Shield tunneling machine tunneling attitude planning method oriented to multi-target control optimization

Abstract

The invention discloses a shield tunneling machine tunneling attitude planning method oriented to multi-target control optimization, and belongs to the technical field of intelligent control. The method comprises the following steps: collecting related data of the shield tunneling machine, and calculating a score weight; calculating an update normal vector and an update rear-end center space point location based on the related data; calculating an intersection point of the rear end face of the shield tunneling machine and the target curve based on the updated normal vector and the updated rear end center space point location, and calculating an update deviation; establishing a local coordinate system; calculating a central point location and a normal vector in a local coordinate system of the tail end surface of the segment; calculating a future minimum shield tail gap and a future maximum oil cylinder stroke difference; calculating a weighted score based on the score weight, the update deviation, the future minimum shield tail clearance and the future maximum oil cylinder stroke difference; obtaining an optimal yaw angle and an optimal pitch angle based on the weighted score; the shield tunneling machine is guaranteed to conduct tunneling according to the planned target curve, meanwhile, the gap between the shield tunneling machine and the duct piece at the tail of the shield tunneling machine is controlled not to be too small, and the stroke difference of different oil cylinders of the shield tunneling machine is controlled not to be too large.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent control, and in particular relates to a shield machine excavation posture planning method oriented to multi-objective control optimization. Background Art

[0002] At present, the attitude control of the shield machine mainly relies on the experience of the shield machine operator. First, the shield machine will display the deviation between the shield machine and the target curve, the shield tail gap, and the cylinder stroke difference. Then the engineering staff will determine in which direction the shield machine needs to be controlled based on their own experience, that is, how to adjust the attitude of the shield machine. Finally, the shield machine personnel will input the established shield machine attitude into the shield machine, and the shield machine will control the shield machine attitude to achieve the target attitude by adjusting the pressure distribution of multiple cylinders. Currently, some patents on the market are aimed at existing single indicators (deviation, shield tail gap or cylinder stroke difference), and then the input shield machine attitude is achieved by controlling the cylinder pressure distribution. There is no method for planning the attitude of the shield machine with multiple indicators as control targets.

[0003] At present, the manual method does not conform to the general trend of digitalization and intelligence; and the effect of manual control is strongly related to the experience of personnel, and the control effect is unstable. The partially automated trajectory control method only focuses on the single indicator of the deviation between the shield machine and the target curve, and does not take into account multiple indicators at the same time. If the shield tail gap is too small, it may cause segment fracturing and excessive wear of the shield tail brush; if the cylinder stroke difference is too large, it may cause a safety accident of the shield machine. Therefore, multiple indicators should be optimized and controlled synchronously to ensure the safety, efficiency and quality of shield machine excavation. Summary of the invention

[0004] The present invention aims to solve the shortcomings of the prior art and proposes a shield machine excavation posture planning method for multi-objective control optimization. In each step, the optimal shield machine pitch angle and yaw angle are obtained by optimizing the weighted score of the shield tail gap, the cylinder stroke difference and the shield machine's deviation.

[0005] To achieve the above object, the present invention provides the following solution: a shield machine excavation posture planning method for multi-objective control optimization, comprising the following steps:

[0006] Step 1: Collect standard data of the shield machine, deviation data between the shield machine and the target curve, and the current pitch angle and yaw angle; and calculate the score weight based on the standard data and the deviation data; the standard data includes: standard value of engineering deviation, standard value of shield tail gap, standard value of cylinder stroke difference, standard shield tail gap, normal vector of the current shield machine, and the rear end center spatial point of the current shield machine; the deviation data includes: current deviation, current shield tail gap, and current cylinder stroke difference;

[0007] Step 2: Calculate the updated normal vector and the updated rear end center spatial point of the shield machine after it moves forward a certain distance based on the planned pitch angle and yaw angle, the planned normal vector of the shield machine, and the rear end center spatial point of the shield machine; during the iteration process, the first planned pitch angle and yaw angle, the planned normal vector of the shield machine, and the rear end center spatial point of the shield machine use the current pitch angle and yaw angle, the normal vector of the current shield machine, and the rear end center spatial point of the current shield machine in step 1;

[0008] Step 3: Calculate the intersection of the rear end face of the shield machine and the target curve based on the updated normal vector of the shield machine and the updated rear end center spatial point position, and calculate the updated deviation between the intersection and the updated rear end center spatial point position of the shield machine;

[0009] Step 4: Establish a local coordinate system with the updated rear end center spatial point of the shield machine as the local coordinate origin and the updated normal vector of the shield machine as the x-axis; calculate the center point and normal vector in the local coordinate system of the end face of the segment;

[0010] Step 5: Based on the positional relationship between the shield machine and the segments, calculate the future minimum shield tail gap and the future maximum cylinder stroke difference;

[0011] Step 6: Calculate a weighted score based on the score weight in step 1, the update deviation in step 3, and the future minimum shield tail clearance and the future maximum cylinder stroke difference in step 5;

[0012] Step 7: Based on the weighted score, determine whether the yaw angle and the pitch angle are the optimal yaw angle and the optimal pitch angle; if the judgment is yes, output the optimal yaw angle and the optimal pitch angle; if the judgment is no, return to step 2 to iterate until the judgment is yes.

[0013] Further preferably, in step 1, the method for calculating the score weight includes:

[0014]

[0015] θ=δ now / δ * +d maxnow / d * +(c′-c minnow ) / (c′-c * )

[0016] In the formula, Ψ δ represents the deviation score weight; Ψ d Indicates the cylinder stroke difference score weight; Ψ c represents the shield tail gap score weight; δ nowrepresents the current deviation; Θ represents the current score; δ * Indicates the standard value of deviation; d maxnow Indicates the maximum cylinder stroke difference of the current shield machine; d * represents the standard value of the cylinder stroke difference; c′ represents the standard shield tail clearance; c * Indicates the standard value of the shield tail gap; c minnow Indicates the minimum shield tail clearance of the current shield machine.

[0017] Further preferably, in step 2, the method for calculating the updated normal vector of the shield machine includes:

[0018]

[0019] In the formula, represents the updated normal vector of the shield machine; θ represents the pitch angle; φ represents the yaw angle;

[0020] The method for calculating the updated rear-end spatial point position of the shield machine includes:

[0021]

[0022] In the formula, O Mnow Indicates the rear center spatial point of the current shield machine; O M represents the updated rear-end center spatial point of the shield machine; d represents the forward distance of the shield machine; Represents the normal vector of the current shield machine.

[0023] Further preferably, the method for calculating the center point position in the local coordinate system of the end surface of the segment includes:

[0024] O′=(O S -O M )·R(γ,θ,φ),

[0025] In the formula, O S Represents the center point of the segment end surface in the global coordinate system; O M represents the updated rear-end center spatial point of the shield machine; R(γ,θ,φ) represents the rotation matrix;

[0026] The calculation method of the normal vector in the local coordinate system of the segment end includes:

[0027]

[0028] In the formula, Represents the normal vector of the segment end surface in the global coordinate system;

[0029] Among them, the rotation matrix is ​​established through the pitch angle and yaw angle of the shield machine in the future plan:

[0030]

[0031] Where θ is the pitch angle, φ is the yaw angle, and γ is the roll angle.

[0032] Further preferably, in step 5, based on the positional relationship between the shield machine and the segment, the position of the segment relative to the shield machine is obtained: O′=(x′, y′, z′),

[0033] The calculation method of the future maximum cylinder stroke difference includes:

[0034]

[0035] Where, d max Indicates the maximum cylinder stroke difference in the future; D C Represents the diameter of the circle formed by the strokes of multiple cylinders of the shield machine;

[0036] The calculation method of the future minimum shield tail clearance includes:

[0037] For any point on the segment in the local coordinate system, the position J′ is:

[0038]

[0039] Where D S represents the diameter of the outer end face of the segment; α represents the angle between O′J′ and the horizontal plane;

[0040] in,

[0041]

[0042] The shield tail gap at point J′ is:

[0043] c(α)=0.5D M -|J′|sin(arccos(J′·(1,0,0))),

[0044] Where D M Indicates the diameter of the shield tail of the shield machine;

[0045] The minimum value of the function c(α) is calculated using the gradient descent method to obtain the future minimum shield tail gap:

[0046]

[0047] Further preferably, in step 6, the method for calculating the weighted score includes:

[0048] Score=Ψ δ ·δ / δ * +Ψ d ·dmax / d * +Ψ c ·(c′-c min ) / (c′-c * );

[0049] Where δ represents the update deviation; Ψ δ represents the deviation score weight; Ψ d Indicates the cylinder stroke difference score weight; Ψ c represents the shield tail gap score weight; δ * Indicates the standard value of deviation; d * represents the standard value of the cylinder stroke difference; c′ represents the standard shield tail clearance; c * Indicates the standard value of the shield tail gap.

[0050] Compared with the prior art, the present invention has the following beneficial effects:

[0051] The present invention proposes a method for effectively calculating multiple future indicators under certain pitch angle and yaw angle conditions, and then optimizing the pitch angle and yaw angle of the shield machine with multiple indicators as optimization targets at the same time. In the prior art, there is only a method for calculating and optimizing a single indicator, and the calculation method requires geometric modeling, which is cumbersome and requires a large amount of calculation. The present invention only performs operations between vectors, which greatly reduces the calculation cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0053] Figure 1 The present invention is a schematic flow chart of a shield machine excavation posture planning method for multi-objective control optimization according to an embodiment of the present invention. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0056] Embodiment 1:

[0057] like Figure 1 As shown, this embodiment provides a shield machine excavation posture planning method for multi-objective control optimization. The shield excavation process is a cyclic iterative process. The method designed by the present invention obtains the optimal shield machine pitch angle and yaw angle by optimizing the weighted score of the shield tail gap, the cylinder stroke difference and the shield machine deviation in each step. Specifically, the optimization process of each step includes the following steps:

[0058] Step 1: Collect standard data of the shield machine, deviation data between the shield machine and the target curve, and the current pitch angle and yaw angle; and calculate the score weight based on the standard data and deviation data; the standard data include: standard value of engineering deviation, standard value of shield tail gap, standard value of cylinder stroke difference, standard shield tail gap, normal vector of the current shield machine and the rear end center spatial point of the current shield machine; the deviation data include: current deviation, current shield tail gap and current cylinder stroke difference.

[0059] The method for calculating the score weight includes:

[0060]

[0061] θ=δ now / δ * +d maxnow / d * +(c′-c minnow ) / (c′-c * )

[0062] In the formula, Ψ δ represents the deviation score weight; Ψ d Indicates the cylinder stroke difference score weight; Ψ c represents the shield tail gap score weight; δ now represents the current deviation; Θ represents the current score; δ * Indicates the standard value of deviation; d maxnow Indicates the maximum cylinder stroke difference of the current shield machine; d * represents the standard value of the cylinder stroke difference; c′ represents the standard shield tail clearance; c * Indicates the standard value of the shield tail gap; c minnow Indicates the minimum shield tail clearance of the current shield machine.

[0063] Step 2: Based on the planned pitch angle and yaw angle, the planned normal vector of the shield machine and the rear end center spatial point of the shield machine, calculate the updated normal vector and updated rear end center spatial point of the shield machine after moving forward a certain distance; during the iteration process, the first planned pitch angle and yaw angle, the planned normal vector of the shield machine and the rear end center spatial point of the shield machine use the current pitch angle and yaw angle, the normal vector of the current shield machine and the rear end center spatial point of the current shield machine in step 1.

[0064] The optimizer will determine the pitch angle and yaw angle that the shield machine should control in the future, and then calculate the normal vector of the shield machine and the corresponding rear-end center spatial point based on the pitch angle and yaw angle.

[0065] The method for calculating and updating the normal vector includes:

[0066]

[0067] In the formula, represents the updated normal vector of the shield machine; θ represents the pitch angle; φ represents the yaw angle.

[0068] The rear center space point of the current shield machine is O Mnow , it can be calculated that after the shield machine moves forward a distance d in the future, the updated rear-end center spatial point of the shield machine is:

[0069]

[0070] In the formula, O M represents the updated rear-end center spatial point of the shield machine; d represents the forward distance of the shield machine; Represents the normal vector of the current shield machine.

[0071] Step 3: Based on the updated normal vector of the shield machine and the updated rear end center space point, the intersection point of the rear end face of the shield machine and the target curve is calculated, and the updated deviation between the intersection point and the updated rear end center space point of the shield machine is calculated.

[0072] Since the updated normal vector of the shield machine and the updated rear-end center space point are calculated in step 2, it is equivalent to locating a surface in space (a point on this surface and the normal vector are known), and the target curve is a known space curve. The point on the curve closest to the surface is found by the iterative solution method as the intersection point between the known rear end surface of the shield machine and the curve. M The spatial distance between the shield machine and the target curve is δ.

[0073] Step 4: Use the updated rear-end center spatial point of the shield machine as the local coordinate origin and the updated normal vector of the shield machine as the x-axis to establish a local coordinate system; calculate the center point and normal vector in the local coordinate system of the end face of the segment.

[0074] The rotation matrix is ​​established based on the pitch angle and yaw angle of the shield machine in the future plan:

[0075]

[0076] Where θ is the pitch angle, φ is the yaw angle, and γ is the roll angle.

[0077] Among them, the current position of the segment in the global coordinate system can be read from the shield machine system, and the calculation method of the center point position in the local coordinate system of the segment end surface includes:

[0078] O′=(O S -O M )·R(γ,θ,φ), (5)

[0079] In the formula, O S Represents the center point of the segment end surface in the global coordinate system; O M represents the updated rear-end center spatial point of the shield machine; R(γ,θ,φ) represents the rotation matrix.

[0080] The calculation method of the normal vector in the local coordinate system of the segment end includes:

[0081]

[0082] In the formula, Represents the normal vector of the segment end surface in the global coordinate system.

[0083] Step 5: Based on the positional relationship between the shield machine and the segments, calculate the future minimum shield tail gap and the future maximum cylinder stroke difference.

[0084] Because the shield gap and cylinder stroke are related to the positions of the segments and the shield machine, and are only related to their relative positions, the position of the segments relative to the shield machine calculated in the previous step can simplify the calculation.

[0085] Specifically, based on the positional relationship between the shield machine and the segment, the position of the segment relative to the shield machine is obtained: O′=(x′, y′, z′),

[0086] The calculation method of the future maximum cylinder stroke difference includes:

[0087]

[0088] Where, d max Indicates the maximum cylinder stroke difference in the future; D C Represents the diameter of the circle formed by the strokes of multiple cylinders of the shield machine.

[0089] The calculation methods of the minimum shield tail clearance in the future include:

[0090] For any point J′ of the segment in the local coordinate system:

[0091]

[0092] Where D S represents the diameter of the outer end face of the segment; α represents the angle between O′J′ and the horizontal plane;

[0093] in,

[0094]

[0095] The shield tail gap at point J′ is:

[0096] c(α)=0.5D M -|J′|sin(arccos(J′·(1, 0, 0))), (10)

[0097] Where D M Indicates the diameter of the shield tail of the shield machine;

[0098] The gradient descent method is used to calculate the minimum value of the function c(α) to obtain the future minimum shield tail gap:

[0099]

[0100] Step 6: Calculate the weighted score based on the score weight in step 1, the updated bias in step 3, and the future minimum shield tail clearance and future maximum cylinder stroke difference in step 5.

[0101] The methods used to calculate the weighted scores include:

[0102] Score=Ψ δ ·δ / δ * +Ψ d ·d max / d * +Ψ c ·(c′-c min ) / (c′-c * ). (12)

[0103] Step 7: Based on the weighted scores, determine whether the yaw angle and the pitch angle are the optimal yaw angle and the optimal pitch angle; if the judgment is yes, output the optimal yaw angle and the optimal pitch angle; if the judgment is no, return to step 2 for an iterative loop until the judgment is yes.

[0104] Due to the deviation between the shield machine and the target curve, the shield tail gap and the cylinder stroke difference are all the smaller the better. Therefore, the optimization algorithm is used to determine whether the weighted score corresponding to the current pitch angle and yaw angle is optimal. If it is optimal, the optimization is terminated. If not, the optimizer generates a new pitch angle and yaw angle and calculates the weighted score again. Among them, the method for determining the optimal yaw angle and the optimal pitch angle includes: during 100 consecutive iterations, if the change rate of the weighted score is lower than the set threshold, it is determined to be optimal.

[0105] The embodiments described above are only descriptions of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A shield machine excavation posture planning method for multi-objective control optimization, characterized in that: The following steps are involved: Step 1: Collect standard data of the shield machine, deviation data between the shield machine and the target curve, and the current pitch angle and yaw angle; and calculate the score weight based on the standard data and the deviation data; the standard data includes: standard value of engineering deviation, standard value of shield tail gap, standard value of cylinder stroke difference, standard shield tail gap, normal vector of the current shield machine, and the rear end center spatial point of the current shield machine; the deviation data includes: current deviation, current shield tail gap, and current cylinder stroke difference; Step 2: Calculate the updated normal vector and the updated rear end center spatial point of the shield machine after it moves forward a certain distance based on the planned pitch angle and yaw angle, the planned normal vector of the shield machine, and the rear end center spatial point of the shield machine; during the iteration process, the first planned pitch angle and yaw angle, the planned normal vector of the shield machine, and the rear end center spatial point of the shield machine use the current pitch angle and yaw angle, the normal vector of the current shield machine, and the rear end center spatial point of the current shield machine in step 1; Step 3: Calculate the intersection of the rear end face of the shield machine and the target curve based on the updated normal vector of the shield machine and the updated rear end center spatial point position, and calculate the updated deviation between the intersection and the updated rear end center spatial point position of the shield machine; Step 4: Establish a local coordinate system with the updated rear end center spatial point of the shield machine as the local coordinate origin and the updated normal vector of the shield machine as the x-axis; calculate the center point and normal vector in the local coordinate system of the end face of the segment; Step 5: Based on the positional relationship between the shield machine and the segments, calculate the future minimum shield tail gap and the future maximum cylinder stroke difference; Step 6: Calculate a weighted score based on the score weight in step 1, the update deviation in step 3, and the future minimum shield tail clearance and the future maximum cylinder stroke difference in step 5; Step 7: Based on the weighted score, determine whether the yaw angle and the pitch angle are the optimal yaw angle and the optimal pitch angle; if the judgment is yes, output the optimal yaw angle and the optimal pitch angle; if the judgment is no, return to step 2 to iterate until the judgment is yes.

2. According to the method of shield machine excavation posture planning for multi-objective control optimization as described in claim 1, it is characterized in that: In step 1, the method for calculating the score weight includes: In the formula, Ψ δ represents the deviation score weight; Ψ d Indicates the cylinder stroke difference score weight; Ψ c represents the shield tail gap score weight; δ now represents the current deviation; Θ represents the current score; δ * Indicates the standard value of deviation; d maxnow Indicates the maximum cylinder stroke difference of the current shield machine; d * represents the standard value of the cylinder stroke difference; c′ represents the standard shield tail clearance; c * Indicates the standard value of the shield tail gap; c minnow Indicates the minimum shield tail clearance of the current shield machine.

3. According to the method of shield machine excavation posture planning for multi-objective control optimization as described in claim 1, it is characterized in that: In step 2, the method for calculating the updated normal vector of the shield machine includes: In the formula, represents the updated normal vector of the shield machine; θ represents the pitch angle; φ represents the yaw angle; The method for calculating the updated rear-end spatial point position of the shield machine includes: In the formula, O Mnow Indicates the rear center spatial point of the current shield machine; O M represents the updated rear-end center spatial point of the shield machine; d represents the forward distance of the shield machine; Represents the normal vector of the current shield machine.

4. According to the method of shield machine excavation posture planning for multi-objective control optimization as described in claim 1, it is characterized in that: The calculation method of the center point position in the local coordinate system of the end surface of the segment includes: O′=(O S -O M )·R(γ,θ,φ), In the formula, O S Represents the center point of the segment end surface in the global coordinate system; O M represents the updated rear-end center spatial point of the shield machine; R(γ,θ,φ) represents the rotation matrix; The calculation method of the normal vector in the local coordinate system of the segment end includes: In the formula, Represents the normal vector of the segment end surface in the global coordinate system; Among them, the rotation matrix is ​​established through the pitch angle and yaw angle of the shield machine in the future plan: Where θ is the pitch angle, φ is the yaw angle, and γ is the roll angle.

5. According to the method of shield machine excavation posture planning for multi-objective control optimization as described in claim 4, it is characterized in that: In step 5, based on the positional relationship between the shield machine and the segment, the position of the segment relative to the shield machine is obtained: The calculation method of the future maximum cylinder stroke difference includes: Where, d max Indicates the maximum cylinder stroke difference in the future; D C Represents the diameter of the circle formed by the strokes of multiple cylinders of the shield machine; The calculation method of the future minimum shield tail clearance includes: For any point on the segment in the local coordinate system, the position J′ is: Where D S represents the diameter of the outer end face of the segment; α represents the angle between O′J′ and the horizontal plane; in, The shield tail gap at point J′ is: c(α)=0.5D M -|J′sin(arccos(J′·(1,0,0))), Where D M Indicates the diameter of the shield tail of the shield machine; The minimum value of the function c(α) is calculated using the gradient descent method to obtain the future minimum shield tail gap:

6. The shield machine excavation posture planning method for multi-objective control optimization according to claim 5 is characterized in that: In step 6, the method for calculating the weighted score includes: Score=Ψ δ ·n / n * +Ψ d ·d max / d * +Ψ c ·(c′-c min ) / (c′-c * ); Where δ represents the update deviation; Ψ δ represents the deviation score weight; Ψ d Indicates the cylinder stroke difference score weight; Ψ c represents the shield tail gap score weight; δ * Indicates the standard value of deviation; d * represents the standard value of the cylinder stroke difference; c′ represents the standard shield tail clearance; c * Indicates the standard value of the shield tail gap.

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