Partitioned target thrust setting method for shield vector tunneling propulsion system

Abstract

The invention relates to a shield vector tunneling propulsion system partition target thrust setting method, which comprises the following steps of: dividing a propulsion system into six or four propulsion partitions, and setting a thrust calculation formula of each propulsion partition, the target total thrust, the target total thrust horizontal moment and the target total thrust vertical moment of the propulsion system generated by the system are obtained, the target thrust of each propulsion partition is obtained according to a set thrust calculation formula, and the values of the adjustment coefficients k1 and k2 are obtained through calculation by adopting a particle swarm optimization algorithm; therefore, the partition target thrust of the propulsion system is set. According to the method, the adjustment coefficient is accurately calculated through the particle swarm optimization algorithm, then the target total thrust can be well distributed to all the propulsion partitions, the effect of accurately controlling the shield attitude is achieved, the pressure of all the propulsion partitions is accurately set based on the target total thrust vector, and the control precision of the shield attitude is improved. The method has important significance in realizing automatic vector tunneling of the shield tunneling machine.

Description

Technical Field

[0001] The invention relates to the technical field of shield tunnel construction, and in particular to a method for setting a target thrust of a shield vector tunneling propulsion system. Background Art

[0002] Thrust vectoring technology was first proposed in the aviation field in the 1970s and a prototype was formed in the 1990s. Its essence is to use the thrust generated by the engine to deflect the nozzle to obtain excess control torque, achieve precise control of the aircraft's attitude, and thus greatly improve the aircraft's maneuverability. Introducing the concept of thrust vectoring into the field of shield tunneling control breaks the traditional fixed operation method of manually setting the partition pressure of the propulsion system to complete the trend attitude correction of the shield, avoiding the practical problems of shield speed reduction and shield attitude loss of control due to inaccurate manual settings. Summary of the invention

[0003] The purpose of the present invention is to overcome the defects of the prior art and provide a method for setting the target thrust of a shield vector tunneling propulsion system to solve the problems of shield speed reduction, shield attitude loss of control, etc. that may be caused by the inaccurate manual setting of the partition thrust.

[0004] The technical solution to achieve the above purpose is:

[0005] The present invention provides a method for setting a target thrust of a shield vector tunneling propulsion system, comprising the following steps:

[0006] The propulsion system is divided into six propulsion partitions, and the target thrust of each propulsion partition is set as:

[0007] F T1 =F1

[0008] F T2 =F1+ΔF

[0009] F T3 =F1+mΔF2

[0010] F T4 =F1+k1ΔF1+k2ΔF2

[0011] F T5 =F1+mΔF1

[0012] F T6 =F1+ΔF1 Formula 1,

[0013] In formula 1, F T1 ~F T6 is the target thrust of the first to sixth propulsion zones, m, k1, k2 are adjustment coefficients, F1, ΔF1, ΔF2 are target thrust components, and satisfy the following equation:

[0014] F T1 +F T2 +F T3 +F T4 +F T5 +F T6 =F T

[0015] (F T2 -F T6 )R1cosα+(F T3 -F T5 )R1cosβ=M h

[0016] F T1 R1+(F T2 +F T6 )R1sinα-(F T3 +F T5 )R1sinβ-F T4 R2=M v Formula 2:

[0017] In formula 2, F T is the target total thrust of the propulsion system, M h is the target total thrust horizontal moment, M v is the target total thrust vertical moment, R1 and R2 are the target thrust effective action radius of the first propulsion partition and the fourth propulsion partition respectively, α and β are the angles between the connecting line of the target thrust action point and the center of the circle of the second propulsion partition and the third propulsion partition and the X-axis respectively;

[0018] According to equation 1 and equation 2, we can solve:

[0019]

[0020] In formulas 3 to 5,

[0021] The target total thrust vector generated by the system is obtained, and the target total thrust vector includes the target total thrust size, the target total thrust horizontal moment and the target total thrust vertical moment of the propulsion system. The target thrust of each propulsion partition is calculated according to Formula 1 and Formula 3 to Formula 5. The values ​​of the adjustment coefficients k1 and k2 in Formula 1 are calculated using the particle swarm optimization algorithm, thereby completing the setting of the target thrust of the propulsion system partition.

[0022] A further improvement of the method for setting the target thrust of the shield vector tunneling propulsion system in the present invention is that the adjustment coefficient m in Formula 1 has a value range of 1.0 to 1.5.

[0023] The further improvement of the method for setting the target thrust of the shield vector tunneling propulsion system of the present invention is that the adjustment coefficients k1 and k2 in Formula 1 are calculated as follows:

[0024] The objective function for minimizing the difference between the target pressures of the fourth propulsion partition and the first propulsion partition of the propulsion system is set as follows:

[0025] f(k1,k2)=min(|p4-p1|),

[0026] Set constraints:

[0027] F T1 +F T2 +F T3 +F T4 +F T5 +F T6 -F T =0,

[0028] (F T2 -F T6 )R1cosα+(F T3 -F T5 )R1cosβ-M h =0,

[0029] F T1 R1+(F T2 +F T6 )R1sinα-(F T3 +F T5 )R1sinβ-F T4 R2-M v =0,

[0030] P i ≥P min , P min In order to meet the minimum pressure for effective compression of the segment gasket, the recommended range is 3.0~4.5MPa.

[0031] P i ≤P max , P max is the maximum working pressure of the propulsion cylinder,

[0032] 0≤|P2-P1|≤ΔP ctl , 0≤|P3-P2|≤ΔP ctl , 0≤|P4-P3|≤ΔP ctl 、0≤|P4-P5|≤ΔP ctl 、0≤|P5-P6|≤ΔP ctl , 0≤|P6-P1|≤ΔP ctl , P1~P6 are the target pressures of the first to sixth propulsion zones, ΔPctl The upper limit of the target pressure difference between adjacent partitions is recommended to be in the range of 6.0 to 8.0 MPa;

[0033] The adjustment coefficients k1 and k2 are calculated according to the set objective function and set constraints.

[0034] A further improvement of the method for setting the target thrust of the shield vector tunneling propulsion system partitions of the present invention is that it also includes calculating the target pressure of each propulsion partition:

[0035]

[0036] In the above formula, P i is the target pressure of the ith advancing zone, n i is the number of propulsion cylinders in the i-th propulsion zone, and S is the area of ​​the cavity behind the propulsion cylinder.

[0037] The present invention also provides a method for setting a target thrust of a shield vector tunneling propulsion system, comprising the following steps:

[0038] The propulsion system is divided into four propulsion partitions, and the target thrust of each propulsion partition is set as:

[0039] F T1 =F1

[0040] F T2 =F1+ΔF2

[0041] F T3 =F1+k1ΔF1+k2ΔF2

[0042] F T4 =F1+ΔF1 Formula 1,

[0043] In formula 1, F T1 ~F T4 is the target thrust of the first to fourth propulsion zones, k1 and k2 are adjustment coefficients, and F1, ΔF1, and ΔF2 are target thrust components, satisfying the following equation:

[0044] F T1 +F T2 +F T3 +F T4 =F T

[0045] (F T2 -F T11 )R2cosα=M h

[0046] F T1 R1+(F T2 +F T4 )R2sinα-FT3 R3=M v Formula 2,

[0047] In formula 2, F T is the total thrust of the propulsion system, M h is the target total thrust horizontal moment, M v is the target total thrust vertical moment, R1, R2 and R3 are the target thrust effective action radius of the first, second and third thrust partitions respectively, and α is the angle between the line connecting the target thrust action point and the center of the second thrust partition and the X-axis;

[0048] According to equation 1 and equation 2, we can solve:

[0049]

[0050] In Formula 3 to Formula 5,

[0051] The target total thrust vector generated by the system is obtained, and the target total thrust vector includes the target total thrust size, the target total thrust horizontal moment and the target total thrust vertical moment of the propulsion system. The target thrust of each propulsion partition is calculated according to Formula 1 and Formula 3 to Formula 5. The values ​​of the adjustment coefficients k1 and k2 in Formula 1 are calculated using the particle swarm optimization algorithm, thereby completing the setting of the target thrust of the propulsion system partition.

[0052] A further improvement of the method for setting the target thrust of the shield vector tunneling propulsion system according to the present invention is that the adjustment coefficients k1 and k2 in Formula 1 are calculated as follows:

[0053] The objective function for minimizing the difference between the target pressures of the third propulsion partition and the first propulsion partition of the propulsion system is set as follows:

[0054] f(k1,k2)=min(|p3-p1|),

[0055] Set constraints:

[0056] F T1 +F T2 +F T3 +F T4 -F T =0,

[0057] (F T2 -F T11 )R2cosα-M h =0,

[0058] F T1 R1+(F T2 +F T4 )R2sinα-F T3 R3-Mv =0,

[0059] P i ≥P min , P min In order to meet the minimum pressure for effective compression of the segment gasket, the recommended range is 3.0~4.5MPa.

[0060] P i ≤P max , P max is the maximum working pressure of the propulsion cylinder,

[0061] 0≤|P2-P1|≤ΔP ctl , 0≤|P3-P2|≤ΔP ctl , 0≤|P4-P3|≤ΔP ctl , 0≤|P4-P1|≤ΔP ctl , P1~P4 are the target pressures of the first to fourth propulsion zones, ΔP ctl The upper limit of the target pressure difference between adjacent partitions is recommended to be in the range of 6.0 to 8.0 MPa;

[0062] The adjustment coefficients k1 and k2 are calculated according to the set objective function and set constraints.

[0063] A further improvement of the method for setting the target thrust of the shield vector tunneling propulsion system partitions of the present invention is that it also includes calculating the target pressure of each propulsion partition:

[0064]

[0065] In the above formula, P i is the target pressure of the ith advancing zone, n i is the number of propulsion cylinders in the i-th propulsion zone, and S is the area of ​​the cavity behind the propulsion cylinder.

[0066] The beneficial effects of the method for setting the target thrust of the shield vector tunneling propulsion system according to the present invention are as follows:

[0067] The present invention uses a particle swarm optimization algorithm to accurately calculate the adjustment coefficient, and then can better distribute the target total thrust to each propulsion partition to achieve the effect of accurately controlling the shield posture. The present invention uses the target total thrust vector to accurately set the pressure of each propulsion partition to achieve automated vector excavation of the shield machine, which is of great significance.

[0068] The present invention calculates the adjustment coefficient by taking into account that the target pressure difference between adjacent advancing partitions must meet a certain range, and can effectively control the pressure difference between each advancing partition to ensure the stability and safety of the shield tunneling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 It is a structural schematic diagram of the six propulsion partitions in the method for setting the partition target thrust of the shield vector tunneling propulsion system of the present invention.

[0070] Figure 2 It is a structural schematic diagram of the four propulsion partitions in the method for setting the partition target thrust of the shield vector tunneling propulsion system of the present invention. DETAILED DESCRIPTION

[0071] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0072] See also Figure 1 The present invention provides a method for setting target thrust for a shield vector tunneling propulsion system partition, aiming to introduce the concept of thrust vector into the field of shield tunneling control, so as to solve the practical problems of shield speed reduction and shield posture loss control caused by inaccurate manual setting in the traditional solidified operation mode that relies on manual setting of the propulsion system partition pressure to complete the shield trend posture correction. The present invention uses the method of setting the target thrust for each propulsion partition based on the target total thrust vector to realize the automated vector tunneling of the shield machine, which is of great significance. The method for setting target thrust for a shield vector tunneling propulsion system partition of the present invention is described below in conjunction with the accompanying drawings.

[0073] See also Figure 1 , showing the structural diagram of the six propulsion partitions in the method for setting the target thrust of the shield vector tunneling propulsion system of the present invention. Figure 1 , the method for setting the zoned target thrust of the shield vector tunneling propulsion system of the present invention is explained.

[0074] like Figure 1 As shown, the method for setting the target thrust of the shield vector tunneling propulsion system of the present invention comprises the following steps:

[0075] The propulsion system is divided into six propulsion zones, and the six propulsion zones are formed by dividing the zones along the clockwise direction according to the cylinders of the propulsion system. The first propulsion zone is located at the top of the propulsion system, the second propulsion zone and the sixth propulsion zone are located at the upper part of the propulsion system and are symmetrically arranged along the Y axis, the third propulsion zone and the fifth propulsion zone are located at the lower part of the propulsion system and are symmetrically arranged along the Y axis, and the fourth propulsion zone is located at the bottom of the propulsion system, and the area of ​​the fourth propulsion zone is larger than the area of ​​the first propulsion zone. The propulsion system includes 19 propulsion oil cylinders arranged along the circumference. These propulsion oil cylinders are based on Figure 1 The displayed division method is divided into corresponding propulsion zones, for example, the first propulsion zone includes propulsion cylinder No. 1, propulsion cylinder No. 18 and propulsion cylinder No. 19, and the second propulsion zone includes propulsion cylinder No. 2 to propulsion cylinder No. 4.

[0076] Set the target thrust (in kN) of each propulsion zone to:

[0077] F T1 =F1

[0078] F T2 =F1+ΔF

[0079] F T3 =F1+mΔF2

[0080] F T4 =F1+k1ΔF1+k2ΔF2

[0081] F T5 =F1+mΔF1

[0082] F T6 =F1+ΔF1 Formula 1,

[0083] In formula 1, F T1 ~F T6 is the target thrust of the first to sixth propulsion zones, m, k1, k2 are adjustment coefficients, F1, ΔF1, ΔF2 are target thrust components, and satisfy the following equation:

[0084] F T1 +F T2 +F T3 +F T4 +F T5 +F T6 =F T

[0085] (F T2 -F T6 )R1cosα+(F T3 -F T5 )R1cosβ=M h

[0086] F T1 R1+(F T2 +F T6 )R1sinα-(F T3 +F T5 )R1sinβ-F T4 R2=M v Formula 2:

[0087] In formula 2, F T is the target total thrust of the propulsion system, M h is the target total thrust horizontal moment, M vis the target total thrust vertical moment, R1 and R2 are the target thrust effective action radius of the first and fourth thrust partitions, α and β are the angles between the line connecting the target thrust action point and the center of the circle of the second and third thrust partitions and the X-axis, R1, R2, α and β can be determined according to the relevant parameters of the shield machine after the six thrust partitions are determined, that is, they are known values;

[0088] Substitute the formula into formula 2 and simplify it to get:

[0089]

[0090] Then according to formula 6, F1, ΔF1, ΔF2 can be solved as follows:

[0091]

[0092] In formulas 3 to 5,

[0093] The target total thrust vector generated by the system is obtained. The target total thrust vector includes the target total thrust size, target total thrust horizontal moment and target total thrust vertical moment of the propulsion system. The target thrust of each propulsion partition is calculated according to Formula 1 and Formula 3 to Formula 5. The values ​​of the adjustment coefficients k1 and k2 in Formula 1 are calculated using the particle swarm optimization algorithm, thereby completing the setting of the target thrust of the propulsion system partition.

[0094] The target total thrust vector generated by the system of the present invention can be obtained by converting the thrust system of the shield according to the current posture and position of the shield and the target posture and position of the shield. The calculation of the target total thrust vector is a prior art.

[0095] In a specific embodiment of the present invention, the adjustment coefficient m in Formula 1 has a value range of 1.0 to 1.5, including the end value. The specific value of the adjustment coefficient m can be set by manual input, for example, the adjustment coefficient m can be input as 1.3.

[0096] In a specific embodiment of the present invention, the adjustment coefficients k1 and k2 in Formula 1 are calculated as follows:

[0097] The objective function for minimizing the difference between the target pressures of the fourth propulsion partition (bottom partition) and the first propulsion partition (top partition) of the propulsion system is set as follows:

[0098] f(k1,k2)=min(|p4-p1|),

[0099] Set constraints:

[0100] F T1 +F T2 +F T3 +FT4 +F T5 +F T6 -F T =0,

[0101] (F T2 -F T6 )R1cosα+(F T3 -F T5 )R1cosβ-M h =0,

[0102] F T1 R1+(F T2 +F T6 )R1sinα-(F T3 +F T5 )R1sinβ-F T4 R2-M v =0,

[0103] P i ≥P min , P min In order to meet the minimum pressure for effective compression of the segment gasket, the recommended range is 3.0~4.5MPa.

[0104] P i ≤P max , P max The maximum working pressure of the propulsion cylinder can be determined by referring to the actual design parameters of the propulsion cylinder;

[0105] The target pressure difference between adjacent partitions must meet a certain range, 0≤|P2-P1|≤ΔP ctl , 0≤|P3-P2|≤ΔP ctl , 0≤|P4-P3|≤ΔP ctl 、0≤|P4-P5|≤ΔP ctl 、0≤|P5-P6|≤ΔP ctl , 0≤|P6-P1|≤ΔP ctl , P1~P6 are the target pressures of the first to sixth propulsion zones, ΔP ctl The upper limit of the target pressure difference between adjacent partitions is 6.0~8.0MPa.

[0106] The adjustment coefficients k1 and k2 are calculated according to the set objective function and set constraints.

[0107] In a specific embodiment of the present invention, it also includes calculating the target pressure of each propulsion partition:

[0108]

[0109] In the above formula, Pi is the target pressure of the ith advancing zone, n i is the number of propulsion cylinders in the i-th propulsion zone, and S is the area of ​​the cavity behind the propulsion cylinder.

[0110] The present invention also provides a method for setting a target thrust of a shield vector tunneling propulsion system, comprising the following steps:

[0111] like Figure 2 As shown, the propulsion system is divided into four propulsion partitions, which are different from the six propulsion partitions in that the second and third partitions of the six propulsion partitions are merged, and the fifth and sixth partitions are merged. Among the four propulsion partitions, the first propulsion partition is located at the top, the second propulsion partition and the fourth propulsion partition are located on both sides, and the third propulsion partition is located at the bottom.

[0112] Set the target thrust (in kN) of each propulsion zone to:

[0113] F T1 =F1

[0114] F T2 =F1+ΔF2

[0115] F T3 =F1+k1ΔF1+k2ΔF2

[0116] F T4 =F1+ΔF1 Formula 1,

[0117] In formula 1, F T1 ~F T4 is the target thrust of the first to fourth propulsion zones, k1 and k2 are adjustment coefficients, and F1, ΔF1, and ΔF2 are target thrust components, satisfying the following equation:

[0118] F T1 +F T2 +F T3 +F T4 =F T

[0119] (F T2 -F T11 )R2cosα=M h

[0120] F T1 R1+(F T2 +F T4 )R2sinα-F T3 R3=M v Formula 2,

[0121] In formula 2, F T is the target total thrust of the propulsion system, M his the target total thrust horizontal moment, M v is the target total thrust vertical moment, R1, R2 and R3 are the target thrust effective action radius of the first, second and third thrust partitions respectively, α is the angle between the line connecting the target thrust action point and the center of the circle of the second thrust partition and the X-axis, R1, R2, R3 and α can be determined according to the relevant parameters of the shield machine after the four thrust partitions are determined, that is, they are known values;

[0122] Substituting equation 1 into equation 2 and simplifying it, we get:

[0123]

[0124] F1, ΔF1, and ΔF2 can be solved to obtain:

[0125]

[0126] In Formula 3 to Formula 5,

[0127] The target total thrust vector generated by the system is obtained. The target total thrust vector includes the target total thrust size, target total thrust horizontal moment and target total thrust vertical moment of the propulsion system. The target thrust of each propulsion partition is calculated according to Formula 1, Formula 3 to Formula 5. The values ​​of the adjustment coefficients k1 and k2 in Formula 1 are calculated using the particle swarm optimization algorithm, thereby completing the setting of the target thrust of the propulsion system partition.

[0128] Similarly, the target total thrust vector generated by the system of the present invention can be obtained by converting the thrust system of the shield according to the current posture and position of the shield and the target posture and position of the shield. The calculation of the target total thrust vector is a prior art.

[0129] In a specific implementation of the present invention, the adjustment coefficients k1 and k2 in Formula 1 are calculated as follows:

[0130] The objective function for minimizing the difference between the target pressures of the third propulsion partition and the first propulsion partition of the propulsion system is set as follows:

[0131] f(k1,k2)=min(|p3-p1|),

[0132] Set constraints:

[0133] F T1 +F T2 +F T3 +F T4 -F T =0,

[0134] (F T2 -F T11 )R2cosα-M h =0,

[0135] F T1 R1+(F T2 +F T4 )R2sinα-F T3 R3-M v =0,

[0136] P i ≥P min , P min In order to meet the minimum pressure for effective compression of the segment gasket, the recommended range is 3.0~4.5MPa;

[0137] P i ≤P max , P max The maximum working pressure of the propulsion cylinder is determined by referring to the actual design parameters of the propulsion cylinder;

[0138] The target pressure difference between adjacent partitions must meet a certain range, 0≤|P2-P1|≤ΔP ctl , 0≤|P3-P2|≤ΔP ctl , 0≤|P4-P3|≤ΔP ctl , 0≤|P4-P1|≤ΔP ctl , P1~P4 are the target pressures of the first to fourth propulsion zones, ΔP ctl The upper limit of the target pressure difference between adjacent partitions is 6.0~8.0MPa.

[0139] The adjustment coefficients k1 and k2 are calculated according to the set objective function and set constraints.

[0140] In a specific embodiment of the present invention, it also includes calculating the target pressure of each propulsion partition:

[0141]

[0142] In the above formula, P i is the target pressure of the ith advancing zone, n i is the number of propulsion cylinders in the i-th propulsion zone, and S is the area of ​​the cavity behind the propulsion cylinder.

[0143] The setting method of the present invention is described below with two specific calculation examples.

[0144] The relevant parameters of the shield machine in the six zones are as follows:

[0145] B1=0.964R, R2=0.933R, R=7.175m, α=33.16°, β=23.68°, S=0.102m 2 .

[0146] When the target total thrust F T , Target total thrust horizontal moment M h , Target total thrust vertical moment M v When they are 146500kN, 5200kN.m and -100500kN.m respectively,

[0147] Set m = 1.3, and calculate k1 = 2, k2 = 2 by particle swarm optimization algorithm. At this time, F1, ΔF1, ΔF2 are 16918kN, 5046kN and 5416kN respectively. After conversion, the target pressures of the first to sixth zones are 18.5, 24.4, 26.2, 31.0, 25.6, and 24.0MPa respectively.

[0148] The relevant parameters of the shield machine in the four zones are as follows:

[0149] R1=0.949R, R2=0.906R, R3=0.852R, R=3.380m, α=11.25°, S=0.053m 2 .

[0150] When the target total thrust F T , Target total thrust horizontal moment M h , Target total thrust vertical moment M v When the loads are 35650 kN, -1785 kN.m, and -13000 kN.m respectively, the particle swarm optimization algorithm is used to obtain k1=1.5 and k2=1.5.

[0151] At this time, F1, ΔF1, and ΔF2 are 3368 kN, 2732 kN, and 2138 kN, respectively. After conversion, the target pressures of the first to fourth zones are 10.6, 13.0, 20.1, and 14.4 MPa, respectively.

[0152] The present invention is described in detail above in conjunction with the embodiments of the accompanying drawings. A person skilled in the art can make various variations of the present invention according to the above description. Therefore, certain details in the embodiments should not constitute a limitation of the present invention, and the scope of protection of the present invention shall be defined by the scope of the attached claims.

Claims

1. A method for setting target thrust of shield vector tunneling propulsion system, characterized in that: The steps include: The propulsion system is divided into six propulsion partitions, and the target thrust of each propulsion partition is set as: F T1 =F1 F T2 =F1+ΔF F T3 =F1+mΔF2 F T4 =F1+k1ΔF1+k2ΔF2 F T5 =F1+mΔF1 F T6 =F1+ΔF1 Formula 1, In formula 1, F T1 ~F T6 is the target thrust of the first to sixth propulsion zones, m, k1, k2 are adjustment coefficients, F1, ΔF1, ΔF2 are target thrust components, and satisfy the following equation: F T1 +F T2 +F T3 +F T4 +F T5 +F T6 =F T (F T2 -F T6 )R1cosα+(F T3 -F T5 )R1cosβ=M h F T1 R1+(F T2 +F T6 )R1sinα-(F T3 +F T5 )R1sinβ-F T4 R2=M v Formula 2: In formula 2, F T is the target total thrust of the propulsion system, M h is the target total thrust horizontal moment, M v is the target total thrust vertical moment, R1 and R2 are the target thrust effective action radius of the first propulsion partition and the fourth propulsion partition respectively, α and β are the angles between the line connecting the target thrust action point and the center of the circle of the second propulsion partition and the third propulsion partition and the X-axis respectively; According to equation 1 and equation 2, we can solve: In formulas 3 to 5, The target total thrust vector generated by the system is obtained, and the target total thrust vector includes the target total thrust size, the target total thrust horizontal moment and the target total thrust vertical moment of the propulsion system. The target thrust of each propulsion partition is calculated according to Formula 1 and Formula 3 to Formula 5. The values ​​of the adjustment coefficients k1 and k2 in Formula 1 are calculated using the particle swarm optimization algorithm, thereby completing the setting of the target thrust of the propulsion system partition.

2. The method for setting target thrust of shield vector tunneling propulsion system according to claim 1, characterized in that: The adjustment coefficient m in Formula 1 ranges from 1.0 to 1.

5.

3. The method for setting target thrust of shield vector tunneling propulsion system according to claim 1, characterized in that: The adjustment coefficients k1 and k2 in formula 1 are calculated as follows: The objective function for minimizing the difference between the target pressures of the fourth propulsion partition and the first propulsion partition of the propulsion system is set as follows: f(k1,k2)=min(|p4-p1|), Set constraints: F T1 +F T2 +F T3 +F T4 +F T5 +F T6 -F T =0, (F T2 -F T6 )R1cosα+(F T3 -F T5 )R1cosβ-M h =0, F T1 R1+(F T2 +F T6 )R1sinα-(F T3 +F T5 )R1sinβ-F T4 R2-M v =0, P i ≥P min , P min In order to meet the minimum pressure for effective compression of the segment gasket, the recommended range is 3.0~4.5MPa. P i ≤P max , P max is the maximum working pressure of the propulsion cylinder, 0≤|P2-P1|≤ΔP ctl , 0≤|P3-P2|≤ΔP ctl , 0≤|P4-P3|≤ΔP ctl 、0≤|P4-P5|≤ΔP ctl 、0≤|P5-P6|≤ΔP ctl , 0≤|P6-P1|≤ΔP ctl , P1~P6 are the target pressures of the first to sixth propulsion zones, ΔP ctl The upper limit of the target pressure difference between adjacent partitions is recommended to be in the range of 6.0 to 8.0 MPa; The adjustment coefficients k1 and k2 are calculated according to the set objective function and set constraints.

4. The method for setting target thrust of shield vector tunneling propulsion system according to claim 1, characterized in that: It also includes the calculation of the target pressure for each propulsion zone: In the above formula, P i is the target pressure of the ith advancing zone, n i is the number of propulsion cylinders in the i-th propulsion zone, and S is the area of ​​the cavity behind the propulsion cylinder.

5. A method for setting target thrust of shield vector tunneling propulsion system, characterized in that: The steps include: The propulsion system is divided into four propulsion partitions, and the target thrust of each propulsion partition is set as: F T1 =F1 F T2 =F1+ΔF2 F T3 =F1+k1ΔF1+k2ΔF2 F T4 =F1+ΔF1 Formula 1, In formula 1, F T1 ~F T4 is the target thrust of the first to fourth propulsion zones, k1 and k2 are adjustment coefficients, and F1, ΔF1, and ΔF2 are target thrust components, satisfying the following equation: F T1 +F T2 +F T3 +F T4 =F T (F T2 -F T11 )R2cosα=M h F T1 R1+(F T2 +F T4 )R2sinα-F T3 R3=M v Formula 2, In formula 2, F T is the target total thrust of the propulsion system, M h is the target total thrust horizontal moment, M v is the target total thrust vertical moment, R1, R2 and R3 are the target thrust effective action radius of the first, second and third thrust partitions respectively, and α is the angle between the line connecting the target thrust action point and the center of the second thrust partition and the X-axis; According to equation 1 and equation 2, we can solve: In Formula 3 to Formula 5, The target total thrust vector generated by the system is obtained, and the target total thrust vector includes the target total thrust size, the target total thrust horizontal moment and the target total thrust vertical moment of the propulsion system. The target thrust of each propulsion partition is calculated according to Formula 1 and Formula 3 to Formula 5. The values ​​of the adjustment coefficients k1 and k2 in Formula 1 are calculated using the particle swarm optimization algorithm, thereby completing the setting of the target thrust of the propulsion system partition.

6. The method for setting target thrust of shield vector tunneling propulsion system according to claim 5, characterized in that: The adjustment coefficients k1 and k2 in formula 1 are calculated as follows: The objective function for minimizing the difference between the target pressures of the third propulsion partition and the first propulsion partition of the propulsion system is set as follows: f(k1,k2)=min(|p3-p1|), Set constraints: F T1 +F T2 +F T3 +F T4 -F T =0, (F T2 -F T11 )R2cosα-M h =0, F T1 R1+(F T2 +F T4 )R2sinα-F T3 R3-M v =0, P i ≥P min , P min In order to meet the minimum pressure for effective compression of the segment gasket, the recommended range is 3.0~4.5MPa. P i ≤P max , P max is the maximum working pressure of the propulsion cylinder, 0≤|P2-P1|≤ΔP ct l、0≤|P3-P2|≤ΔP ctl , 0≤|P4-P3|≤ΔP ctl , 0≤|P4-P1|≤ΔP ctl , P1~P4 are the target pressures of the first to fourth propulsion zones, ΔP ctl The upper limit of the target pressure difference between adjacent partitions is recommended to be in the range of 6.0 to 8.0 MPa; The adjustment coefficients k1 and k2 are calculated according to the set objective function and set constraints.

7. The method for setting target thrust of shield vector tunneling propulsion system according to claim 5, characterized in that: It also includes the calculation of the target pressure for each propulsion zone: In the above formula, P i is the target pressure of the ith advancing zone, n i is the number of propulsion cylinders in the i-th propulsion zone, and S is the area of ​​the cavity behind the propulsion cylinder.

Images