Shield tunneling machine attitude control method and system based on axis deviation

Abstract

The invention discloses a shield tunneling machine attitude control method and system based on axis deviation, relates to the technical field of shield tunneling machine control, and solves the problem that an existing shield tunneling machine control method cannot accurately control a shield tunneling machine to advance along a tunnel design axis. The method comprises the steps that in a posture control ring, a guiding system compares current posture data of a shield tunneling machine with target posture data determined by a tunnel design axis to obtain the axis deviation of the shield tunneling machine relative to the tunnel design axis through calculation, and the axis deviation is input into a posture controller to obtain the pressure difference between upper and lower partition hydraulic cylinders or left and right partition hydraulic cylinders; therefore, the pose deviation is continuously reduced, and the shield tunneling machine advances along the tunnel design axis; according to the method, a specific mathematical model is not needed, accurate tracking of the notch horizontal / vertical deviation reference trajectory can be achieved only through I / O data in the tunneling process of the shield tunneling machine, and the problem that attitude control is difficult due to the complexity of a shield tunneling machine system is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of shield machine control, and in particular to a shield machine posture control method and system based on axis deviation. Background Art

[0002] During the tunneling process, the shield machine not only performs the task of moving forward, but also controls the posture of the shield machine, thereby ensuring that the shield machine advances along the tunnel design axis. Its control accuracy directly affects the quality of tunnel construction. The reason for the inaccurate shield posture is that, on the one hand, shield tunneling is essentially a coordinated control process of multiple groups of hydraulic cylinders, which has nonlinearity and complex coupling. On the other hand, it is due to the differences and uncertainties in the underground construction environment. Therefore, the complexity of the shield machine system and the changes in geological conditions jointly lead to difficulties in controlling the shield tunneling posture, which is manifested in actual construction as excessive horizontal or vertical deviations, which in turn has a significant impact on the construction period, cost and safety of the shield project. In addition, the current shield posture control still relies on the driver's operation, and can only rely on the shield driver's driving experience to perform control. The operation timing and strength are relatively arbitrary, and there are problems such as operation lag, low tunneling efficiency, and excessive tunneling deviation. Summary of the invention

[0003] In order to solve the above problems existing in the prior art, the present invention provides a shield machine posture control method and system based on axis deviation, which solves the problem that the existing shield machine control method cannot accurately control the shield machine to advance along the designed axis of the tunnel.

[0004] A shield machine attitude control method based on axis deviation, comprising:

[0005] S1: Real-time acquisition of the current posture data and excavation data of the shield machine, wherein the posture data includes the horizontal deviation of the cut and the vertical deviation of the cut, and the excavation data includes the actual total thrust of the shield machine and the thrust pressure of the partitioned hydraulic cylinders, wherein the partitioned hydraulic cylinders include four groups of hydraulic cylinders: upper, lower, left, and right;

[0006] S2: according to the deviation between the reference value and the actual value of the horizontal deviation and the vertical deviation of the cutout, the attitude controller executes an adaptive control algorithm to calculate the pressure difference of the horizontal partition hydraulic cylinder and the pressure difference of the vertical partition hydraulic cylinder;

[0007] S3: The expected total thrust and the actual total thrust are subtracted to obtain a total thrust deviation, and the target total thrust is obtained through a total thrust PI controller based on the total thrust deviation;

[0008] S4: calculating the basic propulsion pressure of each group of hydraulic cylinders through a total thrust distribution module according to the target total thrust, wherein the total thrust distribution module is used for conversion of thrust to pressure and distribution of the converted pressure;

[0009] S5: Calculate the expected propulsion pressure of each group of hydraulic cylinders according to the basic propulsion pressure of each group of hydraulic cylinders and the pressure difference of the horizontal partition hydraulic cylinders and the pressure difference of the vertical partition hydraulic cylinders;

[0010] S6: Subtract the expected thrust pressure and the actual thrust pressure of each group of hydraulic cylinders, and perform closed-loop control on the pressure of each group of hydraulic cylinders through a hydraulic cylinder pressure controller based on the difference.

[0011] Furthermore, the attitude controller in S2 adopts an anti-saturation model-free adaptive control algorithm, and the anti-saturation model-free adaptive control algorithm includes:

[0012] S21: Establish dynamic linear data model:

[0013] y(k+1)=y(k)+φ c (k)Δu(k)

[0014] Among them, y(k+1) represents the horizontal / vertical deviation of the cut at time k+1; y(k) represents the horizontal / vertical deviation of the cut at time k; φ c (k) represents the pseudo partial derivative at time k; Δu(k) represents the difference between the pressure difference of the partitioned hydraulic cylinder at time k and the pressure difference of the partitioned hydraulic cylinder at time k-1. The pressure difference of the partitioned hydraulic cylinder includes the horizontal pressure difference of the partitioned hydraulic cylinder and the vertical pressure difference of the partitioned hydraulic cylinder. The horizontal pressure difference of the partitioned hydraulic cylinder is the difference between the left and right groups of hydraulic cylinders, and the vertical pressure difference of the partitioned hydraulic cylinder is the difference between the upper and lower groups of hydraulic cylinders. When y(k+1) represents the horizontal deviation of the cut at time k+1, y(k) represents the horizontal deviation of the cut at time k, Δu(k) represents the difference between the pressure difference of the horizontal partitioned hydraulic cylinder at time k and the pressure difference of the horizontal partitioned hydraulic cylinder at time k-1, and the vertical deviation of the cut is the same;

[0015] S22: Estimation of pseudo partial derivatives:

[0016]

[0017] Among them, φ c (k-1) represents the pseudo partial derivative at time k-1; Δy(k) represents the difference between the horizontal / vertical deviation of the cut at time k and the horizontal / vertical deviation of the cut at time k-1; u(k-1) represents the pressure difference of the partition hydraulic cylinder at time k-1; η represents the step size factor, η∈(0,1]; μ represents the weight factor, μ>0;

[0018] S23: Design of anti-saturation model-free adaptive controller:

[0019]

[0020] Where ρ represents the step size factor, ρ∈(0,1]; λ represents the weight factor, λ>0; e(k) represents the system tracking error; Γ(k) represents the anti-saturation coefficient.

[0021] Furthermore, the anti-saturation coefficient Γ(k) is:

[0022]

[0023] Cond1:sign(e(k))≠sign(y(k))&u(k-1) max (k)

[0024] Where ζ represents the sensitivity coefficient, ζ>0; u max Indicates the maximum input allowed by the system; sign(*) indicates the sign function.

[0025] Further, obtaining the target total thrust through the total thrust PI controller in S3 includes:

[0026]

[0027] Among them, F d (k) represents the expected total thrust; F(k) represents the actual total thrust; e F (k) represents the total thrust deviation; F tar (k) represents the target total thrust; K p1 Indicates the proportional coefficient of the total thrust controller; K i1 Represents the integral coefficient of the total thrust controller.

[0028] Further, the S4 includes:

[0029] S4.1: Convert the target total thrust into a target total thrust pressure based on the size of the hydraulic cylinder;

[0030]

[0031] Among them, P tar (k) represents the current target total propulsion pressure; F tar (k) represents the target total thrust; R t Indicates the radius of each hydraulic cylinder; n t Indicates the number of hydraulic cylinders;

[0032] S4.2: The target total thrust pressure is converted into the basic thrust pressure of the four groups of hydraulic cylinders according to the distribution ratio of each group of hydraulic cylinders. The distribution method is as follows:

[0033] P base (k) = [P a_base (k),P b_base (k),P c_base ​(k),P d_base (k)] T =P tar (k)[k a ,k b ,k c ,k d ] T

[0034] Among them, P base (k) represents the vector of the basic thrust pressure of the four groups of cylinders, P a_base (k) represents the basic thrust pressure of the hydraulic cylinder of group A; P b_base (k) represents the basic thrust pressure of the hydraulic cylinder of group B; P c_base (k) represents the basic thrust pressure of the hydraulic cylinder of group C; P a_base (k) represents the basic thrust pressure of the hydraulic cylinder of group D; P tar (k) represents the current target total propulsion pressure; k a Indicates the pressure distribution coefficient of the hydraulic cylinder in group A; k b Indicates the pressure distribution coefficient of the hydraulic cylinder of group B; k c Indicates the pressure distribution coefficient of the hydraulic cylinder of group C; k d Indicates the pressure distribution coefficient of the hydraulic cylinder of group D, k b >k a ≈k c >k d .

[0035] Further, S5 includes: distributing the pressure difference of the horizontal partition hydraulic cylinder and the pressure difference of the vertical partition hydraulic cylinder in an equal manner of one increase and one decrease, and then adding the basic propulsion pressures of the four groups of hydraulic cylinders respectively to obtain the expected propulsion pressures of the four groups of hydraulic cylinders, which are expressed as:

[0036]

[0037] Among them, P d (k) represents the expected thrust pressure of the four-group hydraulic cylinder, ΔP h (k) represents the pressure difference of the horizontal partition hydraulic cylinder at time k; ΔP v (k) represents the pressure difference of the vertical partition hydraulic cylinder at time k.

[0038] Further, the S6 includes: subtracting the expected propulsion pressure of a single group of hydraulic cylinders from the actual propulsion pressure of the group measured by the pressure sensor to obtain a pressure difference, inputting the pressure difference into the thrust controller, and then controlling the current input to the proportional relief valve to achieve closed-loop control of the propulsion pressure of the group of hydraulic cylinders, which is expressed as:

[0039]

[0040] Among them, P d(k) represents the expected thrust pressure of each group of hydraulic cylinders; P(k) represents the actual thrust pressure of each group of hydraulic cylinders; e P (k) represents the propulsion pressure deviation of each group of hydraulic cylinders; I(k) represents the current input to the proportional relief valve of each group of hydraulic cylinders; K p2 Indicates the proportional coefficient of each group of hydraulic cylinder thrust pressure controller; K i2 Indicates the integral coefficient of each group of hydraulic cylinder thrust pressure controller.

[0041] Furthermore, it also includes S7: judging whether the excavation of the current loop is completed, if not, returning to S1; if the excavation is completed, ending the control.

[0042] A shield machine attitude control system based on axis deviation can implement a shield machine attitude control method based on axis deviation, including: an interactive module and a shield machine controller, wherein the interactive module is used to send external control instructions to the shield machine controller, the shield machine controller is used to obtain guidance data and tunneling data from the guidance system and control the actuators of various shield systems, the interactive module calculates the control amount and generates control instructions based on the data obtained by the shield machine controller, and the shield machine controller controls the actuators of various shield systems according to the control instructions to realize automatic control of the shield tunneling attitude.

[0043] Specifically, the interactive module can send external control signals through the Snap7 communication protocol to communicate effectively with the shield machine PLC. The shield machine PLC obtains guidance data from the guidance system and excavation data from the shield machine sensor in real time. The external control signal can read data from the PLC and then calculate the control quantity through the control program, and write the control instruction into the PLC. The instruction is written into the actuators of each shield system through the PLC to realize automatic control of the shield excavation posture.

[0044] The beneficial effects of the present invention include:

[0045] The shield machine attitude control method based on axis deviation proposed in the present invention is a data-driven control method, which does not require a specific mathematical model and can accurately track the horizontal / vertical deviation reference trajectory of the cut only by using the I / O data of the shield machine excavation process, thus solving the problem of attitude control difficulties caused by the complexity of the shield machine system.

[0046] The shield tunneling attitude automatic control system proposed in the present invention realizes effective communication between external control signals and the shield machine PLC through the Snap7 communication protocol, controls the various subsystems of the shield machine through external control signals, and then realizes automatic control of the shield attitude, thereby solving the problems of operation lag, low tunneling efficiency and excessive tunneling deviation existing in manual driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1A flowchart of a shield machine posture control method based on axis deviation provided by an embodiment of the present invention;

[0048] Figure 2 A schematic diagram of the grouping of shield propulsion hydraulic cylinders provided in an embodiment of the present invention;

[0049] Figure 3 A block diagram of the shield machine attitude control based on axis deviation provided by an embodiment of the present invention;

[0050] Figure 4 A schematic flow chart of a shield machine posture control method based on axis deviation provided in an embodiment of the present invention;

[0051] Figure 5 A block diagram of the shield tunneling posture automatic control system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0053] A shield machine attitude control method based on axis deviation, such as Figure 1 As shown, including:

[0054] S1: Real-time acquisition of the current posture data and excavation data of the shield machine, wherein the posture data includes the horizontal deviation of the cut and the vertical deviation of the cut, and the excavation data includes the actual total thrust of the shield machine and the thrust pressure of the hydraulic cylinder partitions, wherein the hydraulic cylinder partitions include horizontal partition hydraulic cylinders and vertical partition hydraulic cylinders, wherein the horizontal partition hydraulic cylinders include right / A group and C / left group, and the vertical partition hydraulic cylinders include B / lower group and D / upper group, such as Figure 2 As shown;

[0055] S2: according to the deviation between the reference value and the actual value of the horizontal deviation and the vertical deviation of the cutout, the attitude controller executes an adaptive control algorithm to calculate the pressure difference of the horizontal partition hydraulic cylinder and the pressure difference of the vertical partition hydraulic cylinder;

[0056] S3: The expected total thrust and the actual total thrust are subtracted to obtain a total thrust deviation, and the target total thrust is obtained through a total thrust PI controller based on the total thrust deviation;

[0057] S4: calculating the basic propulsion pressure of each group through a total thrust distribution module according to the target total thrust, wherein the total thrust distribution module is used for unit conversion from thrust to pressure and distribution of the converted pressure;

[0058] S5: Calculate the expected propulsion pressure of each group of hydraulic cylinders according to the basic propulsion pressure of each group of hydraulic cylinders and the pressure difference of the horizontal partition hydraulic cylinders and the pressure difference of the vertical partition hydraulic cylinders;

[0059] S6: Subtract the expected propulsion pressure and the actual propulsion pressure of each group of hydraulic cylinders, and perform closed-loop control on the hydraulic cylinder pressure through a hydraulic cylinder pressure controller based on the difference, wherein the closed-loop control is PI control.

[0060] Figure 3 The figure shows a block diagram of the shield machine posture control based on axis deviation provided by an embodiment of the present invention. In the posture control loop, the guidance system compares the shield machine's current posture data with the target posture data determined by the tunnel design axis (DAT) to calculate the shield machine's axis deviation relative to the tunnel design axis, and inputs the axis deviation into the posture controller to obtain the pressure difference between the upper and lower or left and right partition hydraulic cylinders, thereby continuously reducing the posture deviation and allowing the shield machine to move along the tunnel design axis. In the figure, F d represents the expected total thrust; F represents the actual total thrust; F tar Indicates the target total thrust; P base Indicates the basic propulsion pressure of the four groups of hydraulic cylinders; Δe h Indicates the posture deviation in the horizontal direction; Δe v Indicates the posture deviation in the vertical direction; ΔP h Indicates the hydraulic cylinder pressure difference in the horizontal direction; ΔP v Indicates the hydraulic cylinder pressure difference in the horizontal direction; P d It represents the expected thrust pressure of the four groups of zoned hydraulic cylinders; P represents the actual thrust pressure of the four groups of zoned hydraulic cylinders.

[0061] In another embodiment, if Figure 4 As shown, it also includes judging whether the excavation of the current loop is completed. If the excavation is not completed, it returns to S1; if the excavation is completed, the control is ended.

[0062] Specifically, the current posture data and excavation data are obtained from the guidance system; then, the posture controller is started; the posture controller calculates the pressure difference of the horizontal / vertical partition hydraulic cylinder according to the horizontal / vertical deviation of the cut; the target total thrust is calculated according to the expected total thrust and the actual total thrust deviation; the basic thrust pressure of the partition hydraulic cylinder is calculated according to the total thrust distribution module; the expected thrust pressure of the hydraulic cylinder is calculated according to the basic pressure and pressure difference of the hydraulic cylinder; finally, the hydraulic cylinder pressure closed-loop control is performed according to the expected thrust pressure of the hydraulic cylinder, thereby realizing the shield excavation posture control; during the shield excavation process, it is determined whether the excavation of the current loop is completed. If the excavation is not completed, continue to read the current posture data of the guidance system and repeat the above steps; if the excavation is completed, the control is terminated.

[0063] In another embodiment, the attitude controller in S2 adopts an anti-saturation model-free adaptive control algorithm to solve the problem that the pressure difference of the partitioned hydraulic cylinder cannot be too large. By introducing an anti-saturation coefficient in the model-free adaptive control rate, when the pressure difference of the partitioned hydraulic cylinder exceeds the set maximum pressure difference, it can be effectively desaturated. The anti-saturation model-free adaptive control algorithm includes:

[0064] S21: Establish dynamic linear data model:

[0065] y(k+1)=y(k)+φ c (k)Δu(k)

[0066] Among them, y(k+1) represents the horizontal / vertical deviation of the cut at time k+1; y(k) represents the horizontal / vertical deviation of the cut at time k; φ c (k) represents the pseudo partial derivative at time k; Δu(k) represents the difference between the pressure difference of the partition hydraulic cylinder at time k and the pressure difference of the partition hydraulic cylinder at time k-1; when y(k+1) represents the horizontal deviation of the cut at time k+1, y(k) represents the horizontal deviation of the cut at time k, Δu(k) represents the difference between the pressure difference of the horizontal partition hydraulic cylinder at time k and the pressure difference of the horizontal partition hydraulic cylinder at time k-1, and the vertical deviation of the cut is the same;

[0067] S22: Estimation of pseudo partial derivatives:

[0068]

[0069] Among them, φ c (k-1) represents the pseudo partial derivative at time k-1; Δy(k) represents the difference between the horizontal / vertical deviation of the cut at time k and the horizontal / vertical deviation of the cut at time k-1; u(k-1) represents the pressure difference of the partition hydraulic cylinder at time k-1; η represents the step size factor, η∈(0,1]; μ represents the weight factor, μ>0;

[0070] S23: Design of anti-saturation model-free adaptive controller:

[0071]

[0072] Where ρ represents the step size factor, ρ∈(0,1]; λ represents the weight factor, λ>0; e(k) represents the system tracking error; Γ(k) represents the anti-saturation coefficient.

[0073] In another embodiment, the anti-saturation coefficient Γ(k) is:

[0074]

[0075] Cond1:sign(e(k))≠sign(y(k))&u(k-1) max (k)

[0076] Where ζ represents the sensitivity coefficient, ζ>0; u max Indicates the maximum input allowed by the system; sign(*) indicates the sign function.

[0077] In another embodiment, obtaining the target total thrust by the total thrust PI controller in S3 includes:

[0078]

[0079] Among them, F d (k) represents the expected total thrust; F(k) represents the actual total thrust; e F (k) represents the total thrust deviation; F tar (k) represents the target total thrust; K p1 Indicates the proportional coefficient of the total thrust controller; K i1 Represents the integral coefficient of the total thrust controller.

[0080] In another embodiment, the S4 includes:

[0081] S4.1: Convert the target total thrust into a target total thrust pressure based on the size of the hydraulic cylinder;

[0082]

[0083] Among them, P tar (k) represents the current target total propulsion pressure; F tar (k) represents the target total thrust; R t Indicates the radius of each hydraulic cylinder; n t Indicates the number of hydraulic cylinders;

[0084] S4.2: The target total thrust pressure is converted into the basic thrust pressure of the four groups of zoned hydraulic cylinders according to the allocation ratio of each group of hydraulic cylinders. The allocation method is as follows:

[0085] P base (k) = [P​a_base (k),P b_base (k),P c_base (k),P d_base (k)] T =P tar (k)[k a ,k b ,k c ,k d ] T

[0086] Among them, P a_base (k) represents the basic thrust pressure of the hydraulic cylinder of group A in the right partition; P b_base (k) represents the basic thrust pressure of the hydraulic cylinder of group B in the lower partition; P c_base (k) represents the basic thrust pressure of the hydraulic cylinder of group C in the left partition; P d_base (k) represents the basic thrust pressure of the hydraulic cylinder of group D in the upper partition; P tar (k) represents the current target total propulsion pressure; k a Indicates the pressure distribution coefficient of the right partition hydraulic cylinder; k b Indicates the pressure distribution coefficient of the lower partition hydraulic cylinder; k c Indicates the pressure distribution coefficient of the left partition hydraulic cylinder; k d Indicates the pressure distribution coefficient of the upper partition hydraulic cylinder. In the actual excavation process, the pressure distribution coefficient of each partition hydraulic cylinder is determined based on experience. Generally, the pressure of the lower partition hydraulic cylinder is the largest, the pressure of the upper partition hydraulic cylinder is the smallest, and the pressure difference between the left and right partition hydraulic cylinders is not large, so there is k b >k a ≈k c >k d .

[0087] In another embodiment, S5 includes: in order to reduce the excessive fluctuation of the total thrust of the shield machine, thereby affecting the shield advancement speed and soil bin pressure, the horizontal / vertical pressure difference of the partitioned hydraulic cylinders is evenly distributed in the manner of increasing and decreasing the A / C and B / D grouped hydraulic cylinders, which can be expressed as:

[0088]

[0089] Among them, ΔP(k) represents the pressure difference of the four groups of hydraulic cylinders; u h Represents the output of the controller in the horizontal direction; u v Represents the output of the controller in the vertical direction;

[0090] Then add it to the basic thrust pressure of each group of hydraulic cylinders to get the expected thrust pressure of the four groups of zoned hydraulic cylinders, expressed as:

[0091]

[0092] Among them, P d (k) is the desired thrust pressure of the partition hydraulic cylinder, ΔP h (k) represents the pressure difference of the horizontal partition hydraulic cylinder at time k; ΔP v (k) represents the pressure difference of the vertical partition hydraulic cylinder at time k.

[0093] In another embodiment, S6 includes: subtracting the expected propulsion pressure of each group of hydraulic cylinders from the actual propulsion pressure measured by the pressure sensor to obtain a pressure difference, inputting the pressure difference into the thrust controller, and then controlling the current input to the proportional relief valve to achieve closed-loop control of the hydraulic cylinder propulsion pressure, which is expressed as:

[0094]

[0095] A shield machine attitude control system based on axis deviation can implement a shield machine attitude control method based on axis deviation, including: an interactive module, a shield machine controller, a sensor, an actuator, a guide system, etc. The interactive module is used to send external control instructions to the shield machine controller, the shield machine controller is used to obtain guidance data and tunneling data from the guide system and control the actuators of various shield systems, the interactive module calculates the control amount and generates control instructions based on the data obtained by the shield machine controller, and the shield machine controller controls the actuators of various shield systems according to the control instructions to realize automatic control of the shield tunneling attitude.

[0096] Specifically, Figure 5 As shown, the external control signal communicates effectively with the shield machine PLC through the Snap7 communication protocol. The shield machine PLC obtains the guidance data from the guidance system and the excavation data from the shield machine sensor in real time. The external control signal can read the data from the PLC and then calculate the control quantity through the control program, and write the control instruction into the PLC. The instruction is written into the actuators of each shield system through the PLC to realize automatic control of the shield excavation posture.

[0097] The above-mentioned embodiments only express the specific implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the protection scope of the present application. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the technical solution concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. A shield machine attitude control method based on axis deviation, characterized in that: The following steps are involved: S1: Real-time acquisition of the current posture data and excavation data of the shield machine, wherein the posture data includes the horizontal deviation of the cut and the vertical deviation of the cut, and the excavation data includes the actual total thrust of the shield machine and the thrust pressure of the partitioned hydraulic cylinders, wherein the partitioned hydraulic cylinders include four groups of hydraulic cylinders: upper, lower, left, and right; S2: according to the deviation between the reference value and the actual value of the horizontal deviation and the vertical deviation of the cutout, the attitude controller executes an adaptive control algorithm to calculate the pressure difference of the horizontal partition hydraulic cylinder and the pressure difference of the vertical partition hydraulic cylinder; S3: The expected total thrust and the actual total thrust are subtracted to obtain a total thrust deviation, and the target total thrust is obtained through a total thrust PI controller based on the total thrust deviation; S4: a total thrust distribution module calculates the basic propulsion pressure of each group of hydraulic cylinders according to the target total thrust, and the total thrust distribution module is used for conversion of thrust to pressure and distribution of the converted pressure; S5: Calculate the expected propulsion pressure of each group of hydraulic cylinders according to the basic propulsion pressure of each group of hydraulic cylinders and the pressure difference of the horizontal partition hydraulic cylinders and the pressure difference of the vertical partition hydraulic cylinders; S6: The expected thrust pressure of each group of hydraulic cylinders is subtracted from the actual thrust pressure of each group, and the hydraulic cylinder pressure controller performs closed-loop control on the pressure of each group of hydraulic cylinders according to the difference.

2. A shield machine posture control method based on axis deviation according to claim 1, characterized in that: The attitude controller in S2 adopts an anti-saturation model-free adaptive control algorithm, and the anti-saturation model-free adaptive control algorithm includes S21: Building a dynamic linear data model: y(k+1)=y(k)+φ c (k)Δu(k) Among them, y(k+1) represents the horizontal / vertical deviation of the cut at time k+1; y(k) represents the horizontal / vertical deviation of the cut at time k; φ c (k) represents the pseudo partial derivative at time k; Δu(k) represents the difference between the pressure difference of the partitioned hydraulic cylinder at time k and the pressure difference of the partitioned hydraulic cylinder at time k-1. The pressure difference of the partitioned hydraulic cylinder includes the horizontal pressure difference of the partitioned hydraulic cylinder and the vertical pressure difference of the partitioned hydraulic cylinder. The horizontal pressure difference of the partitioned hydraulic cylinder is the difference between the left and right groups of hydraulic cylinders, and the vertical pressure difference of the partitioned hydraulic cylinder is the difference between the upper and lower groups of hydraulic cylinders. When y(k+1) represents the horizontal deviation of the cut at time k+1, y(k) represents the horizontal deviation of the cut at time k, Δu(k) represents the difference between the pressure difference of the horizontal partitioned hydraulic cylinder at time k and the pressure difference of the horizontal partitioned hydraulic cylinder at time k-1, and the vertical deviation of the cut is the same; S22: Estimation of pseudo partial derivatives: Among them, φ c (k-1) represents the pseudo partial derivative at time k-1; Δy(k) represents the difference between the horizontal / vertical deviation of the cut at time k and the horizontal / vertical deviation of the cut at time k-1; u(k-1) represents the pressure difference of the partition hydraulic cylinder at time k-1; η represents the step size factor, η∈(0,1]; μ represents the weight factor, μ>0; S23: Design of anti-saturation model-free adaptive controller: Wherein, ρ represents the step size factor, ρ∈(0,1]; λ represents the weight factor, λ>0; e(k) represents the system tracking error; Γ(k) represents the anti-saturation coefficient.

3. A shield machine posture control method based on axis deviation according to claim 2, characterized in that: The anti-saturation coefficient Γ(k) is: Cond1:sign(e(k))≠sign(y(k))&u(k-1)<u max (k) Where ζ represents the sensitivity coefficient, ζ>0; u max Indicates the maximum input allowed by the system; sign(*) indicates the sign function.

4. The shield machine posture control method based on axis deviation according to claim 1 is characterized in that: The target total thrust obtained by the total thrust PI controller in S3 includes: Among them, F d (k) represents the expected total thrust; F(k) represents the actual total thrust; e F (k) represents the total thrust deviation; F tar (k) represents the target total thrust; K p1 Indicates the proportional coefficient of the total thrust controller; K i1 Represents the integral coefficient of the total thrust controller.

5. The shield machine posture control method based on axis deviation according to claim 1 is characterized in that: The S4 includes: S4.1: Convert the target total thrust into a target total thrust pressure based on the size of the hydraulic cylinder; Among them, P tar (k) represents the current target total propulsion pressure; F tar (k) represents the target total thrust; R t Indicates the radius of each hydraulic cylinder; n t Indicates the number of hydraulic cylinders; S4.2: The target total thrust pressure is converted into the basic thrust pressure of the four groups of hydraulic cylinders according to the distribution ratio of each group of hydraulic cylinders. The distribution method is as follows: P base (k)=[P a_base (k),P b_base (k),P c_base (k),P d_base (k)] T =P tar (k)[k a ,k b ,k c ,k d ] T Among them, P base (k) represents the vector of the basic thrust pressure of the four groups of cylinders, P a_base (k) represents the basic thrust pressure of the hydraulic cylinder of group A; P b_base (k) represents the basic thrust pressure of the hydraulic cylinder of group B; P c_base (k) represents the basic thrust pressure of the hydraulic cylinder of group C; P d_base (k) represents the basic thrust pressure of the hydraulic cylinder of group D; P tar (k) represents the current target total propulsion pressure; k a Indicates the pressure distribution coefficient of the hydraulic cylinder in group A; k b Indicates the pressure distribution coefficient of the hydraulic cylinder of group B; k c Indicates the pressure distribution coefficient of the hydraulic cylinder of group C; k d Indicates the pressure distribution coefficient of the hydraulic cylinder of group D, k b >k a ≈k c >k d .

6. The shield machine posture control method based on axis deviation according to claim 1 is characterized in that: S5 includes: distributing the pressure difference of the horizontal partition hydraulic cylinder and the pressure difference of the vertical partition hydraulic cylinder in an equal manner of one increase and one decrease, and then adding them to the basic propulsion pressure of the four groups of hydraulic cylinders respectively to obtain the expected propulsion pressure of the four groups of hydraulic cylinders, which is expressed as: Among them, P d (k) represents the expected thrust pressure of the four-group hydraulic cylinder, P tar (k) represents the current target total propulsion pressure; k a Indicates the pressure distribution coefficient of the hydraulic cylinder in group A; k b Indicates the pressure distribution coefficient of the hydraulic cylinder of group B; k c Indicates the pressure distribution coefficient of the hydraulic cylinder of group C, ΔP h (k) represents the pressure difference of the horizontal partition hydraulic cylinder at time k; ΔP v (k) represents the pressure difference of the vertical partition hydraulic cylinder at time k.

7. The shield machine posture control method based on axis deviation according to claim 1 is characterized in that: The step S6 includes: obtaining a pressure difference by subtracting the expected propulsion pressure of a single group of hydraulic cylinders from the actual propulsion pressure of the group measured by the pressure sensor, and inputting the pressure difference into the thrust controller, thereby controlling the current input to the proportional relief valve, and realizing closed-loop control of the propulsion pressure of the group of hydraulic cylinders, which is expressed as: Among them, P d (k) represents the expected thrust pressure of each group of hydraulic cylinders; P(k) represents the actual thrust pressure of each group of hydraulic cylinders; e P (k) represents the propulsion pressure deviation of each group of hydraulic cylinders; I(k) represents the current input to the proportional relief valve of each group of hydraulic cylinders; K p2 Indicates the proportional coefficient of each group of hydraulic cylinder thrust pressure controller; K i2 Indicates the integral coefficient of each group of hydraulic cylinder thrust pressure controller.

8. The shield machine posture control method based on axis deviation according to claim 1 is characterized in that: It also includes S7: judging whether the excavation of the current loop is completed, if not, returning to S1; if the excavation is completed, ending the control.

9. A shield machine attitude control system based on axis deviation, characterized in that: A shield machine posture control method based on axis deviation as described in any one of claims 1 to 8 can be implemented, comprising: an interactive module and a shield machine controller, wherein the interactive module is used to send external control instructions to the shield machine controller, the shield machine controller is used to obtain guidance data and excavation data from the guidance system and control the actuators of each shield system, the interactive module calculates the control quantity and generates control instructions based on the data obtained by the shield machine controller, and the shield machine controller controls the actuators of each shield system according to the control instructions to realize automatic control of the shield excavation posture.

10. The shield machine attitude control system based on axis deviation according to claim 9, characterized in that: The interactive module communicates effectively with the shield machine controller through the Snap7 communication protocol.

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