Low-disturbance control method and system for posture of ultra-large diameter slurry shield machine

Abstract

The present application belongs to the technical field of slurry shield machine control, and specifically relates to a low-disturbance control method and system for the posture of an ultra-large diameter slurry shield machine, involving three parts: cutterhead support pressure detection, rock and soil stability maintenance, and precise posture control. By designing a cutterhead rock and soil interface pressure detection device, and using distributed layout and virtual measuring point representation, the cutterhead's stress on the rock and soil support in front can be sensed in real time. By designing a linear adjustment propulsion hydraulic system and a low-disturbance, high-precision control method, precise posture control of an ultra-large diameter slurry shield machine can be achieved while ensuring the stability constraints of the tunnel's rock and soil.

Description

Technical Field

[0001] The present application belongs to the technical field of slurry shield machine control, and specifically relates to a low-disturbance control method and system for the posture of an ultra-large diameter slurry shield machine. Background Art

[0002] The super-large diameter slurry shield machine completes its own posture adjustment through a multi-degree-of-freedom propulsion system, and its posture control accuracy directly determines the construction accuracy of the tunnel. However, due to the large size, heavy mass and complex load of the shield, its posture control accuracy is limited, and the posture control process is very likely to cause instability of the rock and soil in front. Summary of the invention

[0003] This application proposes a low-disturbance control system and method for a super-large diameter slurry shield machine, and its technical solution is:

[0004] A low-disturbance control method for the posture of an ultra-large diameter slurry shield machine is provided, wherein a plurality of pressure detection probes and four virtual measuring points are arranged at equal angle intervals on the cutter head, and the four virtual measuring points are respectively located at the upper left, lower right and lower positions of the front panel of the cutter head; the method comprises the following steps:

[0005] S1. Obtain the detection pressure value of the pressure detection probe;

[0006] S2. Calculate the pressure value of each virtual measuring point , , , , which is input to the propulsion hydraulic cylinder pressure distribution controller, and is also input to the horizontal direction trajectory correction controller and the vertical direction trajectory correction controller;

[0007] S3. Measure the horizontal and vertical deviations of the shield machine , , input to the horizontal direction trajectory correction controller and the vertical direction trajectory correction controller;

[0008] S4. The horizontal direction trajectory correction controller and the vertical direction trajectory correction controller obtain the pressure setting value of each propulsion hydraulic cylinder through the propulsion hydraulic cylinder pressure distribution controller ;

[0009] S5. Input the pressure setting value of each propulsion hydraulic cylinder to each propulsion hydraulic cylinder pressure controller to control the voltage of each proportional pressure reducing valve , thereby controlling the pressure of each thrust hydraulic cylinder.

[0010] Preferably, the pressure measurement result of the pressure detection probe is:

[0011] ;

[0012] in, represents the stiffness coefficient of the spring, Represents the displacement of the pressure detection probe, Represents the effective area of ​​the pressure detection probe, Representative Pressure detection probe pressure.

[0013] Preferably, the first virtual measuring point is set U The arc position is 0, and the arc distance between each pressure detection probe and the first virtual measuring point is expressed as:

[0014] ;

[0015] in, Representative The arc position of the pressure detection probe, To take the smaller value of the two;

[0016] Among all the pressure detection probes, find the serial numbers corresponding to the two pressure detection probes with the smallest arc distance from the first virtual measuring point, that is, , , the pressure at the first virtual measuring point can be expressed as:

[0017] ;

[0018] in, represents the pressure at the first virtual measuring point, Representative The detection pressure of the pressure detection probe, Representative The detection pressure of the pressure detection probe, Representative The arc distance between the pressure detection probe and the first virtual measuring point, Representative The arc distance between the pressure detection probe and the first virtual measuring point.

[0019] Preferably, a second virtual measuring point is set L The arc position is , the arc distance between each pressure detection probe and the second virtual measuring point can be expressed as:

[0020] ;

[0021] in, Representative The arc position of the pressure detection probe, To take the smaller value of the two;

[0022] Among all the pressure detection probes, find the serial numbers corresponding to the two pressure detection probes with the smallest arc distance from the second virtual measuring point, that is, , , the pressure at the second virtual measuring point can be expressed as:

[0023] ;

[0024] in, represents the pressure at the second virtual measuring point, Representative The detection pressure of the pressure detection probe, Representative The detection pressure of the pressure detection probe, Representative The arc distance between the pressure detection probe and the second virtual measuring point, Representative The arc distance between the pressure detection probe and the second virtual measuring point.

[0025] Preferably, a third virtual measuring point is set R The arc position is , the arc distance between each pressure detection probe and the third virtual measuring point can be expressed as:

[0026] ;

[0027] in, Representative The arc position of the pressure detection probe, To take the smaller value of the two;

[0028] Among all the pressure detection probes, find the serial numbers corresponding to the two pressure detection probes with the smallest arc distance from the third virtual measuring point, that is, , , the pressure at the third virtual measuring point can be expressed as:

[0029] ;

[0030] in, Represents the pressure of the third virtual measuring point, Representative The detection pressure of the pressure detection probe, Representative The detection pressure of the pressure detection probe, Representative The arc distance between the pressure detection probe and the third virtual measuring point, Representative The arc distance between the pressure detection probe and the third virtual measuring point.

[0031] Preferably, a fourth virtual measuring point is set D The arc position is , the arc distance between each pressure detection probe and the fourth virtual measuring point can be expressed as:

[0032] ;

[0033] in, Representative The arc position of the pressure detection probe, To take the smaller value of the two;

[0034] Among all the pressure detection probes, find the serial numbers corresponding to the two pressure detection probes with the smallest arc distance from the fourth virtual measuring point, that is, , , the pressure of the fourth virtual measuring point can be expressed as:

[0035] ;

[0036] in, represents the pressure at the fourth virtual measuring point, Representative The detection pressure of the pressure detection probe, Representative The detection pressure of the pressure detection probe, Representative The arc distance between the pressure detection probe and the fourth virtual measuring point, Representative The arc distance between the pressure detection probe and the fourth virtual measuring point.

[0037] Preferably, the thrust hydraulic cylinder pressure distribution setting value is expressed as:

[0038] ;

[0039] in, Representative The pressure setting value of the thrust hydraulic cylinder, For the Thrust hydraulic cylinder Axis direction coordinates, For the Thrust hydraulic cylinder Axis direction coordinates, is the average support pressure of the shield machine panel advancing hydraulic cylinder, for Axis direction coordinate coefficient, for Axis direction coordinate coefficient, for Axial environmental factor;

[0040] ;

[0041] in, , , is the setting coefficient, Represents the shield machine panel support pressure deviation, and its expression is as follows:

[0042] ;

[0043] in, Represents the support pressure set for the shield machine panel.

[0044] Preferably, for Axis direction coordinate coefficient, calculation formula is as follows:

[0045] ;

[0046] in, , , is the setting coefficient, Represents the horizontal deviation condition parameter, and its expression is as follows:

[0047] ;

[0048] in, Represents the upper limit of the safety pressure of the second virtual measuring point, Represents the upper limit of the safety pressure of the third virtual measuring point, Represents the horizontal trajectory deviation value of the center point of the front panel of the shield machine. Represents the horizontal pressure saturation correction constant.

[0049] Preferably, for Axis direction coordinate coefficient, calculation formula is as follows:

[0050] ;

[0051] in, , , represents the artificially set coefficient, Represents the vertical deviation condition parameter, and its expression is as follows:

[0052] ;

[0053] in, Represents the upper limit of the safety pressure of the fourth virtual measuring point, Represents the upper limit of the safety pressure of the first virtual measuring point, Represents the vertical trajectory deviation value of the center point of the front panel of the shield machine. Represents the vertical pressure saturation correction constant;

[0054] No. The control voltage of the proportional pressure reducing valve is expressed as:

[0055] ;

[0056] in, Representative Control voltage of proportional pressure reducing valve, , , is the setting coefficient, Representative The pressure deviation value of the thrust hydraulic cylinder is expressed as follows:

[0057] ;

[0058] in, Representative The pressure sensor feedback value of the thrust hydraulic cylinder, Representative The pressure setting of the thrust cylinder.

[0059] A posture low-disturbance control system for an ultra-large diameter slurry shield machine, comprising an execution unit, a hydraulic unit and a control unit;

[0060] The execution unit comprises a cutter disc, on which a plurality of pressure detection probes are arranged at equal angles, the pressure detection probes are covered with a plurality of seals, the bottom of the pressure detection probes is connected to a spring, and the spring is provided with a displacement sensor; the displacement sensor is used to measure the compression amount of the spring;

[0061] The hydraulic unit includes a plurality of evenly distributed propulsion hydraulic cylinders, the oil circuit on one side of the rod chamber of the propulsion hydraulic cylinder is connected to the B port of the electromagnetic reversing valve, the rodless chamber of the propulsion hydraulic cylinder is respectively connected to the pressure sensor, the hydraulically controlled one-way valve, and the one-way valve, the one-way valve is connected to the proportional pressure reducing valve, the other side of the hydraulically controlled one-way valve is connected to the oil tank, and the proportional pressure reducing valve is connected to the A port of the electromagnetic reversing valve;

[0062] Control unit: including propulsion hydraulic cylinder pressure distribution controller, horizontal trajectory correction controller, vertical trajectory correction controller, propulsion hydraulic cylinder pressure controller; horizontal trajectory correction controller and vertical trajectory correction controller set the propulsion pressure of each propulsion hydraulic cylinder through the propulsion hydraulic cylinder pressure distribution controller , input to each propulsion hydraulic cylinder pressure controller; the first propulsion hydraulic cylinder pressure controller controls the pressure of the first propulsion hydraulic cylinder by controlling the voltage of the first proportional pressure reducing valve; the second propulsion hydraulic cylinder pressure controller controls the pressure of the second propulsion hydraulic cylinder by controlling the voltage of the second proportional pressure reducing valve; The hydraulic cylinder pressure controller controls the The voltage of the proportional pressure reducing valve controls the Thrust hydraulic cylinder pressure.

[0063] Compared with the prior art, the present invention has the following beneficial effects:

[0064] By designing a cutterhead rock-soil interface pressure detection device and adopting distributed layout and virtual measuring point representation, the cutterhead can sense the stress of the rock and soil support in front in real time. By designing a linear adjustment propulsion hydraulic system and a low-disturbance high-precision control method, the position and posture of the ultra-large diameter slurry shield machine can be precisely controlled while ensuring the stability of the tunnel rock and soil. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 Layout diagram of the shield machine's propulsion hydraulic cylinder and pressure measurement points;

[0066] Figure 2 This is the front view of the shield machine cutterhead;

[0067] Figure 3 This is a cross-sectional view of the shield machine pressure detection probe;

[0068] Figure 4 This is the hydraulic principle diagram of the shield machine propulsion system;

[0069] Figure 5 This is the schematic diagram of the trajectory control of the shield machine propulsion system;

[0070] 1-first propulsion hydraulic cylinder, 2-second propulsion hydraulic cylinder, 3-third propulsion hydraulic cylinder, 4-fourth propulsion hydraulic cylinder, 5-fifth propulsion hydraulic cylinder, 6-sixth propulsion hydraulic cylinder; 200-knife disc, 201-first pressure detection probe, 202-second pressure detection probe, 203-third pressure detection probe, 204-fourth pressure detection probe, 205-fifth pressure detection probe, 206-sixth pressure detection probe, 207-blade, 208-seal, 209-spring, 210-displacement sensor probe, 307-first pressure sensor, 308-first hydraulically controlled one-way valve, 309-first one-way valve, 310-first proportional pressure reducing valve, 311-oil tank, 312-electromagnetic reversing valve, 313-oil source. DETAILED DESCRIPTION

[0071] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the examples of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. 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.

[0072] A posture low-disturbance control system for an ultra-large diameter slurry shield machine, comprising an execution unit, a hydraulic unit and a control unit;

[0073] The execution unit includes a cutter disc, on which a plurality of pressure detection probes are arranged at equal angle intervals, a first pressure detection probe 201 is covered with a plurality of seals 208, a spring 209 is connected to the bottom of the first pressure detection probe 201, and a displacement sensor probe 210 is arranged on the spring 209; the displacement sensor probe is used to measure the compression amount of the spring;

[0074] The hydraulic unit includes a plurality of evenly distributed propulsion hydraulic cylinders. The oil circuit on one side of the rod chamber of the first propulsion hydraulic cylinder 1 is connected to the B port of the electromagnetic reversing valve 312. The rodless chamber of the first propulsion hydraulic cylinder 1 is respectively connected to the first pressure sensor 307, the first hydraulically controlled one-way valve 308, and the first one-way valve 309. The first one-way valve 309 is connected to the first proportional pressure reducing valve 310. The other side of the first hydraulically controlled one-way valve 308 is connected to the oil tank 311. The first proportional pressure reducing valve 310 is connected to the A port of the electromagnetic reversing valve 312.

[0075] Control unit: propulsion hydraulic cylinder pressure distribution controller, horizontal trajectory correction controller, vertical trajectory correction controller, propulsion hydraulic cylinder pressure controller; the horizontal trajectory correction controller and the vertical trajectory correction controller set the propulsion pressure of each propulsion hydraulic cylinder through the propulsion hydraulic cylinder pressure distribution controller , input to each propulsion hydraulic cylinder pressure controller; the first propulsion hydraulic cylinder pressure controller controls the pressure of the first propulsion hydraulic cylinder by controlling the voltage of the first proportional pressure reducing valve; the second propulsion hydraulic cylinder pressure controller controls the pressure of the second propulsion hydraulic cylinder by controlling the voltage of the second proportional pressure reducing valve; The hydraulic cylinder pressure controller controls the The voltage of the proportional pressure reducing valve controls the Thrust hydraulic cylinder pressure.

[0076] Figure 1 In the cutter head, 56 propulsion hydraulic cylinders are arranged, generally in groups of 6 or 10, taking a group of 6 as an example.

[0077] The oil source 313 is connected to the P port of the electromagnetic reversing valve 312, the T port of the electromagnetic reversing valve 312 is connected to the oil tank 311, the A port of the electromagnetic reversing valve 312 is connected to the first proportional pressure reducing valve 310, the first proportional pressure reducing valve 310 is connected to the first check valve 309, the first check valve 309 is connected to the rodless chamber of the first propulsion hydraulic cylinder 1, one side of the first hydraulically controlled check valve 308 is connected to the rodless chamber of the first propulsion hydraulic cylinder 1, and the other side of the first hydraulically controlled check valve 308 is connected to the oil tank 311, the first pressure sensor 307 is located on the rodless chamber oil circuit of the first propulsion hydraulic cylinder 1, the control oil circuit of the first hydraulically controlled check valve 308 is connected to the oil circuit on the rod chamber side of the first propulsion hydraulic cylinder 1, the return oil circuit of the first proportional pressure reducing valve 310 is connected to the oil tank 311, and the oil circuit on the rod chamber side of the first propulsion hydraulic cylinder 1 is connected to the B port of the electromagnetic reversing valve 312.

[0078] The hydraulic cylinder extends: the electromagnetic reversing valve 312 works in the right position, the oil flows from the P port to the A port of the electromagnetic reversing valve 312, flows through the first proportional pressure reducing valve 310 and the first check valve 309, flows to the rodless chamber of the first propulsion hydraulic cylinder 1, and the hydraulic cylinder extends. The oil in the rod chamber of the first propulsion hydraulic cylinder 1 flows through the T port of the electromagnetic reversing valve 312 and returns to the oil tank 311.

[0079] The hydraulic cylinder retracts: the electromagnetic reversing valve 312 works in the left position, the oil flows from the P port to the B port of the electromagnetic reversing valve 312 to the rod chamber of the first thrust hydraulic cylinder 1, the hydraulic cylinder retracts, the oil circuit pressure on the rod chamber side of the first thrust hydraulic cylinder 1 increases, the first hydraulically controlled one-way valve 308 opens, and the oil in the rodless chamber of the first thrust hydraulic cylinder 1 flows through the first hydraulically controlled one-way valve 308 back to the oil tank 311.

[0080] A low-disturbance control method for the posture of an ultra-large diameter slurry shield machine is provided, wherein a plurality of pressure detection probes and four virtual measuring points are arranged at equal angle intervals on the cutter head, and the four virtual measuring points are respectively located at the upper left, lower right and lower positions of the front panel of the cutter head; the method comprises the following steps:

[0081] S1. Obtain the detection pressure value of the pressure detection probe;

[0082] S2. Calculate the pressure value of each virtual measuring point , , , , which is input to the propulsion hydraulic cylinder pressure distribution controller, and is also input to the horizontal direction trajectory correction controller and the vertical direction trajectory correction controller;

[0083] S3. Measure the horizontal and vertical deviations of the shield machine , , input to the horizontal direction trajectory correction controller and the vertical direction trajectory correction controller;

[0084] S4. The horizontal direction trajectory correction controller and the vertical direction trajectory correction controller obtain the pressure setting value of each propulsion hydraulic cylinder through the propulsion hydraulic cylinder pressure distribution controller ;

[0085] S5. Input the pressure setting value of each propulsion hydraulic cylinder to each propulsion hydraulic cylinder pressure controller to control the voltage of each proportional pressure reducing valve , thereby controlling the pressure of each thrust hydraulic cylinder.

[0086] The first virtual measuring point is marked as U (upper), the second virtual measuring point is marked as L (left), the third virtual measuring point is marked as R (right), and the fourth virtual measuring point is marked as D (lower).

[0087] The pressure measurement results of the pressure detection probe are:

[0088] ;

[0089] in, represents the stiffness coefficient of the spring, represents the displacement of the pressure detection probe, Represents the effective area of ​​the pressure detection probe, Representative Pressure detection probe pressure.

[0090] Assuming that the arc position of the first virtual measuring point U is 0, the arc distance between each pressure detection probe and the first virtual measuring point is expressed as:

[0091] ;

[0092] in, Representative The arc position of the pressure detection probe, To take the smaller value of the two;

[0093] Among all the pressure detection probes, find the serial numbers corresponding to the two pressure detection probes with the smallest arc distance from the first virtual measuring point, that is, , , the pressure at the first virtual measuring point can be expressed as:

[0094] ;

[0095] in, represents the pressure at the first virtual measuring point, Representative The detection pressure of the pressure detection probe, Representative The detection pressure of the pressure detection probe, Representative The arc distance between the pressure detection probe and the first virtual measuring point, Representative The arc distance between the pressure detection probe and the first virtual measuring point.

[0096] Set the second virtual measuring point L The arc position is , the arc distance between each pressure detection probe and the second virtual measuring point can be expressed as:

[0097] ;

[0098] in, Representative The arc position of the pressure detection probe, To take the smaller value of the two;

[0099] Among all the pressure detection probes, find the serial numbers corresponding to the two pressure detection probes with the smallest arc distance from the second virtual measuring point, that is, , , the pressure at the second virtual measuring point can be expressed as:

[0100] ;

[0101] in, represents the pressure at the second virtual measuring point, Representative The detection pressure of the pressure detection probe, Representative The detection pressure of the pressure detection probe, Representative The arc distance between the pressure detection probe and the second virtual measuring point, Representative The arc distance between the pressure detection probe and the second virtual measuring point.

[0102] Set the third virtual measuring point R The arc position is , the arc distance between each pressure detection probe and the third virtual measuring point can be expressed as:

[0103] ;

[0104] in, Representative The arc position of the pressure detection probe, To take the smaller value of the two;

[0105] Among all the pressure detection probes, find the serial numbers corresponding to the two pressure detection probes with the smallest arc distance from the third virtual measuring point, that is, , , the pressure at the third virtual measuring point can be expressed as:

[0106] ;

[0107] in, Represents the pressure of the third virtual measuring point, Representative The detection pressure of the pressure detection probe, Representative The detection pressure of the pressure detection probe, Representative The arc distance between the pressure detection probe and the third virtual measuring point, Representative The arc distance between the pressure detection probe and the third virtual measuring point.

[0108] Set the fourth virtual measuring point D The arc position is , the arc distance between each pressure detection probe and the fourth virtual measuring point can be expressed as:

[0109] ;

[0110] in, Representative The arc position of the pressure detection probe, To take the smaller value of the two;

[0111] Among all the pressure detection probes, find the serial numbers corresponding to the two pressure detection probes with the smallest arc distance from the fourth virtual measuring point, that is, , , the pressure of the fourth virtual measuring point can be expressed as:

[0112] ;

[0113] in, represents the pressure at the fourth virtual measuring point, Representative The detection pressure of the pressure detection probe, Representative The detection pressure of the pressure detection probe, Representative The arc distance between the pressure detection probe and the fourth virtual measuring point, Representative The arc distance between the pressure detection probe and the fourth virtual measuring point.

[0114] The set value of the thrust hydraulic cylinder pressure distribution is expressed as:

[0115] ;

[0116] in, Representative The pressure setting value of the thrust hydraulic cylinder, For the Thrust hydraulic cylinder Axis direction coordinates, For the Thrust hydraulic cylinder Axis direction coordinates, is the average support pressure of the shield machine panel advancing hydraulic cylinder, for Axis direction coordinate coefficient, for Axis direction coordinate coefficient, for Axial environmental factor;

[0117] ;

[0118] in, , , is the setting coefficient, Represents the shield machine panel support pressure deviation, and its expression is as follows:

[0119] ;

[0120] in, Represents the support pressure set for the shield machine panel.

[0121] for Axis direction coordinate coefficient, calculation formula is as follows:

[0122] ;

[0123] in, , , is the setting coefficient, Represents the horizontal deviation condition parameter, and its expression is as follows:

[0124] ;

[0125] in, Represents the upper limit of the safety pressure of the second virtual measuring point, Represents the upper limit of the safety pressure of the third virtual measuring point, Represents the horizontal trajectory deviation value of the center point of the front panel of the shield machine. Represents the horizontal pressure saturation correction constant (positive value).

[0126] for Axis direction coordinate coefficient, the calculation formula is as follows:

[0127] ;

[0128] in, , , represents the artificially set coefficient, Represents the vertical deviation condition parameter, and its expression is as follows:

[0129] ;

[0130] in, Represents the upper limit of the safety pressure of the fourth virtual measuring point, Represents the upper limit of the safety pressure of the first virtual measuring point, Represents the vertical trajectory deviation value of the center point of the front panel of the shield machine. Represents the vertical pressure saturation correction constant (positive value);

[0131] No. The control voltage of the proportional pressure reducing valve is expressed as:

[0132] ;

[0133] in, Representative Control voltage of proportional pressure reducing valve, , , is the setting coefficient, Representative The pressure deviation value of the thrust hydraulic cylinder is expressed as follows:

[0134] ;

[0135] in, Representative Thrust hydraulic cylinder t Pressure sensor feedback value, Representative The pressure setting of the thrust cylinder.

[0136] 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 low-disturbance control method for the posture of an ultra-large diameter slurry shield machine, wherein a plurality of pressure detection probes and four virtual measuring points are arranged at equal angles on the cutterhead, and the four virtual measuring points are respectively located at the top, left, bottom and right positions of the front panel of the cutterhead; characterized in that: The following steps are involved: S1. Obtain the detection pressure value of the pressure detection probe; S2. Calculate the pressure value of each virtual measuring point , , , , which is input to the propulsion hydraulic cylinder pressure distribution controller, and is also input to the horizontal direction trajectory correction controller and the vertical direction trajectory correction controller; S3. Measure the horizontal and vertical deviations of the shield machine , , input to the horizontal direction trajectory correction controller and the vertical direction trajectory correction controller; S4. The horizontal direction trajectory correction controller and the vertical direction trajectory correction controller obtain the pressure setting value of each propulsion hydraulic cylinder through the propulsion hydraulic cylinder pressure distribution controller ; S5. Input the pressure setting value of each propulsion hydraulic cylinder to each propulsion hydraulic cylinder pressure controller to control the voltage of each proportional pressure reducing valve , thereby controlling the pressure of each thrust hydraulic cylinder.

2. The low-disturbance control method for the posture of an ultra-large diameter slurry shield machine according to claim 1 is characterized in that: The pressure measurement results of the pressure detection probe are: ； in, represents the stiffness coefficient of the spring, represents the displacement of the pressure detection probe, Represents the effective area of ​​the pressure detection probe, Representative Pressure detection probe pressure.

3. The low-disturbance control method for the posture of an ultra-large diameter slurry shield machine according to claim 1 is characterized in that: The first virtual measuring point U The arc position is 0, and the arc distance between each pressure detection probe and the first virtual measuring point is expressed as: ； in, Representative The arc position of the pressure detection probe, To take the smaller value of the two; Among all the pressure detection probes, find the serial numbers corresponding to the two pressure detection probes with the smallest arc distance from the first virtual measuring point, that is, , , the pressure at the first virtual measuring point can be expressed as: ； in, represents the pressure at the first virtual measuring point, Representative The detection pressure of the pressure detection probe, Representative The detection pressure of the pressure detection probe, Representative The arc distance between the pressure detection probe and the first virtual measuring point, Representative The arc distance between the pressure detection probe and the first virtual measuring point.

4. The low-disturbance control method for the posture of an ultra-large diameter slurry shield machine according to claim 1 is characterized in that: Set the second virtual measuring point L The arc position is , the arc distance between each pressure detection probe and the second virtual measuring point can be expressed as: ； in, Representative The arc position of the pressure detection probe, To take the smaller value of the two; Among all the pressure detection probes, find the serial numbers corresponding to the two pressure detection probes with the smallest arc distance from the second virtual measuring point, that is, , , the pressure at the second virtual measuring point can be expressed as: ； in, represents the pressure at the second virtual measuring point, Representative The detection pressure of the pressure detection probe, Representative The detection pressure of the pressure detection probe, Representative The arc distance between the pressure detection probe and the second virtual measuring point, Representative The arc distance between the pressure detection probe and the second virtual measuring point.

5. The low-disturbance control method for the posture of an ultra-large diameter slurry shield machine according to claim 1 is characterized in that: The third virtual measuring point R The arc position is , the arc distance between each pressure detection probe and the third virtual measuring point can be expressed as: ； in, Representative The arc position of the pressure detection probe, To take the smaller value of the two; Among all the pressure detection probes, find the serial numbers corresponding to the two pressure detection probes with the smallest arc distance from the third virtual measuring point, that is, , , the pressure at the third virtual measuring point can be expressed as: ； in, Represents the pressure of the third virtual measuring point, Representative The detection pressure of the pressure detection probe, Representative The detection pressure of the pressure detection probe, Representative The arc distance between the pressure detection probe and the third virtual measuring point, Representative The arc distance between the pressure detection probe and the third virtual measuring point.

6. The low-disturbance control method for the posture of an ultra-large diameter slurry shield machine according to claim 1 is characterized in that: Set the fourth virtual measuring point D The arc position is , the arc distance between each pressure detection probe and the fourth virtual measuring point can be expressed as: ； in, Representative The arc position of the pressure detection probe, To take the smaller value of the two; Among all the pressure detection probes, find the serial numbers corresponding to the two pressure detection probes with the smallest arc distance from the fourth virtual measuring point, that is, , , the pressure of the fourth virtual measuring point can be expressed as: ； in, represents the pressure at the fourth virtual measuring point, Representative The detection pressure of the pressure detection probe, Representative The detection pressure of the pressure detection probe, Representative The arc distance between the pressure detection probe and the fourth virtual measuring point, Representative The arc distance between the pressure detection probe and the fourth virtual measuring point.

7. The low-disturbance control method for the posture of an ultra-large diameter slurry shield machine according to claim 1 is characterized in that: The set value of the thrust hydraulic cylinder pressure distribution is expressed as: ； in, Representative The pressure setting value of the thrust hydraulic cylinder, For the Thrust hydraulic cylinder Axis direction coordinates, For the Thrust hydraulic cylinder Axis direction coordinates, is the average support pressure of the shield machine panel advancing hydraulic cylinder, for Axis direction coordinate coefficient, for Axis direction coordinate coefficient, for Axial environmental factor; ； in, , , is the setting coefficient, Represents the shield machine panel support pressure deviation, and its expression is as follows: ； in, Represents the support pressure set for the shield machine panel.

8. The low-disturbance control method for the posture of an ultra-large diameter slurry shield machine according to claim 7 is characterized in that: for Axis direction coordinate coefficient, the calculation formula is as follows: ； in, , , is the setting coefficient, Represents the horizontal deviation condition parameter, and its expression is as follows: ； in, Represents the upper limit of the safety pressure of the second virtual measuring point, Represents the upper limit of the safety pressure of the third virtual measuring point, Represents the horizontal trajectory deviation value of the center point of the front panel of the shield machine. Represents the horizontal pressure saturation correction constant.

9. The low-disturbance control method for the posture of an ultra-large diameter slurry shield machine according to claim 7, characterized in that: for Axis direction coordinate coefficient, the calculation formula is as follows: ； in, , , represents the artificially set coefficient, Represents the vertical deviation condition parameter, and its expression is as follows: ； in, Represents the upper limit of the safety pressure of the fourth virtual measuring point, Represents the upper limit of the safety pressure of the first virtual measuring point, Represents the vertical trajectory deviation value of the center point of the front panel of the shield machine. Represents the vertical pressure saturation correction constant; No. t The control voltage of the proportional pressure reducing valve is expressed as: ； in, Representative Control voltage of proportional pressure reducing valve, , , is the setting coefficient, Representative The pressure deviation value of the thrust hydraulic cylinder is expressed as follows: ； in, Representative Feedback value of the pressure sensor of the thrust hydraulic cylinder, Representative The pressure setting of the thrust cylinder.

10. A posture low-disturbance control system for a super-large diameter slurry shield machine, using the posture low-disturbance control method for a super-large diameter slurry shield machine according to any one of claims 1 to 9, characterized in that: It includes an execution unit, a hydraulic unit and a control unit; The execution unit comprises a cutter disc, on which a plurality of pressure detection probes are arranged at equal angles, the pressure detection probes are covered with a plurality of seals, the bottom of the pressure detection probes is connected to a spring, and the spring is provided with a displacement sensor; the displacement sensor is used to measure the compression amount of the spring; The hydraulic unit includes a plurality of evenly distributed propulsion hydraulic cylinders, the oil circuit on one side of the rod chamber of the propulsion hydraulic cylinder is connected to the electromagnetic reversing valve, the rodless chamber of the propulsion hydraulic cylinder is respectively connected to the pressure sensor, the hydraulically controlled one-way valve, and the one-way valve, the one-way valve is connected to the proportional pressure reducing valve, the other side of the hydraulically controlled one-way valve is connected to the oil tank, and the proportional pressure reducing valve is connected to the electromagnetic reversing valve; The control unit includes a propulsion hydraulic cylinder pressure distribution controller, a horizontal trajectory correction controller, a vertical trajectory correction controller, and a propulsion hydraulic cylinder pressure controller; the horizontal trajectory correction controller and the vertical trajectory correction controller set the propulsion pressure of each propulsion hydraulic cylinder through the propulsion hydraulic cylinder pressure distribution controller. , input to each propulsion hydraulic cylinder pressure controller; the first propulsion hydraulic cylinder pressure controller controls the pressure of the first propulsion hydraulic cylinder by controlling the voltage of the first proportional pressure reducing valve; the second propulsion hydraulic cylinder pressure controller controls the pressure of the second propulsion hydraulic cylinder by controlling the voltage of the second proportional pressure reducing valve; The hydraulic cylinder pressure controller controls the The voltage of the proportional pressure reducing valve controls the Thrust hydraulic cylinder pressure.

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