Shield tunneling posture control method and system based on digital twinning

Abstract

The application belongs to the technical field of shield tunneling posture control, and discloses a shield tunneling posture control method and system based on digital twinning, which comprises the following steps: based on the tunneling parameters, environmental geological parameters and tunnel geometric parameters in the shield tunneling process, a digital twinning model corresponding to the shield tunneling machine and its actual running state is constructed; the current total thrust of the hydraulic oil cylinder of the shield tunneling machine propulsion system is obtained, and the current total thrust is input into the digital twinning model to obtain the current current of the proportional relief valve in the shield tunneling machine propulsion system; based on the proportional relationship between the current of the proportional relief valve and the total thrust of the hydraulic oil cylinder, the current of the proportional relief valve is adjusted to correspondingly adjust the current total thrust of the hydraulic oil cylinder, so that the adjusted total thrust corresponding to the shield tunneling machine axis deviation tends to 0, and the required current total thrust of the hydraulic oil cylinder is obtained; and the shield tunneling machine is controlled by using the required current total thrust of the hydraulic oil cylinder. The application can improve the control accuracy of the shield tunneling posture.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of shield tunneling posture control, and more particularly relates to a shield tunneling posture control method and system based on digital twinning. BACKGROUND

[0002] A shield tunneling machine is an important device in tunneling, and accurate control of its tunneling posture is crucial to engineering 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 according to the feedback data of the guide measurement system. In fact, the control of the shield tunneling posture not only needs real-time monitoring, but also needs to consider the multi-dimensional factors in the tunneling process, including the surrounding geological conditions, the tunnel geometric structure and the shield tunneling parameters. Relying only on traditional sensor technology and the experience of operators to adjust cannot meet the high-precision control requirements of the tunneling posture for high-quality projects. SUMMARY

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

[0005] To achieve the above-mentioned purpose, according to the application, a shield tunneling posture control method based on digital twinning is provided, comprising:

[0006] Based on the tunneling parameters, environmental geological parameters and tunnel geometric parameters in the shield tunneling process, a digital twin model corresponding to the shield tunneling machine and its actual running state is constructed;

[0007] The current total thrust of the hydraulic cylinder of the shield tunneling machine propulsion system is obtained, and the current total thrust is input into the digital twin model to obtain the current electric current of the proportional relief valve in the shield tunneling machine propulsion system;

[0008] Based on the proportional relationship between the electric current of the proportional relief valve and the total thrust of the hydraulic cylinder, the current electric current of the proportional relief valve is adjusted to correspondingly adjust the current total thrust of the hydraulic cylinder, so that the adjusted total thrust corresponds to a shield machine axis deviation close to 0, and the required current total thrust of the hydraulic cylinder is obtained;

[0009] The required current total thrust of the hydraulic cylinder is used to control the shield tunneling.

[0010] Further, before obtaining the current total thrust of the hydraulic cylinder of the shield tunneling machine propulsion system, it further comprises:

[0011] The hydraulic oil cylinder is divided into four sub-zones of up, down, left and right; the total thrust of the hydraulic oil cylinder is obtained based on the current total thrust of the hydraulic oil cylinder to obtain the total thrust corresponding to the four sub-zones of the hydraulic oil cylinder;

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

[0013] The equivalent displacement of each sub-zone hydraulic oil cylinder is calculated according to the current total thrust of each sub-zone hydraulic oil cylinder; wherein the difference between the equivalent displacements of the up and down sub-zone hydraulic oil cylinders is the current vertical axis deviation of the shield machine, and the difference between the equivalent displacements of the left and right sub-zone hydraulic oil cylinders is the current horizontal axis deviation of the shield machine.

[0014] Further, the current current of the proportional overflow valve is closed-loop controlled through a PI, PID or PSO-PID control algorithm to realize adjustment of the current of the proportional overflow valve.

[0015] Further, the tunneling parameters, environmental geological parameters and tunnel geometric parameters are collected through a base station arranged near the shield machine; the tunneling parameters, environmental geological parameters and tunnel geometric parameters are transmitted and stored to 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] Further, before the tunneling parameters, environmental geological parameters and tunnel geometric parameters are transmitted to the cloud data server, the tunneling parameters, environmental geological parameters and tunnel geometric parameters are preprocessed by an edge computing processing unit.

[0017] Further, the preprocessing includes denoising and formatting processing of the tunneling parameters, environmental geological parameters and tunnel geometric parameters to screen out abnormal data.

[0018] Further, the tunnel geometric parameters include a tunnel deflection amount, a segment assembling point and a tunnel burial depth; the environmental geological parameters include a covering height, a water body specific gravity, a soil cohesion, a height from an upper water head to a top point of the shield machine, a soil natural specific gravity, a stratum composite ratio and a permeability coefficient; and the tunneling parameters include a hydraulic cylinder thrust of the shield machine, a soil chamber pressure, a cutter head torque, a grouting pressure, a tunneling speed, a synchronous grouting amount and a foam agent addition amount.

[0019] The application further provides a shield tunneling posture control system based on digital twinning, including a computer readable storage medium and a processor;

[0020] The computer readable storage medium is used for storing executable instructions;

[0021] The processor is used for reading the executable instructions stored in the computer readable storage medium to execute the shield tunneling posture control method of any one of the above.

[0022] The application further provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to realize the shield tunneling posture control method according to any one of the above.

[0023] The application further provides a computer program product, which comprises a computer program, and the computer program enables a computer to execute the shield tunneling posture control method according to any one of the above when the computer program is run on the computer.

[0024] Overall, the above technical solutions conceived by the application can achieve the following beneficial effects:

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

[0026] (2) Further, in the method of the application, the hydraulic cylinder is divided into four sub-zones, the current equivalent displacement A i , i takes {1, 2, 3, 4}, the difference between the equivalent displacements of the upper and lower sub-zone hydraulic cylinders is the current vertical axis deviation of the shield tunneling machine, and the difference between the equivalent displacements of the left and right sub-zone hydraulic cylinders is the current horizontal axis deviation of the shield tunneling machine. By simultaneously adjusting the vertical axis deviation and the horizontal axis deviation in real time, the horizontal and vertical postures during the tunneling process of the shield tunneling machine are simultaneously controlled, and the control accuracy of the tunneling posture of the shield tunneling machine is further improved. Furthermore, the partitioning reduces the computational complexity of the control. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 FIG. 1 is a schematic diagram of the shield tunneling posture control method based on digital twinning in the embodiments of the application. DETAILED DESCRIPTION

[0028] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application. In addition, the technical features involved in the various embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0029] Embodiment 1

[0030] As Figure 1 shown, the embodiment of the present application provides a shield tunneling posture control method based on digital twinning, mainly comprising:

[0031] S1, on the physical layer, through the high-precision sensor array deployed on the shield tunneling machine and its periphery, the tunneling parameters of the shield tunneling machine are obtained, and the environmental geological parameters and the tunnel geometric parameters are obtained; wherein the tunneling parameters of the shield tunneling machine are used to represent the posture data of the shield tunneling machine. Using advanced Internet of Things technology, the sensor data is transmitted to the base station and integrated into the cloud data server through the wireless communication protocol. Preferably, before the obtained data is transmitted to the cloud data server, the data is also subjected to preliminary data preprocessing through an edge computing processing unit; wherein the edge computing processing unit is deployed on the 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 tunneling machine and its actual running state are mapped to the corresponding digital twinning model based on the real-time data stored on the cloud data server; wherein the digital twinning model mainly reflects the twinning model of the shield tunneling hydraulic system;

[0033] S3, on the service layer, based on the digital twinning model, the current axis deviation of the shield tunneling machine is dynamically analyzed, based on the dynamic analysis result of the current axis deviation, the control method is used to control the shield tunneling posture, and the control result is 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 point, tunnel burial depth and other parameters. The environmental geological parameters mainly include soil cover height, water body specific gravity, soil cohesion, height from upper water head to shield tunneling machine vertex, soil natural specific gravity, stratum composite ratio and permeability coefficient, etc. Since the shield tunneling machine propulsion system is the core system of the shield tunneling machine, therefore, in the embodiment of the present application, the data obtained by the sensor array mainly includes the hydraulic cylinder thrust of the shield tunneling machine, the soil bin pressure, the cutter head torque, the grouting pressure, the tunneling speed, the synchronous grouting amount and the foam agent addition amount, etc.

[0035] In this embodiment, the main sensors for acquiring tunneling parameters include tilt sensors, pressure sensors, and torque sensors. This sensor network enables comprehensive monitoring of the tunnel boring machine's (TBM) attitude. Various soil-related sensors deployed along the TBM tunneling route are used to acquire relevant environmental geological parameters and monitor changes in soil mechanical properties in real time, such as soil cohesion and permeability coefficient, ensuring that TBM attitude adjustments fully consider dynamic changes in geological conditions. All types of sensors collect data in real time at a high sampling rate, and the data is preprocessed by a built-in processing unit to ensure the validity and continuity of the collected data.

[0036] Base stations deployed near the tunnel boring machine are responsible for collecting and aggregating the raw data streams uploaded by the sensor network. The base stations receive monitoring data from various sensors and perform synchronization processing to ensure the timeliness and consistency of data acquisition. The collected data undergoes preliminary noise reduction and formatting to filter out abnormal data, ensuring the accuracy and reliability of the data transmitted to the cloud (cloud data server).

[0037] A gateway device installed at the tunnel boring machine (TBM) operation site integrates data from multiple base stations. This gateway possesses high-performance computing capabilities, enabling it to classify and tag the data. The integrated data is then uploaded to a cloud data server for further processing. The gateway employs a priority processing mechanism to ensure that critical data (such as hydraulic cylinder thrust) is uploaded first, guaranteeing real-time monitoring and response to data changes during the TBM tunneling process.

[0038] In this embodiment, data transmission is based on 5G technology. Using 5G technology for data transmission ensures the real-time performance and stability of the tunnel boring machine (TBM) attitude monitoring data, reduces latency and packet loss during data transmission, guarantees the reliability of cloud-based data analysis, and enables real-time response to dynamic changes during the TBM tunneling process.

[0039] As a preferred implementation, the data collected by sensors undergoes preliminary processing at edge nodes close to the tunnel boring machine (TBM). This primarily includes anomaly detection and basic statistical analysis. These edge nodes possess independent processing capabilities, enabling them to process critical data before uploading it to the cloud, effectively reducing the computational load on cloud servers. Through edge computing, certain key control parameters (such as hydraulic cylinder thrust in TBM tunneling parameters) are processed locally and responded to in real time, preventing significant attitude deviations in the TBM.

[0040] As a preferred implementation, in S2, a digital twin model of the tunnel boring machine (TBM) and its actual operating state is constructed based on various data collected at the physical layer. This digital twin model includes real-time dynamic modeling of the TBM and its tunneling process from four dimensions: geometry, structure, rules, and behavior.

[0041] The geometric model describes the physical shape and spatial relationships of the tunnel boring machine (TBM) and its surrounding geological environment. This includes the dimensions, shape, and relative positions of the TBM's components, as well as the surrounding topography, accurately representing the physical characteristics of the TBM and its surrounding environment in digital space. In this embodiment, a geometric model of the TBM and its surrounding environment is constructed using SolidWorks 3D modeling software based on geometric parameter data collected from the physical layer.

[0042] The rule model defines the rules and shield attitude adjustment strategies to be followed during tunnel boring machine (TBM) excavation, including safety regulations, operating standards, and control logic. In the digital twin model, the rule model guides the simulation of the TBM's behavior, ensuring that all control strategies conform to the established rules and standards, thereby preventing operational errors and reducing risks. In this embodiment, Simulink and AMESim software are used to construct the rule model based on the control rules and strategies during TBM excavation. Simultaneously, AMESim is used to simulate the operating rules of the hydraulic system to ensure that the control of the TBM's excavation attitude meets the predetermined working condition requirements.

[0043] The structural model involves the internal structure and mechanical components of the tunnel boring machine (TBM), including the physical and mechanical properties of each internal component. This helps in analyzing and predicting the TBM's attitude during the tunneling process. In this embodiment, the structural model of the TBM is constructed using AnsysMechanical software based on the finite element analysis (FEA) method.

[0044] In this embodiment, a behavioral model of the tunnel boring machine (TBM) is constructed using MSC Adams software based on a dynamic simulation method. This behavioral model simulates the dynamic behavior of the TBM under different operating conditions, including its attitude changes, response speed, and obstacle-handling strategies in different geological environments. Kinematic simulations are performed using MSC Adams to analyze the interaction between the TBM's propulsion system and the soil, ensuring that the TBM can quickly and stably adjust its attitude during tunneling.

[0045] S3 includes:

[0046] S31. Select the hydraulic cylinder of the tunnel boring 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 of the proportional relief valve in the tunnel boring machine propulsion system;

[0047] S32. Based on the direct proportional relationship between the current of the proportional relief valve and the total thrust of the hydraulic cylinder, adjust the current of the proportional relief valve to adjust the current total thrust of the hydraulic cylinder accordingly, so that the deviation of the shield machine axis corresponding to the adjusted total thrust approaches 0, and obtain the required current total thrust of the hydraulic cylinder.

[0048] S33. Control the tunnel boring machine's excavation using the current total thrust of the required hydraulic cylinders.

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

[0050] Correspondingly, in S32, the corresponding shield machine axis deviation is calculated based on the current total thrust of the hydraulic cylinders, including:

[0051] Calculate the current equivalent displacement A of each hydraulic cylinder based on the current total thrust of each hydraulic cylinder in each section. i Let i take the values ​​{1,2,3,4}, representing the current equivalent displacement of the hydraulic cylinder in the i-th partition.

[0052] The difference in equivalent displacement between the upper and lower hydraulic cylinders represents the current vertical axis deviation of the tunnel boring machine, while the difference in equivalent displacement between the left and right hydraulic cylinders represents the current lateral axis deviation of the tunnel boring machine.

[0053] As a preferred implementation, in S32, the current of the proportional relief valve is controlled in a closed loop using a PI, PID, or PSO-PID (Adaptive Particle Swarm Optimization - Proportional Integral Derivative) control algorithm to adjust the current of the proportional relief valve.

[0054] This invention presents a digital twin-based shield tunneling attitude control method. By constructing a digital twin model of the shield machine, it can accurately and dynamically simulate the attitude changes of the shield machine during tunneling, providing real-time and forward-looking decision support for attitude 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 total thrust of the hydraulic cylinders. This optimal total thrust of the hydraulic cylinders is then used to control the shield machine's tunneling. This method enables real-time adjustment of the shield machine's attitude, ensuring the stability and response speed of the shield machine's tunneling attitude under complex geological conditions, and improving the control accuracy of the shield machine's tunneling attitude.

[0055] Furthermore, the method of the present invention divides the hydraulic cylinder into four sections: up, down, left, and right, and calculates the current equivalent displacement A of the hydraulic cylinder in each section based on the total thrust of each section. i Let i be {1,2,3,4}. The difference in equivalent displacement between the upper and lower hydraulic cylinders is the current vertical axis deviation of the tunnel boring machine (TBM), and the difference in equivalent displacement between the left and right hydraulic cylinders is the current lateral axis deviation of the TBM. By simultaneously adjusting the vertical and lateral axis deviations in real time, the simultaneous control of the lateral and vertical attitudes of the TBM during tunneling is ensured, further improving the control accuracy of the TBM's tunneling attitude. In addition, the partitioning also reduces the computational complexity of the control.

[0056] This invention automatically collects and transmits data at the physical layer using IoT sensors, ensuring the real-time nature and integrity of data during tunneling and reducing manual intervention and errors in the data acquisition process.

[0057] This invention forms an adaptive closed-loop control system by feeding back the control results to the virtual and physical layers in real time. This ensures that the tunnel boring machine can respond to various changes in a timely manner throughout the tunneling process, achieve precise control of the tunnel boring machine's attitude, and reduce the impact of attitude deviation on construction quality and safety.

[0058] Example 2

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

[0060] Computer-readable storage media are used to store executable instructions;

[0061] The processor is used to read executable instructions stored in a computer-readable storage medium and execute the shield tunneling attitude control method in Embodiment 1 above.

[0062] The relevant technical solutions are the same as above, and will not be repeated here.

[0063] Example 3

[0064] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the shield tunneling attitude control method in Embodiment 1 above.

[0065] The relevant technical solutions are the same as above, and will not be repeated here.

[0066] Example 4

[0067] The present invention also provides a computer program product, including a computer program that, when run on a computer, causes the computer to execute the shield tunneling attitude control method in Embodiment 1 above.

[0068] The relevant technical solutions are the same as above, and will not be repeated here.

[0069] Those skilled in the art will readily understand that the above description is merely 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 within the scope of protection of the present invention.

Claims

1. A shield tunneling attitude control method based on digital twin, characterized in that, include: Based on the tunneling parameters, environmental geological parameters, and tunnel geometric parameters during the tunneling process of the tunnel boring machine (TBM), a digital twin model corresponding to the TBM and its actual operating state is constructed. The tunnel geometric parameters include tunnel deflection, segment assembly points, and tunnel depth. The environmental geological parameters include overburden height, water weight, soil cohesion, height from the top water head to the top of the TBM, natural soil weight, stratum composite ratio, and permeability coefficient. The tunneling parameters include the hydraulic cylinder thrust, soil chamber pressure, cutterhead torque, grouting pressure, tunneling speed, synchronous grouting volume, and foaming agent dosage of the TBM. The current total thrust of the hydraulic cylinders in the tunnel boring machine propulsion system is obtained, and the current total thrust is input into the digital twin model to obtain the current of the proportional relief valve in the tunnel boring machine propulsion system. Based on the direct proportional relationship between the current of the proportional relief valve and the total thrust of the hydraulic cylinder, the current of the proportional relief valve is adjusted to adjust the current total thrust of the hydraulic cylinder accordingly, so that the deviation of the tunnel boring machine axis corresponding to the adjusted total thrust approaches 0, thus obtaining the required current total thrust of the hydraulic cylinder. The tunnel boring machine is controlled to advance using the current total thrust of the required hydraulic cylinders; Before obtaining the current total thrust of the hydraulic cylinders in the tunnel boring machine's propulsion system, the following steps are also included: The hydraulic cylinder is divided into four sections: up, down, left, and right. The total thrust of the hydraulic cylinder in each of the four sections is obtained 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 cylinders, including: The equivalent displacement of each hydraulic cylinder in each section is calculated based on the total thrust of each hydraulic cylinder in each section. The difference between the equivalent displacements of the upper and lower hydraulic cylinders is the current vertical axis deviation of the tunnel boring machine, and the difference between the equivalent displacements of the left and right hydraulic cylinders is the current lateral axis deviation of the tunnel boring machine. The current of the proportional relief valve is controlled in a closed loop using PI, PID, or PSO-PID control algorithms, thereby adjusting the current of the proportional relief valve.

2. The shield tunneling attitude control method according to claim 1, characterized in that, The tunneling parameters, environmental geological parameters, and tunnel geometric parameters are collected by base stations deployed near the tunnel boring machine; the tunneling parameters, environmental geological parameters, and tunnel geometric parameters are transmitted and stored to a cloud data server via 5G technology; and the digital twin model is constructed based on the data stored in the cloud data server.

3. The shield tunneling attitude control method according to claim 2, characterized in that, Before the tunneling parameters, environmental geological parameters, and tunnel geometric parameters are transmitted to the cloud data server, the method further includes: using an edge computing processing unit to preprocess the tunneling parameters, environmental geological parameters, and tunnel geometric parameters.

4. The shield tunneling attitude control method according to claim 3, characterized in that, The preprocessing includes denoising and formatting the tunneling parameters, environmental geological parameters, and tunnel geometric parameters to filter out abnormal data.

5. A shield tunneling attitude control system based on digital twin, characterized in that, Includes computer-readable storage media and processors; The computer-readable storage medium is used to store executable instructions; The processor is used to read executable instructions stored in the computer-readable storage medium and execute the shield tunneling attitude control method according to any one of claims 1-4.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the shield tunneling attitude control method as described in any one of claims 1-4.

7. A computer program product, characterized in that, It includes a computer program that, when run on a computer, causes the computer to execute the shield tunneling attitude control method according to any one of claims 1-4.

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