Shield tunneling attitude control method and system based on digital twinning

Abstract

The invention belongs to the technical field of shield tunneling attitude control, and discloses a shield tunneling attitude control method and system based on digital twinning, and the method comprises the steps: building a shield tunneling machine and a digital twinning model corresponding to the actual operation state of the shield tunneling machine based on tunneling parameters, environmental geological parameters and tunnel geometric parameters in the tunneling process of the shield tunneling machine; the current total thrust of a hydraulic oil cylinder of the shield tunneling machine propelling system is obtained, the current total thrust is input into the digital twinborn model, and the current current of a proportional overflow valve in the shield tunneling machine propelling system is obtained; based on the direct proportion relation between the current of the proportional overflow valve and the total thrust of the hydraulic oil cylinder, the current current of the proportional overflow valve is adjusted so as to correspondingly adjust the current total thrust of the hydraulic oil cylinder, the axis deviation of the shield tunneling machine corresponding to the adjusted total thrust approaches zero, and the needed current total thrust of the hydraulic oil cylinder is obtained; and controlling tunneling of the shield tunneling machine by using the required current total thrust of the hydraulic oil cylinder. The control precision of the tunneling posture of the shield tunneling machine can be improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of shield tunneling posture control, and more specifically, relates to a shield tunneling posture control method and system based on digital twin. Background Art

[0002] The shield machine is an important equipment in tunnel excavation, and precise control of its excavation posture is crucial to project quality and construction safety.

[0003] Traditional shield tunneling posture control mainly relies on manual experience and real-time monitoring by sensors, and the shield driver adjusts the pressure of the propulsion hydraulic cylinder based on the feedback data from the guidance measurement system. In fact, the control of shield tunneling posture not only requires real-time monitoring, but also requires consideration of multi-dimensional factors in the tunneling process, including surrounding geological conditions, tunnel geometry, and shield machine tunneling parameters. Adjustment based solely on traditional sensor technology and operator experience can no longer meet the high-precision control requirements of tunneling posture for high-quality projects. Summary of the invention

[0004] In view of the above defects or improvement needs of the prior art, the present invention provides a shield tunneling posture control method and system based on digital twin, which aims to improve the control accuracy of the shield machine's tunneling posture.

[0005] To achieve the above object, the present invention provides a shield tunneling posture control method based on digital twin, comprising:

[0006] Based on the tunneling parameters, environmental geological parameters and tunnel geometry parameters of the shield machine during tunneling, a digital twin model corresponding to the shield machine and its actual operating status is constructed;

[0007] Obtaining the current total thrust of the hydraulic cylinder of the shield machine propulsion system, and inputting the current total thrust into the digital twin model to obtain the current current of the proportional relief valve in the shield machine propulsion system;

[0008] Based on the proportional relationship between the current of the proportional relief valve and the total thrust of the hydraulic cylinder, the current current of the proportional relief valve is adjusted to correspond to the current total thrust of the hydraulic cylinder, so that the axis deviation of the shield machine corresponding to the adjusted total thrust approaches 0, thereby obtaining the required current total thrust of the hydraulic cylinder;

[0009] The shield machine excavation is controlled by the current total thrust of the required hydraulic cylinders.

[0010] Furthermore, before obtaining the current total thrust of the hydraulic cylinder of the shield machine propulsion system, it also includes:

[0011] Divide the hydraulic cylinder into four partitions: up, down, left, and right; obtain the total thrust corresponding to the hydraulic cylinders of the four partitions based on the current total thrust of the hydraulic cylinder;

[0012] Correspondingly, the shield machine axis deviation is calculated based on the current total thrust of the hydraulic cylinder, including:

[0013] The current equivalent displacement of each partition hydraulic cylinder is calculated according to the current total thrust of each partition hydraulic cylinder; among them, the difference between the equivalent displacements of the upper and lower partition hydraulic cylinders is the current vertical axis deviation of the shield machine, and the difference between the equivalent displacements of the left and right partition hydraulic cylinders is the current horizontal axis deviation of the shield machine.

[0014] Furthermore, the current current of the proportional relief valve is controlled in a closed loop through a PI, PID or PSO-PID control algorithm to achieve adjustment of the current current of the proportional relief valve.

[0015] Furthermore, the excavation parameters, environmental geological parameters and tunnel geometric parameters are collected by a base station arranged near the shield machine; the excavation parameters, environmental geological parameters and tunnel geometric parameters are transmitted and stored in a cloud data server through 5G technology; and the digital twin model is constructed based on the data stored in the cloud data server.

[0016] Furthermore, before the excavation parameters, environmental geological parameters and tunnel geometric parameters are transmitted to the cloud data server, it also includes: using an edge computing processing unit to pre-process the excavation parameters, environmental geological parameters and tunnel geometric parameters.

[0017] Furthermore, the preprocessing includes: denoising and formatting the excavation parameters, environmental geological parameters and tunnel geometric parameters to filter out abnormal data.

[0018] Furthermore, the tunnel geometric parameters include tunnel deflection, segment assembly points and tunnel burial depth; the environmental geological parameters include cover height, water body weight, soil cohesion, height from upper water head to top of shield machine, natural weight of soil, stratum composite ratio and permeability coefficient; the excavation parameters include hydraulic cylinder thrust of shield machine, soil bin pressure, cutter head torque, grouting pressure, excavation speed, synchronous grouting amount and foam agent addition amount.

[0019] The present invention also provides a shield tunneling posture control system based on digital twin, including a computer-readable storage medium and a processor;

[0020] The computer-readable storage medium is used to store executable instructions;

[0021] The processor is used to read the executable instructions stored in the computer-readable storage medium to execute any of the shield tunneling posture control methods described above.

[0022] The present invention also provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the shield tunneling posture control method as described in any one of the above items is implemented.

[0023] The present invention also provides a computer program product, comprising a computer program, which, when executed on a computer, enables the computer to execute any one of the above-mentioned shield tunneling posture control methods.

[0024] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects:

[0025] (1) The digital twin-based shield tunneling posture control method of the present invention can accurately and dynamically simulate the posture changes of the shield machine during tunneling by constructing a digital twin model of the shield machine, and provide real-time and forward-looking decision support for posture control. Based on the digital twin model of the shield machine, the current axis deviation of the shield machine is dynamically analyzed to obtain the optimal current total thrust of the hydraulic cylinder, and the shield machine tunneling is controlled by the optimal current total thrust of the hydraulic cylinder. The method of the present invention realizes real-time adjustment of the posture of the shield machine, ensures the stability and response speed of the tunneling posture of the shield machine under complex geological conditions, and improves the control accuracy of the tunneling posture of the shield machine.

[0026] (2) Furthermore, the method of the present invention divides the hydraulic cylinder into four partitions, namely, upper, lower, left, and right, and calculates the current equivalent displacement A of the hydraulic cylinder in each partition according to the total thrust of each partition. i , i takes {1,2,3,4}, the difference in equivalent displacements of the upper and lower partition hydraulic cylinders is the current vertical axis deviation of the shield machine, and the difference in equivalent displacements of the left and right partition hydraulic cylinders is the current lateral axis deviation of the shield machine. By adjusting the vertical axis deviation and the lateral axis deviation in real time, the simultaneous control of the lateral and vertical postures of the shield machine during excavation is guaranteed, further improving the control accuracy of the shield machine's excavation posture; and, the computational complexity of the control is also reduced through partitioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of a shield tunneling posture control method based on digital twin in an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0029] Example 1

[0030] like Figure 1 As shown, the embodiment of the present invention provides a shield tunneling posture control method based on digital twin, which mainly includes:

[0031] S1. At the physical layer, the tunneling parameters of the shield machine are monitored by a high-precision sensor array deployed on and around the shield machine, and the environmental geological parameters and tunnel geometry parameters are obtained; wherein the tunneling parameters of the shield machine are used to characterize the posture data of the shield machine. Using advanced Internet of Things technology, the data of each sensor is transmitted to the base station through a wireless communication protocol and integrated into the cloud data server. Preferably, before the acquired data is transmitted to the cloud data server, the data is also pre-processed by an edge computing processing unit; wherein the edge computing processing unit is deployed on an edge node near the sensor to improve the response speed and reduce the burden of cloud data processing.

[0032] S2. On the virtual layer, the shield machine and its actual operating status are mapped into a corresponding digital twin model based on the real-time data stored on the cloud data server; wherein the digital twin model mainly reflects the twin model of the shield propulsion hydraulic system;

[0033] S3. At the service layer, the current axis deviation of the shield machine is dynamically analyzed based on the digital twin model. Based on the dynamic analysis results of the current axis deviation, the shield tunneling posture is controlled by a control method, and the control results are returned to the virtual layer and the physical layer in real time to ensure the accuracy and response speed of the posture control.

[0034] Specifically, in S1, the tunnel geometric parameters mainly include tunnel deflection, segment assembly points and tunnel burial depth. Environmental geological parameters mainly include soil cover height, water body weight, soil cohesion, height from upper water head to shield machine top, soil natural weight, stratum composite ratio and permeability coefficient. Since the shield machine propulsion system is the core system of the shield machine, in the implementation of the present invention, the data obtained by the sensor array mainly include the hydraulic cylinder thrust, soil bin pressure, cutter head torque, grouting pressure, excavation speed, synchronous grouting amount and foaming agent addition amount of the shield machine.

[0035] In this embodiment, the main sensors for obtaining tunneling parameters include inclination sensors, pressure sensors, torque sensors, etc. This sensor network realizes all-round monitoring of the shield machine's posture. The soil-related sensors arranged along the shield tunneling route are used to obtain relevant environmental geological parameters and monitor the changes in the mechanical properties of the soil in real time, such as the cohesion and permeability of the soil, to ensure that the shield posture adjustment can fully consider the dynamic changes of geological conditions. Various sensors collect data in real time at a high sampling rate, and pre-process the data through the built-in processing unit to ensure the validity and continuity of the collected data.

[0036] The base station deployed near the shield machine is responsible for collecting and aggregating the raw data stream uploaded by the sensor network. The base station receives monitoring data from multiple sensors and synchronizes the data to ensure the timeliness and consistency of data collection. The collected data is preliminarily denoised and formatted to filter out abnormal data to ensure that the data transmitted to the cloud (cloud data server) is accurate and reliable.

[0037] The data from multiple base stations are integrated through a gateway device installed at the shield operation site. The gateway has high-performance computing capabilities and can classify and label the data. The integrated data is uploaded to the cloud data server through the gateway device for further processing. The gateway adopts a priority processing mechanism to ensure that key data (such as hydraulic cylinder thrust) is uploaded first, so as to ensure real-time monitoring and response to data changes during the shield excavation process.

[0038] In this embodiment, data transmission is based on 5G technology. Using 5G technology for data transmission can ensure the real-time and stability of shield attitude monitoring data, reduce delays and packet loss problems in data transmission, ensure the reliability of cloud data analysis, and achieve real-time response to dynamic changes in the shield tunneling process.

[0039] As a preferred implementation method, the relevant data collected by the sensor is first processed on the edge node close to the shield machine, mainly including data anomaly detection and basic statistical analysis. The edge node has independent processing capabilities and can process key data before uploading the data to the cloud, effectively reducing the computing load of the cloud server. Through edge computing, some key control parameters (such as the hydraulic cylinder thrust in the shield tunneling parameters) are localized and responded to in real time to prevent major posture deviations of the shield machine.

[0040] As a preferred implementation method, in S2, a digital twin model corresponding to the shield machine and its actual operating status is constructed based on various data collected on the physical layer. The digital twin model includes real-time dynamic modeling of the shield machine and its excavation process from four dimensions: geometry, structure, rules, and behavior.

[0041] The geometric model describes the physical shape and spatial relationship between the shield machine and the surrounding geological environment. This includes the size, shape, relative position, etc. of each component of the shield machine, as well as the topography around the shield machine, and can accurately present the physical characteristics of the shield machine and its surrounding environment in digital space. In this embodiment, the geometric model of the shield machine and its surrounding environment is constructed based on the geometric parameter data collected in the physical layer through the SolidWorks 3D modeling software.

[0042] The rule model defines the rules and shield attitude adjustment strategies that should be followed during shield tunneling, including safety specifications, operating standards, and control logic. In the digital twin model, the rule model is used to guide the behavior simulation of the shield machine to ensure that all control strategies comply with established rules and standards, thereby preventing operational errors and reducing risks. In this embodiment, Simulink and AMESim software are used to construct a rule model based on the control rules and strategies during shield tunneling. At the same time, AMESim is used to simulate the operating rules of the hydraulic system to ensure that the control of the shield tunneling attitude meets the established working conditions.

[0043] The structural model involves the internal structure and mechanical composition of the shield machine, including the physical and mechanical properties of each internal component of the shield machine, which helps to analyze and predict the posture of the shield machine during the excavation process. In this embodiment, the structural model of the shield machine is constructed by using Ansys Mechanical software based on the finite element analysis (FEA) method.

[0044] In this embodiment, MSC Adams software is used to construct a behavior model of the shield machine based on the dynamic simulation method. The behavior model is used to simulate the dynamic behavior of the shield machine under different operating conditions, including the posture change, response speed and strategy of dealing with obstacles of the shield machine in different geological environments. Kinematic simulation is performed by MSC Adams to analyze the interaction between the shield machine propulsion system and the soil to ensure that the shield machine can adjust its posture quickly and stably during the excavation process.

[0045] S3 includes:

[0046] S31. Select the hydraulic cylinder of the shield machine propulsion system as the main control object, and obtain the current total thrust of the hydraulic cylinder; input the current total thrust into the digital twin model to obtain the current current of the proportional relief valve in the shield machine propulsion system;

[0047] S32, based on the proportional relationship between the current of the proportional relief valve and the total thrust of the hydraulic cylinder, adjusting the current current of the proportional relief valve to correspond to the current total thrust of the hydraulic cylinder, so that the shield machine axis deviation corresponding to the adjusted total thrust approaches 0, and the required current total thrust of the hydraulic cylinder is obtained;

[0048] S33. Use the required total thrust of the hydraulic cylinder to control the tunneling of the shield machine.

[0049] As a preferred implementation, in S31, before obtaining the current total thrust of the hydraulic cylinder, it also includes: dividing the hydraulic cylinder into four partitions: up, down, left and right; and obtaining the total thrusts corresponding to the hydraulic cylinders of the four partitions based on the current total thrust of the hydraulic cylinder.

[0050] Correspondingly, in S32, the corresponding shield machine axis deviation is calculated according to the current total thrust of the hydraulic cylinder, including:

[0051] Calculate the current equivalent displacement A of each partition hydraulic cylinder according to the current total thrust of each partition hydraulic cylinder i , i takes {1,2,3,4}, indicating the current equivalent displacement of the hydraulic cylinder in the i-th partition;

[0052] The difference in equivalent displacements of the upper and lower partition hydraulic cylinders is the current vertical axis deviation of the shield machine, and the difference in equivalent displacements of the left and right partition hydraulic cylinders is the current horizontal axis deviation of the shield machine.

[0053] As a preferred implementation method, in S32, the current current of the proportional overflow valve is closed-loop controlled through PI, PID or PSO-PID (adaptive particle swarm optimization-proportional integral differential) control algorithm to adjust the current current of the proportional overflow valve.

[0054] The digital twin-based shield tunneling posture control method of the present invention can accurately and dynamically simulate the posture changes of the shield machine during tunneling by constructing a digital twin model of the shield machine, and provide real-time and forward-looking decision support for posture control. Based on the digital twin model of the shield machine, the current axis deviation of the shield machine is dynamically analyzed to obtain the optimal current total thrust of the hydraulic cylinder, and the shield machine tunneling is controlled by the optimal current total thrust of the hydraulic cylinder. The method of the present invention realizes real-time adjustment of the posture of the shield machine, ensures the stability and response speed of the tunneling posture of the shield machine under complex geological conditions, and improves the control accuracy of the tunneling posture of the shield machine.

[0055] Furthermore, the method of the present invention divides the hydraulic cylinder into four partitions, namely, upper, lower, left, and right, and calculates the current equivalent displacement A of the hydraulic cylinder in each partition according to the total thrust of each partition. i , i takes {1,2,3,4}, the difference in equivalent displacements of the upper and lower partition hydraulic cylinders is the current vertical axis deviation of the shield machine, and the difference in equivalent displacements of the left and right partition hydraulic cylinders is the current lateral axis deviation of the shield machine. By adjusting the vertical axis deviation and the lateral axis deviation in real time, the simultaneous control of the lateral and vertical postures of the shield machine during excavation is guaranteed, further improving the control accuracy of the shield machine's excavation posture; and, the computational complexity of the control is also reduced through partitioning.

[0056] The present invention automatically collects and transmits data at the physical layer through Internet of Things sensors, thereby ensuring the real-time and integrity of data during the excavation process and reducing human intervention and errors in the data collection process.

[0057] The present invention forms an adaptive closed-loop control system by feeding back the control results to the virtual layer and the physical layer in real time, ensuring that the shield machine can respond to various changes in a timely manner during the entire excavation process, achieve precise control of the shield excavation posture, and reduce the impact of posture deviation on construction quality and safety.

[0058] Example 2

[0059] The present invention also provides a shield tunneling posture control system based on digital twin, including a computer-readable storage medium and a processor;

[0060] Computer-readable storage media for storing executable instructions;

[0061] The processor is used to read the executable instructions stored in the computer-readable storage medium to execute the shield tunneling posture control method in the above-mentioned embodiment 1.

[0062] The relevant technical solutions are the same as above and will not be described in detail here.

[0063] Example 3

[0064] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the shield tunneling posture control method in the above-mentioned embodiment 1 is implemented.

[0065] The relevant technical solutions are the same as above and will not be described in detail here.

[0066] Example 4

[0067] The present invention also provides a computer program product, including a computer program. When the computer program is run on a computer, the computer executes the shield tunneling posture control method in the above-mentioned embodiment 1.

[0068] The relevant technical solutions are the same as above and will not be described in detail here.

[0069] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A shield tunneling posture control method based on digital twin, characterized in that: include: Based on the tunneling parameters, environmental geological parameters and tunnel geometry parameters of the shield machine during tunneling, a digital twin model corresponding to the shield machine and its actual operating status is constructed; Obtaining the current total thrust of the hydraulic cylinder of the shield machine propulsion system, and inputting the current total thrust into the digital twin model to obtain the current current of the proportional relief valve in the shield machine propulsion system; Based on the proportional relationship between the current of the proportional relief valve and the total thrust of the hydraulic cylinder, the current current of the proportional relief valve is adjusted to correspond to the current total thrust of the hydraulic cylinder, so that the axis deviation of the shield machine corresponding to the adjusted total thrust approaches 0, thereby obtaining the required current total thrust of the hydraulic cylinder; The shield machine excavation is controlled by the current total thrust of the required hydraulic cylinders.

2. The shield tunneling posture control method according to claim 1, characterized in that: Before obtaining the current total thrust of the hydraulic cylinder of the shield machine propulsion system, it also includes: Divide the hydraulic cylinder into four partitions: up, down, left, and right; obtain the total thrust corresponding to the hydraulic cylinders of the four partitions based on the current total thrust of the hydraulic cylinder; Correspondingly, the shield machine axis deviation is calculated based on the current total thrust of the hydraulic cylinder, including: The current equivalent displacement of each partition hydraulic cylinder is calculated according to the current total thrust of each partition hydraulic cylinder; among them, the difference between the equivalent displacements of the upper and lower partition hydraulic cylinders is the current vertical axis deviation of the shield machine, and the difference between the equivalent displacements of the left and right partition hydraulic cylinders is the current horizontal axis deviation of the shield machine.

3. The shield tunneling posture control method according to claim 1 or 2, characterized in that: Through the PI, PID or PSO-PID control algorithm, the current current of the proportional relief valve is closed-loop controlled to achieve the adjustment of the current current of the proportional relief valve.

4. The shield tunneling posture control method according to claim 1, characterized in that: The excavation parameters, environmental geological parameters and tunnel geometric parameters are collected by a base station arranged near the shield machine; the excavation parameters, environmental geological parameters and tunnel geometric parameters are transmitted and stored in a cloud data server through 5G technology; and the digital twin model is constructed based on the data stored in the cloud data server.

5. The shield tunneling posture control method according to claim 4, characterized in that: Before the excavation parameters, environmental geological parameters and tunnel geometric parameters are transmitted to the cloud data server, it also includes: using an edge computing processing unit to pre-process the excavation parameters, environmental geological parameters and tunnel geometric parameters.

6. The shield tunneling posture control method according to claim 5, characterized in that: The preprocessing includes: performing denoising and formatting processing on the excavation parameters, environmental geological parameters and tunnel geometric parameters to filter out abnormal data.

7. The shield tunneling posture control method according to claim 1, characterized in that: The tunnel geometric parameters include tunnel deflection, segment assembly points and tunnel burial depth; the environmental geological parameters include cover height, water body weight, soil cohesion, height from upper water head to top of shield machine, natural weight of soil, stratum composite ratio and permeability coefficient; the excavation parameters include hydraulic cylinder thrust of shield machine, soil bin pressure, cutter head torque, grouting pressure, excavation speed, synchronous grouting amount and foam agent addition amount.

8. A shield tunneling attitude control system based on digital twin, characterized in that: comprising a computer readable storage medium and a processor; The computer-readable storage medium is used to store executable instructions; The processor is used to read the executable instructions stored in the computer-readable storage medium to execute the shield tunneling posture control method described in any one of claims 1-7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by the processor, the shield tunneling posture control method as described in any one of claims 1 to 7 is implemented.

10. A computer program product, characterized in that It includes a computer program, which, when running on a computer, enables the computer to execute the shield tunneling posture control method described in any one of claims 1-7.

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