 32; the first group of hydraulic cylinders is provided with a second displacement sensor 29), a second group of hydraulic cylinders (the second group of hydraulic cylinders includes a third hydraulic cylinder 34 and a fourth hydraulic cylinder 35, the rod chambers of the two are interconnected, the rodless chambers are interconnected, the rod chamber is connected to the right side port of the second electromagnetic reversing valve 36; the rodless chamber is connected to the left side port of the second electromagnetic reversing valve 36; the second group of hydraulic cylinders is provided with a third displacement sensor 33), a third group of hydraulic cylinders (the third group of hydraulic cylinders includes a fifth hydraulic cylinder 38 and a sixth hydraulic cylinder 39, the rod chambers of the two are interconnected, the rodless chambers are interconnected, The rod chamber is connected to the right side port of the third electromagnetic reversing valve 40; the rodless chamber is connected to the left side port of the third electromagnetic reversing valve 40; the fourth displacement sensor 37 is arranged on the third group of hydraulic cylinders), the fourth group of hydraulic cylinders (the fourth group of hydraulic cylinders includes the seventh hydraulic cylinder 42 and the eighth hydraulic cylinder 43, the rod chambers of the two are interconnected, the rodless chambers are interconnected, the rod chamber is connected to the right side port of the fourth electromagnetic reversing valve 44; the rodless chamber is connected to the left side port of the fourth electromagnetic reversing valve 44; the fifth displacement sensor 41 is arranged on the fourth group of hydraulic cylinders), the fifth group of hydraulic cylinders (the fifth group of hydraulic cylinders includes the ninth hydraulic cylinder 46 and the tenth hydraulic cylinder 47, the rod chambers of the two are interconnected, the rodless chambers are interconnected, the rod chamber is connected to the right side port of the fifth electromagnetic reversing valve 48; the rodless chamber is connected to the left side port of the fifth electromagnetic reversing valve 48; the sixth displacement sensor 45 is arranged on the fifth group of hydraulic cylinders).

[0058] The oil source 1 is connected to the left oil circuit of the electromagnetic reversing valve group through the second proportional speed regulating valve 3, the right oil circuit of the electromagnetic reversing valve group is connected to the oil tank 28, and the second proportional speed regulating valve 3 is connected to the hydraulic overflow valve 4. The oil source 1 is connected to the lower cavity of the piston accumulator 21 through the second proportional speed regulating valve 3 and the proportional throttle valve 22, and the oil source 1 is connected to the lower cavity of the piston accumulator 21 through the first proportional speed regulating valve 2. The rodless cavity of the first hydraulic cylinder 30 and the second hydraulic cylinder 31 is connected to the left oil circuit of the first electromagnetic reversing valve 32, and the rod cavity of the first hydraulic cylinder 30 and the second hydraulic cylinder 31 is connected to the right oil circuit of the first electromagnetic reversing valve 32. The lower cavity of the piston accumulator 21 is connected to the oil tank through the ball valve type switch valve 26 and the third throttle valve 27. The first pressure sensor 5 is connected to the second proportional speed regulating valve 3 and the hydraulic overflow valve 4, and the second displacement sensor 29 is located on the first hydraulic cylinder 30 and the second hydraulic cylinder 31.

[0059] The system provides oil through the oil source 1. The liquid flowing out of the oil source 1 enters the second proportional speed regulating valve 3 and then enters the electromagnetic reversing valve. When the electromagnetic reversing valve works in the right position, the hydraulic cylinder piston rod extends, and when the electromagnetic reversing valve works in the left position, the hydraulic cylinder piston rod retracts. The hydraulic overflow valve 4 acts as a safety valve. The hydraulic cylinder is also equipped with a displacement sensor to monitor and control the displacement of the hydraulic cylinder.

[0060] The motor 9 drives the air pump 13, and the air pump 13 releases gas and enters the water separation filter 12. The water separation filter 12 can separate the gas from the liquid. Through the one-way valve 11, the gas enters the gas storage bin 8. The gas storage bin 8 is equipped with a second pressure sensor 7 and a first pressure gauge 10, so that the gas pressure in the gas storage bin 8 can be monitored and controlled. The gas storage bin 8 is connected to the first pneumatic overflow valve 6, which acts as a safety valve, and then the gas is discharged through the first gas outlet 49. When the first slide valve type switch valve 14 is in the lower position, the gas flows into the gas cylinder 17 and the upper cavity of the piston accumulator 21 through the first throttle valve 16. The gas cylinder 17 is connected to the upper cavity of the piston accumulator 21, which can change the volume of gas contained in the upper cavity of the piston accumulator. The piston accumulator 21 is equipped with a first displacement sensor 25, which can further monitor and control the piston displacement. The second pneumatic overflow valve 19 acts as a safety valve, and further discharges the gas through the second gas outlet 50. When the second slide-type on-off valve 24 is located at the lower position, the gas in the piston accumulator 21 is discharged through the third gas outlet 51 .

[0061] The air pressure control module can control the pressure of the gas in the upper cavity of the piston accumulator 21, so that the difference between the pressure of the piston accumulator 21 and the load pressure of the hydraulic cylinder tends to be stable. Initially, the liquid flowing out of the oil source 1 enters the second proportional speed regulating valve 3 and then enters the lower cavity of the piston accumulator 21 to add oil. If the oil is insufficient, the liquid flowing out of the oil source 1 enters the first proportional speed regulating valve 2 and then enters the lower cavity of the piston accumulator 21 to replenish the oil. When the ball valve type switch valve 26 works in the right position, the oil in the lower cavity of the piston accumulator 21 is discharged to the oil tank through the ball valve type switch valve 26 to achieve unloading. When the load force of the propulsion system changes suddenly, the piston accumulator 21 plays a buffering role, and the damping of the propulsion system is accurately adjusted by adjusting the flow coefficient of the proportional throttle valve 22.

[0062] A large-diameter shield machine propulsion damping control method comprises the following steps:

[0063] S1. Calculate the flow rate of the second proportional speed regulating valve ;

[0064] S2. Obtain the hydraulic cylinder displacement through the kinematic equilibrium equation of the hydraulic cylinder output force and load force The governing equations of

[0065] S3. Calculate the damping coefficient of the system .

[0066] Preferably, assuming that the flow rate through the second proportional speed regulating valve is for

[0067] (1);

[0068] In the formula, is the flow coefficient of the second proportional speed control valve, is the current flowing through the second proportional speed regulating valve;

[0069] Flow through the second proportional speed regulating valve Also:

[0070] (2);

[0071] In the formula, The effective area of ​​the piston of the hydraulic cylinder of the propulsion system;

[0072] Piston rod displacement for the propulsion system;

[0073] is the flow coefficient of the proportional throttle valve;

[0074] is the rodless chamber pressure of the hydraulic cylinder;

[0075] is the oil pressure in the piston accumulator;

[0076] is the volume of the load chamber;

[0077] is the effective bulk elastic modulus.

[0078] Preferably, the kinematic equilibrium equation of the hydraulic cylinder output force and the load force is:

[0079] (3);

[0080] In the formula, is the equivalent load mass of the propulsion system, is the equivalent external load force of the propulsion system;

[0081] Performing Laplace transform on (1) above yields:

[0082] ;

[0083] Performing Laplace transform on (2) above yields:

[0084] ;

[0085] Performing Laplace transform on (3) above yields:

[0086] ;

[0087] The displacement of the hydraulic cylinder can be obtained The governing equations are:

[0088] ;

[0089] The control equation is simplified to:

[0090] ;

[0091] is the natural frequency of the system, is the system damping coefficient, Represents the complex frequency.

[0092] Preferably, The calculation formula is as follows:

[0093] ;

[0094] Damping coefficient Flow coefficient of proportional throttle valve Proportional to the flow coefficient of the proportional throttle valve , to achieve continuous control of the damping of the propulsion system of large-diameter shield machines, improve the stability of the propulsion system, suppress system vibration, and maintain stable tunnel construction.

[0095] Shield machine remote monitoring platform:

[0096] Gas pressure control of piston accumulator 21: according to the stable pressure of the rock and soil in the tunnel ahead, the gas pressure of the piston accumulator 21 is set, and the pressure value measured by the third pressure sensor 15 is used as feedback. The gas pressure of the piston accumulator 21 is controlled by the first slide valve type switch valve 14 for air intake of the upper cavity of the piston accumulator 21 and the second slide valve type switch valve 24 for air discharge of the upper cavity of the piston accumulator 21, so that the gas pressure value in the piston accumulator 21 reaches the gas pressure setting value of the piston accumulator 21;

[0097] Piston position control of the piston accumulator 21: setting the piston position of the piston accumulator 21, taking the value of the first displacement sensor 25 as feedback, controlling the first proportional speed regulating valve 2 through the piston position controller of the piston accumulator 21, so that oil enters the lower cavity of the piston accumulator 21, and controlling the ball valve type switch valve 26 at the same time, so that oil exits the lower cavity of the piston accumulator 21, thereby changing the piston position of the piston accumulator 21, so that the piston position of the piston accumulator 21 reaches the piston position setting value of the piston accumulator 21;

[0098] Propulsion damping control: To set the propulsion damping, the value of the valve core displacement sensor in the proportional throttle valve 22 is input into the propulsion damping observer, the current propulsion damping is calculated, and the current propulsion damping is continuously adjusted as feedback. The flow coefficient of the proportional throttle valve 22 is controlled by the propulsion damping controller, thereby adjusting the propulsion damping so that the propulsion damping reaches the propulsion damping set value;

[0099] Shield machine remote monitoring platform: collects shield machine system status data and tunnel rock and soil status data, and displays them to operators; operators issue propulsion damping setting values, piston accumulator 21 gas pressure setting values, and piston accumulator 21 piston position setting values ​​based on the monitoring platform data.

[0100] 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 propulsion damping control system for a large diameter shield machine. It is characterized in that It includes a first proportional speed regulating valve, a second proportional speed regulating valve, an electromagnetic reversing valve group, a hydraulic cylinder group, a propulsion damping observer and a remote monitoring platform for a shield machine; different ports of the second proportional speed regulating valve are respectively connected to the electromagnetic reversing valve group and an oil source; the oil source is connected to the lower cavity of the piston accumulator through the second proportional speed regulating valve and the proportional throttle valve, and the oil source is connected to the lower cavity of the piston accumulator through the first proportional speed regulating valve. The piston accumulator is provided with a first displacement sensor to detect the displacement of the piston of the piston accumulator; the electromagnetic reversing valve group is respectively connected to the hydraulic cylinder group and the oil tank; the lower cavity of the piston accumulator The cavity is connected to the oil tank through a ball valve-type switch valve and a third throttle valve; when working, the shield machine system status data and the tunnel geotechnical status data are collected and displayed to the operator; the operator issues the propulsion damping setting value, the piston accumulator gas pressure setting value, and the piston accumulator piston position setting value according to the shield machine remote monitoring platform data, inputs the value of the valve core displacement sensor in the proportional throttle valve into the propulsion damping observer, calculates the current propulsion damping, and continuously adjusts it as feedback, controls the flow coefficient of the proportional throttle valve through the propulsion damping controller, and thereby adjusts the propulsion damping so that the propulsion damping reaches the propulsion damping setting value; It also includes an air pressure control module, which includes an electric motor, an air pump, an air cylinder and an air storage bin; the electric motor is connected to the air pump, the air pump is connected to a water separation filter, the water separation filter is connected to a one-way valve, the one-way valve is connected to the air storage bin, the air storage bin is connected to a second pressure sensor and a first pressure gauge, the air storage bin is connected to a first pneumatic overflow valve, and the first pneumatic overflow valve is connected to a first air outlet; the other side of the air storage bin is connected to a first sliding valve switch valve; the first sliding valve switch valve is connected to a first throttle valve, the first throttle valve is connected to a gas cylinder, the gas cylinder is connected to an upper cavity of a piston accumulator, the upper cavity of the piston accumulator is connected to a second pneumatic overflow valve, and the second pneumatic overflow valve is connected to a second air outlet; the upper cavity of the piston accumulator is connected to a third air outlet through a third throttle valve and a sliding valve switch valve, and the upper cavity of the piston accumulator is connected to a third pressure sensor.

2. The large-diameter shield machine propulsion damping control system according to claim 1, It is characterized in that The right oil circuit of the electromagnetic reversing valve group is connected to the oil tank, and the second proportional speed control valve is connected to the oil tank through the hydraulic overflow valve at the same time; the rod chamber of the hydraulic cylinder group is connected to the right oil circuit of the electromagnetic reversing valve group; the rodless chamber is connected to the left oil circuit of the electromagnetic reversing valve group; the second proportional speed control valve and the hydraulic overflow valve are connected to the first pressure sensor; a displacement sensor is provided on the hydraulic cylinder group.

3. The large-diameter shield machine propulsion damping control system according to claim 1, It is characterized in that The working process of the air pressure control module is as follows: The motor drives the air pump, which releases gas and enters the water separation filter. The water separation filter separates the gas from the liquid. The gas enters the gas storage bin through the one-way valve. The gas storage bin is equipped with a second pressure sensor and a first pressure gauge, so that the gas pressure in the gas storage bin can be monitored and controlled. The gas storage bin is connected to the first pneumatic overflow valve, which acts as a safety valve, and then the gas is discharged through the first outlet. When the first sliding valve type switch valve is in the lower position, the gas passes through the first throttle valve and flows into the upper cavity of the gas cylinder and the piston accumulator. The gas cylinder and the upper cavity of the piston accumulator are connected to change the volume of the gas contained in the upper cavity of the piston accumulator, which is convenient for controlling the pressure of the piston accumulator gas. The piston accumulator is equipped with a first displacement sensor, which can further monitor and control the piston displacement. The second pneumatic overflow valve acts as a safety valve to further discharge the gas through the second outlet. When the second sliding valve type switch valve is in the lower position, the gas in the piston accumulator is discharged through the third outlet.

4. The large-diameter shield machine propulsion damping control system according to claim 1, It is characterized in that The air pressure control module controls the pressure of the gas in the upper cavity of the piston accumulator so that the difference between the pressure of the piston accumulator and the load pressure borne by the hydraulic cylinder tends to be stable; Initially, the liquid flowing out of the oil source enters the second proportional speed regulating valve and then enters the lower cavity of the piston accumulator to add oil. If the oil is insufficient, the liquid flowing out of the oil source enters the first proportional speed regulating valve and then enters the lower cavity of the piston accumulator to replenish the oil. When the ball valve type switching valve works in the right position, the oil in the lower cavity of the piston accumulator is discharged to the oil tank through the ball valve type switching valve to achieve unloading. When the load force of the propulsion system changes suddenly, the piston accumulator plays a buffering role, and the damping of the propulsion system is adjusted by adjusting the flow coefficient of the proportional throttle valve.

5. The large-diameter shield machine propulsion damping control system according to claim 1, It is characterized in that Piston accumulator gas pressure control: according to the stable pressure of the rock and soil in the tunnel ahead, the gas pressure of the piston accumulator is set, and the pressure value measured by the third pressure sensor is used as feedback. The gas pressure of the piston accumulator is controlled by the first slide valve type switch valve for air intake of the upper cavity of the piston accumulator and the second slide valve type switch valve for air discharge of the upper cavity of the piston accumulator, so that the gas pressure value in the piston accumulator reaches the gas pressure setting value of the piston accumulator; Piston accumulator piston position control: Set the piston position of the piston accumulator, use the value of the first displacement sensor as feedback, control the first proportional speed regulating valve through the piston position controller of the piston accumulator, so that oil enters the lower cavity of the piston accumulator, and at the same time control the ball valve type switch valve to make oil discharge from the lower cavity of the piston accumulator, thereby changing the piston position of the piston accumulator and making the piston position of the piston accumulator reach the piston position setting value of the piston accumulator.

6. A large-diameter shield machine propulsion damping control method, used in the large-diameter shield machine propulsion damping control system according to any one of claims 1 to 5, It is characterized in that The following steps are involved: S1. Calculate the flow rate of the second proportional speed regulating valve q , specifically: Assume that the flow through the second proportional speed control valve is q , the formula is Equation 1: q = ； In the formula, is the flow coefficient of the second proportional speed control valve, is the current flowing through the second proportional speed regulating valve; Flow through the second proportional speed regulating valve q Also known as equation 2: ； In the formula, A ----Effective area of ​​the piston of the hydraulic cylinder of the propulsion system; x ----Propulsion system piston rod displacement; ----Flow coefficient of proportional throttle valve; ----Pressure of the rodless chamber of the hydraulic cylinder; ----Oil pressure in piston accumulator; ----Load chamber volume; ----Effective bulk modulus; The kinematic equilibrium equation of the hydraulic cylinder output force and load force is equation 3, as follows: ； In the formula, is the equivalent load mass of the propulsion system, is the equivalent external load force of the propulsion system; Performing Laplace transform on the above equation 1 yields: q = ； S2. Obtain the hydraulic cylinder displacement through the kinematic equilibrium equation of the hydraulic cylinder output force and load force The control equation is: Performing Laplace transform on the above equation 2 yields: ； Performing Laplace transform on the above equation 3 yields: ； The displacement of the hydraulic cylinder can be obtained The governing equations are: ； is the natural frequency of the system, s represents the complex frequency; S3. Calculate the damping coefficient of the system , specifically: Hydraulic cylinder displacement The control equation is simplified to: ； ； Damping coefficient Flow coefficient of proportional throttle valve Proportional to the flow coefficient of the proportional throttle valve , to achieve continuous control of the damping of the propulsion system of a large-diameter shield machine.

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