A large shield cutter layout modeling method and system based on improved CSM model

Abstract

This invention discloses a method and system for modeling the cutterhead layout of large shield tunneling machines based on an improved CSM model, belonging to the technical field of shield tunneling. Based on project conditions and the target cutterhead, corresponding basic parameters are selected; the force generation mechanism and interrelationships of the target cutterhead are analyzed to obtain its force characteristics; an improved CSM model is established to calculate the actual force on the target cutterhead; with minimizing the total radial resultant force of the cutterhead and minimizing the overturning moment as objective functions, resultant force constraints, overturning force constraints, force constraints, centroid position constraints, and cutter spacing constraints are proposed to construct a cutterhead layout optimization mathematical model; the cutterhead layout scheme is obtained using the aforementioned optimization mathematical model. This invention introduces an improved CSM model, which not only considers the vertical force and rolling force of the cutterhead but also innovatively incorporates lateral forces into the analysis framework, thereby more accurately reflecting the comprehensive force characteristics of the cutterhead during actual tunneling.

Description

Technical Field

[0001] The invention belongs to the technical field of shield tunneling, and in particular relates to a large shield cutter layout modeling method and system based on an improved CSM model. Background Art

[0002] With its excellent adaptability, composite shield technology is widely used in urban strata with complex geological conditions, especially in soft upper and hard lower strata. As a critical component of the cutterhead, the layout design of the cutter must be precisely adapted to the geological characteristics and construction specifications. Only in this way can a delicate balance between construction efficiency and cost control be achieved. At the same time, extending the service life of the cutterhead and reducing the vibration of the cutterhead play a vital role in improving the overall excavation efficiency.

[0003] At present, many achievements have been made in the research on the optimization of roller cutter layout. On the one hand, many scholars have approached the issue from different angles, such as shield construction efficiency, cost, and safety. For example, some studies set the advancement speed, excavation specific energy, and tool wear as control targets, and then accurately determined the optimal control parameter combination through multi-objective optimization and fuzzy decision-making methods, thereby providing effective decision-making guidance for shield tunnel construction management and control; on the other hand, some scholars have established a positive roller cutter layout optimization model, taking the reduction of roller cutter wear rate differences, roller cutter center of mass deviation, and cutterhead overturning moment as objective functions, successfully improving tunnel construction efficiency and reducing roller cutter replacement frequency. In addition, there are studies on the prediction of roller cutter wear life, and a multi-objective layout optimization model and finite element simulation method have been developed, which provide effective prediction and optimization methods for roller cutter consumption problems. For example, in the shield construction of Qingdao Metro, some studies have optimized the cutter spacing, penetration, blade width and cutterhead speed based on genetic algorithms, and then proposed the optimal excavation parameters and tool structure design scheme to reduce cutter wear; there are also studies on the optimization of TBM cutterhead tool layout using Pareto optimal solution, which fully verifies the feasibility of layout optimization methods under complex geological conditions; there is also a mathematical model of cutter friction energy consumption based on contact mechanics theory, and by optimizing the inclination angle between edge cutters, the wear difference is effectively reduced, while significantly improving excavation efficiency; there is also a multi-objective optimization model based on BP neural network, which successfully optimized the shield machine excavation parameters and achieved the goal of maximizing construction efficiency and reducing the risk of surface subsidence.

[0004] Although existing research has provided rich theoretical and practical support for the optimization of the cutter layout, there are still some problems. First, most studies mainly rely on the traditional CSM model. Although this model takes into account the normal force and rolling force of the cutter, it does not fully pay attention to the role of lateral force. In fact, the uneven distribution of lateral force is often the key factor leading to abnormal wear and failure of the cutter ring. For example, the failure record of TBM cutters in a construction section of the Osaka Tunnel clearly shows that among the 222 cutter rings consumed, 111 of them failed abnormally due to the influence of lateral force. This situation not only seriously shortens the service life of the cutter, but also greatly increases the construction cost and downtime. Secondly, some studies simplify the multi-objective optimization problem into a single-objective problem. Although this will be easier to solve in the solution process, it is likely to sacrifice the comprehensive optimal solution among multiple performance indicators, which ultimately limits the comprehensiveness and practicality of the optimization results. Summary of the invention

[0005] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a large shield cutter layout modeling method and system based on an improved CSM model.

[0006] The present invention adopts the following technical solution: a large shield cutter layout modeling method based on an improved CSM model, comprising the following steps:

[0007] Select the corresponding basic parameters based on the project situation and target tool;

[0008] Analyze the generation mechanism and mutual relationship of the target tool force to obtain the force characteristics of the target tool;

[0009] Establishing an improved CSM model, taking the basic parameters and force characteristics as input and using the improved CSM model to calculate the actual force of the target tool;

[0010] Taking minimizing the total radial force of the cutter disc and minimizing the overturning moment as the objective function, the constraints of the resultant force, overturning force, force, center of mass position and cutter spacing are proposed, and a mathematical model for hob layout optimization is constructed.

[0011] The effectiveness of the hob layout optimization mathematical model is verified, and a hob layout solution is obtained using the hob layout optimization mathematical model.

[0012] In a further embodiment, the force characteristics include at least: vertical force, rolling force and lateral force.

[0013] In a further embodiment, the expression of the improved CSM model includes at least: improving the vertical force in the CSM model, improving the rolling force in the CSM model, and improving the lateral force in the CSM model;

[0014] The expression of the vertical force in the improved CSM model is as follows:

[0015] ;

[0016] In the formula, For the Put the hob vertical force, For hob The blade spacing, is the blade width, is the dimensionless coefficient, is the contact angle between the cutter and the rock, is the blade pressure distribution coefficient, is the compressive strength of rock, is the shear strength of rock, is the radius of the hob;

[0017] The rolling force in the improved CSM model is expressed as follows:

[0018] ;

[0019] In the formula, For the The hob force of the hob, is the blade angle, is the penetration of the hob, Indicates the angle: ;

[0020] The expression of the lateral force in the improved CSM model is as follows:

[0021] ;

[0022] In the formula, For the Reduce the lateral force of the hob.

[0023] In a further embodiment, the calculation formula for minimizing the total radial force of the cutter disc is as follows:

[0024] ;

[0025] In the formula, is the resultant radial force constraint in the X-axis direction, is the resultant radial force constraint in the Y-axis direction, which is specifically expressed as:

[0026] ;

[0027] In the formula, Indicates hob, For the The lateral force of the hob, For the The hob force of the hob, Indicates Adjust the installation angle of the hob. The constraints for the expression of inertia force are: ,in, is the mass of a single hob, is the hob angular velocity, For the Adjust the installation diameter of the hob.

[0028] In a further embodiment, the calculation formula for minimizing the overturning moment is as follows:

[0029] ;

[0030] In the formula, is the overturning force constraint in the X-axis direction, is the overturning force constraint in the Y-axis direction, which is specifically expressed as:

[0031] ;

[0032] In the formula, For the Put the hob vertical force, For the The installation diameter of the hob, Indicates Adjust the installation angle of the hob.

[0033] In a further embodiment, the centroid position constraint is expressed as follows:

[0034] The centroid requirement constraint is expressed using the following formula:

[0035] ;

[0036] In the formula, is the actual center of mass position of all the hobs on the cutterhead, is the theoretical center of mass position of all hobs on the cutterhead, is the allowable error of the centroid position;

[0037] The actual center of mass position of the hob on the X-axis of the cutter head is constrained to :

[0038] ;

[0039] In the formula, For the The quality of the hob, For the The installation diameter of the hob, Indicates Adjust the installation angle of the hob;

[0040] The actual center of mass position of the hob on the Y axis of the cutter head is constrained to :

[0041] .

[0042] In a further embodiment, the blade spacing constraint condition is expressed as follows:

[0043] The spacing constraints of the rock cutters are as follows:

[0044] ;

[0045] In the formula, is the blade spacing, is the penetration of the hob, Indicates the rock crushing angle;

[0046] The sequential rock breaking constraint is expressed as: , Indicates the allowable error value. For the The installation diameter of the hob, Indicates Adjust the installation angle of the hob. Indicates Adjust the installation angle of the hob.

[0047] In a further embodiment, the vertical force in the improved CSM model, the rolling force in the improved CSM model and the lateral force in the improved CSM model are also force constraint conditions.

[0048] In a further embodiment, the objective functions of minimizing the total radial force of the cutter disc and minimizing the overturning moment are also the resultant force constraint condition and the overturning force constraint condition, respectively.

[0049] A large shield cutter layout modeling system based on an improved CSM model, including:

[0050] The first module is set to select the corresponding basic parameters based on the project situation and the target tool;

[0051] The second module is configured to analyze the generation mechanism and mutual relationship of the target tool force to obtain the force characteristics of the target tool;

[0052] The third module is configured to establish an improved CSM model, and use the basic parameters and force characteristics as input to calculate the actual force of the target tool using the improved CSM model;

[0053] The fourth module is set to minimize the total radial force of the cutter disc and minimize the overturning moment as the objective function, propose the constraints of the resultant force, overturning force, force, center of mass position and cutter spacing, and build a mathematical model for the optimization of the hob layout;

[0054] The fifth module is configured to verify the validity of the hob layout optimization mathematical model and obtain a hob layout solution using the hob layout optimization mathematical model.

[0055] Beneficial effects of the invention: The invention makes an innovative attempt in the field of cutter layout optimization. First, an improved CSM model is introduced, which not only considers the vertical force and rolling force of the cutter, but also innovatively incorporates the lateral force into the analysis framework, thereby more accurately reflecting the comprehensive force characteristics of the cutter in actual excavation.

[0056] On this basis, a multi-objective optimization model was constructed to simultaneously minimize the total radial force and overturning moment of the cutterhead, so as to achieve the optimal overall force and stability of the cutterhead, making the tunneling operation of the shield machine more efficient and reliable under complex geological conditions. The layout of the shield cutter is optimized, the force distribution of the cutter is balanced, the wear difference of the cutter and the vibration of the cutterhead are reduced, the tunneling efficiency is improved, and the service life of the cutter is extended. It provides a more solid technical guarantee for the construction of underground projects such as urban subways, and strongly promotes the further development and application of shield technology in related fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 It is a flow chart of the large shield cutter layout modeling method based on the improved CSM model in Example 1. DETAILED DESCRIPTION

[0058] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0059] Example 1

[0060] See also Figure 1 This embodiment provides a large shield cutter layout modeling method based on the improved CSM model, and selects corresponding basic parameters based on the project situation and the target tool; in a further embodiment, the basic parameters of the target tool include the friction coefficient between the cutter and the rock, the contact angle between the cutter and the rock, the blade pressure distribution coefficient, the rock compressive strength, the rock shear strength, the rock crushing angle, the cutter radius, the mass of a single cutter, the cutter angular velocity, the cutter cutting stroke, and the blade angle.

[0061] During the specific implementation, according to the actual situation of the specific project and the selection of the target tool, the data such as the friction coefficient between the hob and the rock, the contact angle between the hob and the rock, the blade pressure distribution coefficient, the rock compressive strength, the rock shear strength, the rock crushing angle, the hob radius, the mass of a single hob, the hob angular velocity, the hob cutting stroke, the blade angle, etc. should be obtained.

[0062] The generation mechanism and mutual relationship of the force on the target tool are analyzed to obtain the force characteristics of the target tool; the force analysis related forces include the hob inertia force, vertical force, rolling force and lateral force, etc.

[0063] In specific implementation, three relevant forces are mainly considered: vertical force, rolling force and lateral force.

[0064] The vertical force refers to the vertical force applied by the cutter to the rock. This force is usually applied by the rock breaker drive system and acts on the cutting surface of the cutter. The magnitude of the vertical force is closely related to the hardness of the rock, the cutting depth and the working pressure of the cutter.

[0065] Rolling force: The force generated by the reel during rotation, which pushes the reel to rotate along its axis. The magnitude of this force is related to the reel speed, radius, and the friction coefficient of the rock. The rotation of the reel helps to split the rock into pieces and push the debris away from the cutting area.

[0066] Lateral force: The force generated along the horizontal plane (i.e. the horizontal plane of the cutting surface) when the disc cutter contacts the rock. It is usually related to the friction of the rock and the cutting angle of the disc cutter. The action of lateral force contributes to the local displacement and peeling of the rock, affecting the way and degree of rock fracture. Large lateral force may cause wear of the disc cutter or excessive rock fracture.

[0067] Establishing an improved CSM model, taking the basic parameters and force characteristics as input and using the improved CSM model to calculate the actual force of the target tool;

[0068] Taking minimizing the total radial force of the cutter disc and minimizing the overturning moment as the objective function, the constraints of the resultant force, overturning force, force, center of mass position and cutter spacing are proposed, and a mathematical model for hob layout optimization is constructed.

[0069] The effectiveness of the hob layout optimization mathematical model is verified, and a hob layout solution is obtained using the hob layout optimization mathematical model.

[0070] Further, the expression of the improved CSM model at least includes: improving the vertical force in the CSM model, improving the rolling force in the CSM model and improving the lateral force in the CSM model;

[0071] The expression of the vertical force in the improved CSM model is as follows:

[0072] ;

[0073] In the formula, For the Put the hob vertical force, For hob The blade spacing, is the blade width, is the dimensionless coefficient, is the contact angle between the roller cutter and the rock, is the blade pressure distribution coefficient, is the compressive strength of rock, is the shear strength of rock, is the radius of the hob;

[0074] The rolling force in the improved CSM model is expressed as follows:

[0075] ;

[0076] In the formula, For the The hob force of the hob, is the blade angle, is the penetration of the hob, Indicates the angle: ;

[0077] The expression of the lateral force in the improved CSM model is as follows:

[0078] ;

[0079] In the formula, For the Reduce the lateral force of the hob.

[0080] The calculation formula for minimizing the total radial force of the cutter head is as follows:

[0081] ;

[0082] In the formula, is the resultant radial force constraint in the X-axis direction, is the resultant radial force constraint in the Y-axis direction, which is specifically expressed as:

[0083] ;

[0084] In the formula, Indicates hob, For the The lateral force of the hob, For the The hob force of the hob, Indicates Adjust the installation angle of the hob. The constraints for the expression of inertia force are: ,in, is the mass of a single hob, is the hob angular velocity, For the Adjust the installation diameter of the hob.

[0085] The formula for minimizing the overturning moment is as follows:

[0086] ;

[0087] In the formula, is the overturning force constraint in the X-axis direction, is the overturning force constraint in the Y-axis direction, which is specifically expressed as:

[0088] ;

[0089] In the formula, For the Put the hob vertical force, For the The installation diameter of the hob, Indicates Adjust the installation angle of the hob.

[0090] The centroid position constraint is expressed as follows:

[0091] The centroid requirement constraint is expressed using the following formula:

[0092] ;

[0093] In the formula, is the actual center of mass position of all the hobs on the cutterhead, is the theoretical center of mass position of all hobs on the cutterhead, is the allowable error of the centroid position;

[0094] The actual center of mass position of the hob on the X-axis of the cutter head is constrained to :

[0095] ;

[0096] In the formula, For the The quality of the hob, For the The installation diameter of the hob, Indicates Adjust the installation angle of the hob;

[0097] The actual center of mass position of the hob on the Y axis of the cutter head is constrained to :

[0098] .

[0099] The tool spacing constraint is expressed as follows:

[0100] The spacing constraints of the rock cutters are as follows:

[0101] ;

[0102] In the formula, is the blade spacing, is the penetration of the hob, Indicates the rock crushing angle;

[0103] The sequential rock breaking constraint is expressed as: , Indicates the allowable error value. For the The installation diameter of the hob, Indicates Adjust the installation angle of the hob. Indicates Adjust the installation angle of the hob.

[0104] The vertical force in the improved CSM model, the rolling force in the improved CSM model and the lateral force in the improved CSM model are also force constraint conditions. Further, the vertical force in the improved CSM model is expressed as follows:

[0105] ;

[0106] In the formula, For the Put the hob vertical force, For hob The blade spacing, is the blade width, is the dimensionless coefficient, is the contact angle between the cutter and the rock, is the blade pressure distribution coefficient, is the compressive strength of rock, is the shear strength of rock, is the radius of the hob;

[0107] The rolling force in the improved CSM model is expressed as follows:

[0108] ;

[0109] In the formula, For the The hob force of the hob, is the blade angle, is the penetration of the hob, Indicates the angle: ;

[0110] The expression of the lateral force in the improved CSM model is as follows:

[0111] ;

[0112] In the formula, For the Reduce the lateral force of the hob.

[0113] In another embodiment, the objective functions of minimizing the total radial force of the cutter disc and minimizing the overturning moment are also the force constraint condition and the overturning force constraint condition, respectively. Further expressed as the calculation formula for minimizing the total radial force of the cutter disc is as follows:

[0114] , where is the resultant radial force constraint in the X-axis direction, It is the resultant radial force constraint in the Y-axis direction.

[0115] The formula for minimizing the overturning moment is as follows:

[0116] , where is the overturning force constraint in the X-axis direction, is the overturning force constraint in the Y-axis direction, which is specifically expressed as:

[0117] The model validity verification is to perform model validity and parameter sensitivity analysis on the parameters in the model, including soil compressive strength and shear strength sensitivity analysis, and roller cutter radius sensitivity analysis.

[0118] In the specific implementation, the proposed mathematical model is solved to obtain the roller layout scheme, verify the effectiveness of the model, and conduct sensitivity analysis on parameters such as soil compressive strength, shear strength and roller radius.

[0119] The present invention is described below in conjunction with a specific embodiment. This paper selects a certain type of shield machine in the Nanjing Metro Line 4 project as the research object. The shield machine has 26 positive rollers, that is, n=26, and the roller angular velocity , hob quality , hob radius , blade angle , consult the data to obtain the dimensionless coefficient is 2.12, rock compressive strength , rock shear strength , rock breaking angle is 1.39 rad, blade pressure distribution coefficient , contact angle between the cutter and the rock .

[0120] For the overall requirement of tool arrangement, the allowable error of the center of mass position is 5 mm. By solving the proposed mathematical model, the hob arrangement scheme is obtained as shown in Table 1.

[0121] Table 1 Hob layout scheme

[0122] Hob No. Pole diameter(m) Polar angle (rad) Hob No. Pole diameter(m) Polar angle (rad) Hob No. Pole diameter(m) Polar angle (rad) 1 0.81 2.68 10 1.51 4.13 19 1.93 1.95 2 0.96 4.38 11 1.60 2.21 20 1.96 6.28 3 1.03 1.59 12 1.68 2.76 21 2.15 2.75 4 1.18 3.16 13 1.74 0.00 22 2.20 0.41 5 1.27 5.28 14 1.77 5.62 23 2.39 4.09 6 1.29 0.00 15 1.79 5.10 24 2.50 3.12 7 1.34 0.33 16 1.82 3.59 25 2.58 4.66 8 1.41 6.03 17 1.85 1.55 26 2.82 0.00 9 1.49 0.99 18 1.93 3.14

[0123] Sensitivity analysis was conducted on the soil compressive strength, shear strength and roller radius, and the results are shown in Table 2.

[0124] Table 2 Results of sensitivity analysis of compressive strength and shear strength

[0125] Parameter change rate Penetration(m) Knife spacing (m) Blade width(m) Total radial unbalanced force (N) Total overturning moment (N·m) 50% increase in compressive and shear strength 0.015 0.045 0.015 119.929 58.756 Compressive strength and shear strength remain unchanged 0.015 0.053 0.015 112.717 37.205 Compressive and shear strengths reduced by 50% 0.015 0.093 0.015 56.05 56.423

[0126] According to the solution results, when the parameters increase, the total radial unbalanced force of the tool increases significantly. When the parameters decrease, the total radial unbalanced force decreases significantly. However, the sensitivity of the total overturning moment is low, and the effect of parameter changes on the overturning moment is relatively small. Therefore, in hard soil, due to the high compressive strength and shear strength, the radial unbalanced force increases significantly, and the tool layout needs to be further optimized to reduce the machine burden caused by the unbalanced force. In soft soil layers, although the radial unbalanced force is reduced due to the reduction in soil strength, the tool layout still needs to be optimized to ensure stability in long-term operation.

[0127] Table 3 Results of sensitivity analysis of hob radius

[0128] Parameter change rate Penetration(m) Knife spacing (m) Blade width(m) Total radial unbalanced force (N) Total overturning moment (N·m) Hob radius increased by 50% 0.028 0.050 0.015 263.488 196.115 Hob radius remains unchanged 0.015 0.053 0.015 112.717 37.205 Hob radius reduced by 50% 0.015 0.081 0.016 459.702 157.894

[0129] According to the above solution results, when the cutter radius increases by 50%, the total radial unbalanced force increases to 263.49N, which is a significant increase compared with the original state. This shows that as the cutter radius increases, the radial force generated by the cutter during cutting increases significantly. The total overturning moment also increases to 196.12N•m, which shows that due to the increase in the cutter radius, the moment arm length increases, resulting in a significant increase in the overturning moment. When the cutter radius decreases by 50%, the total radial unbalanced force increases significantly to 459.70N, which is much higher than the baseline state and the state with increased radius. The total overturning moment also increases to 157.89 N•m accordingly. This may be because when the cutter radius is small, a higher cutting force is required to achieve the purpose of rock breaking, which leads to an increase in unbalanced force and moment. Therefore, in the optimization of the cutter layout, it is necessary to find a balance between the cutter radius, the total radial unbalanced force and the overturning moment to ensure rock breaking efficiency and structural stability.

[0130] In other words, in the specific implementation, the objective function is to minimize the total radial force and overturning moment of the cutter disc, and the above-mentioned force constraints, overturning moment constraints, force constraints, center of mass position constraints, cutter spacing constraints, etc. are combined to construct a mathematical model for the optimization of the hob layout, balance the force distribution of the hob, reduce the difference in tool wear, reduce the vibration of the cutter disc, improve the operating stability of the equipment, and extend the service life of the hob.

[0131] Example 2

[0132] Based on the method of embodiment 1, this embodiment discloses a large shield cutter layout modeling system based on an improved CSM model, including:

[0133] The first module is set to select the corresponding basic parameters based on the project situation and the target tool;

[0134] The second module is configured to analyze the generation mechanism and mutual relationship of the target tool force to obtain the force characteristics of the target tool;

[0135] The third module is configured to establish an improved CSM model, and use the basic parameters and force characteristics as input to calculate the actual force of the target tool using the improved CSM model;

[0136] The fourth module is set to minimize the total radial force of the cutter disc and minimize the overturning moment as the objective function, propose the constraints of the resultant force, overturning force, force, center of mass position and cutter spacing, and build a mathematical model for the optimization of the hob layout;

[0137] The fifth module is configured to verify the validity of the hob layout optimization mathematical model and obtain a hob layout solution using the hob layout optimization mathematical model.

[0138] The present invention is aimed at the field of tunnel engineering, including urban subway, railway and highway tunnel excavation, and realizes the precise optimization of the cutter layout, which significantly improves the excavation efficiency, reduces the cost, and consolidates the safety and quality foundation of the construction. In terms of underground rail transit construction, the present invention can carefully plan the cutter configuration according to the differences in geological conditions, minimize the impact on the surrounding environment, and ensure that the project proceeds smoothly as planned.

[0139] In water conservancy and hydropower projects, especially the construction of water conveyance tunnels, the present invention has demonstrated an excellent ability to cope with complex geological challenges, ensuring the long-term stable operation of the water conveyance system and effectively controlling subsequent maintenance costs and operational risks. For municipal pipeline projects, the modeling technology of the present invention can guide the efficient operation of the shield machine in a changeable geological environment, effectively prevent project progress delays and budget overruns, and further improve the reliability and economy of municipal infrastructure construction.

Claims

1. A large shield cutter layout modeling method based on an improved CSM model, characterized in that: The following steps are involved: Select the corresponding basic parameters based on the project situation and target tool; Analyze the generation mechanism and mutual relationship of the target tool force to obtain the force characteristics of the target tool; Establishing an improved CSM model, taking the basic parameters and force characteristics as input and using the improved CSM model to calculate the actual force of the target tool; Taking minimizing the total radial force of the cutter disc and minimizing the overturning moment as the objective function, the constraints of the resultant force, overturning force, force, center of mass position and cutter spacing are proposed, and a mathematical model for hob layout optimization is constructed. Verify the effectiveness of the hob layout optimization mathematical model, and obtain a hob layout solution using the hob layout optimization mathematical model; The expression of the improved CSM model at least includes: improving the vertical force in the CSM model, improving the rolling force in the CSM model and improving the lateral force in the CSM model; The expression of the vertical force in the improved CSM model is as follows: ； In the formula, For the Put the hob vertical force, For hob The blade spacing, is the blade width, is the dimensionless coefficient, is the contact angle between the cutter and the rock, is the blade pressure distribution coefficient, is the compressive strength of rock, is the shear strength of rock, r is the radius of the roller cutter; The rolling force in the improved CSM model is expressed as follows: ； In the formula, For the The hob force of the hob, is the blade angle, is the penetration of the hob, Indicates the angle: ; The expression of the lateral force in the improved CSM model is as follows: ； In the formula, For the Reduce the lateral force of the hob.

2. According to the method for modeling the layout of large shield cutter based on the improved CSM model in claim 1, it is characterized in that: The force characteristics include at least: vertical force, rolling force and lateral force.

3. According to the method for modeling the layout of large shield cutter based on the improved CSM model in claim 1, it is characterized in that: The calculation formula for minimizing the total radial force of the cutter disc is as follows: ； In the formula, is the resultant radial force constraint in the X-axis direction, is the resultant radial force constraint in the Y-axis direction, which is specifically expressed as: ； In the formula, Indicates hob, For the The lateral force of the hob, For the The hob force of the hob, Indicates Adjust the installation angle of the hob. The constraints for the expression of inertia force are: ,in, is the mass of a single hob, is the hob angular velocity, For the Adjust the installation diameter of the hob.

4. According to the method for modeling the layout of large shield cutter based on the improved CSM model in claim 1, it is characterized in that: The calculation formula for minimizing the overturning moment is as follows: ； In the formula, is the overturning force constraint in the X-axis direction, is the overturning force constraint in the Y-axis direction, which is specifically expressed as: ； In the formula, For the Put the hob vertical force, For the The installation diameter of the hob, Indicates Adjust the installation angle of the hob.

5. According to the method for modeling the layout of large shield cutter based on the improved CSM model in claim 1, it is characterized in that: The centroid position constraint is expressed as follows: The centroid requirement constraint is expressed using the following formula: ； In the formula, is the actual center of mass position of all the hobs on the cutterhead, is the theoretical center of mass position of all hobs on the cutterhead, is the allowable error of the centroid position; The actual center of mass position of the hob on the X-axis of the cutter head is constrained to : ； In the formula, For the The quality of the hob, For the The installation diameter of the hob, Indicates Adjust the installation angle of the hob; The actual center of mass position of the hob on the Y axis of the cutter head is constrained to : 。 6. A large shield cutter layout modeling method based on an improved CSM model according to claim 1, characterized in that: The tool spacing constraint condition is expressed as follows: The spacing constraints of the rock cutters are as follows: ； In the formula, is the blade spacing, is the penetration of the hob, Indicates the rock crushing angle; The sequential rock breaking constraint is expressed as: , Indicates the allowable error value. For the The installation diameter of the hob Indicates Adjust the installation angle of the hob. Indicates Adjust the installation angle of the hob.

7. A large shield cutter layout modeling method based on an improved CSM model according to claim 1, characterized in that: The vertical force in the improved CSM model, the rolling force in the improved CSM model and the lateral force in the improved CSM model are also force constraint conditions.

8. A large shield cutter layout modeling method based on an improved CSM model according to claim 1, characterized in that: The objective functions of minimizing the total radial force of the cutter disc and minimizing the overturning moment are also the resultant force constraint condition and the overturning force constraint condition respectively.

9. A large shield cutter layout modeling system based on an improved CSM model, used to implement the large shield cutter layout modeling method as claimed in any one of claims 1 to 8, characterized in that: include: The first module is set to select the corresponding basic parameters based on the project situation and the target tool; The second module is configured to analyze the generation mechanism and mutual relationship of the target tool force to obtain the force characteristics of the target tool; The third module is configured to establish an improved CSM model, and use the basic parameters and force characteristics as input to calculate the actual force of the target tool using the improved CSM model; The fourth module is set to minimize the total radial force of the cutter disc and minimize the overturning moment as the objective function, propose the constraints of the resultant force, overturning force, force, center of mass position and cutter spacing, and build a mathematical model for the optimization of the hob layout; The fifth module is configured to verify the validity of the hob layout optimization mathematical model and obtain a hob layout solution using the hob layout optimization mathematical model.

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