Shield tunneling machine oil cylinder pressure distribution method and system based on support vector regression

Abstract

The invention discloses a shield tunneling machine oil cylinder pressure distribution method and system based on support vector regression. The method comprises the steps that the total propelling thrust of a shield tunneling machine is obtained; setting a basic pressure value of each subarea of the oil cylinder on the basis of the total propelling thrust; the posture deviation of the shield tunneling machine is obtained; judging whether the attitude deviation exceeds an attitude threshold value or not; and under the condition that the posture deviation exceeds a posture threshold value, the pressure value of each area of the oil cylinder is adjusted according to a partition oil cylinder distribution strategy. According to the invention, each subarea oil cylinder in the propelling system is intelligently and dynamically adjusted in a data driving mode, the pressure distribution of each subarea oil cylinder in the propelling process is optimized, and the accurate control of the shield tunneling machine in the propelling process is realized.

Description

Technical Field

[0001] The present specification relates to the field of tunnel construction, and in particular to a shield machine cylinder pressure distribution method and system based on support vector regression. Background Art

[0002] The propulsion system of the shield machine is a key component in the tunnel excavation process, and its propulsion stability directly affects the efficiency and safety of tunnel excavation. The traditional shield machine cylinder pressure distribution method usually relies on empirical rules and is difficult to adapt to complex and changeable geological conditions. Especially when the geological conditions change significantly, the shield machine's vertical posture is prone to rise and sink. When this happens, the propulsion system cannot effectively adjust the posture deviation and cylinder pressure, resulting in the shield machine posture deviation and low excavation efficiency during the propulsion process. Summary of the invention

[0003] One of the embodiments of this specification provides a shield machine cylinder pressure distribution method based on support vector regression. The method includes:

[0004] Obtain the total thrust of the shield machine;

[0005] Based on the total propulsion thrust, a basic pressure value of each partition of the oil cylinder is set;

[0006] Obtaining the posture deviation of the shield machine;

[0007] Determining whether the posture deviation exceeds a posture threshold;

[0008] When the posture deviation exceeds the posture threshold, the pressure value of each zone of the cylinder is adjusted according to the zoned cylinder allocation strategy.

[0009] One of the embodiments of this specification provides a shield machine cylinder pressure distribution system based on support vector regression, including:

[0010] The total thrust acquisition module is used to obtain the total thrust of the shield machine;

[0011] A pressure base allocation module, used for setting a basic pressure value of each partition of the oil cylinder based on the total propulsion thrust;

[0012] A posture acquisition module, used to obtain the posture deviation of the shield machine;

[0013] A posture adjustment module, used to determine whether the posture deviation exceeds a posture threshold;

[0014] The oil cylinder pressure distribution module is used to adjust the pressure value of each zone of the oil cylinder according to the zoned oil cylinder distribution strategy when the posture deviation exceeds the posture threshold.

[0015] One of the embodiments of the present specification provides a shield machine cylinder pressure distribution device based on support vector regression, including a processor, wherein the processor is used to execute a shield machine cylinder pressure distribution method based on support vector regression.

[0016] One of the embodiments of the present specification provides a computer-readable storage medium, wherein the storage medium stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes a shield machine cylinder pressure distribution method based on support vector regression.

[0017] The beneficial effect of the present invention is that the thrust distribution coefficient of each cylinder is adjusted in real time according to the current excavation conditions, thereby adjusting the thrust of each cylinder, which can ensure that the shield machine can be advanced stably and efficiently under different geological conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] This specification will be further described in the form of exemplary embodiments, which will be described in detail by the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same number represents the same structure, wherein:

[0019] Figure 1 is an exemplary system block diagram of the overall process of the shield machine propulsion system according to some embodiments of this specification;

[0020] Figure 2 is an exemplary flow chart of the operation of the shield machine propulsion system according to some embodiments of this specification;

[0021] Figure 3 is an exemplary flow chart of a shield machine cylinder pressure distribution method based on support vector regression according to some embodiments of this specification;

[0022] Figure 4 is an exemplary structural diagram of a shield machine cylinder pressure distribution system based on support vector regression according to some embodiments of this specification;

[0023] Figure 5 It is a flow chart of the cylinder control of the shield machine propulsion system shown in some embodiments of this specification. DETAILED DESCRIPTION

[0024] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of this specification. For ordinary technicians in this field, this specification can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0025] It should be understood that the "system", "device", "unit" and / or "module" used herein are a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

[0026] As shown in this specification and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0027] Flowcharts are used in this specification to illustrate the operations performed by the system according to the embodiments of this specification. It should be understood that the preceding or following operations are not necessarily performed precisely in order. Instead, the steps may be processed in reverse order or simultaneously. At the same time, other operations may also be added to these processes, or one or more operations may be removed from these processes.

[0028] Figure 1 It is an exemplary system block diagram of the overall process of the shield machine propulsion system shown in some embodiments of this specification.

[0029] Shield machine, also known as shield tunnel boring machine, is a special engineering machinery for tunnel excavation. Modern shield tunnel boring machine integrates optical, mechanical, electrical, hydraulic, sensor and information technology. It has the functions of excavating and cutting soil, conveying soil ballast, assembling tunnel lining, measuring and guiding deviation correction, etc. It involves geology, civil engineering, machinery, mechanics, hydraulics, electricity, control, measurement and other disciplines and technologies. It must be designed and manufactured according to different geology, and the reliability requirements are extremely high. Shield tunnel boring machine has been widely used in subway, railway, highway, municipal, hydropower and other tunnel projects.

[0030] In some embodiments, the present specification provides a shield machine propulsion system based on a three-ring nested control architecture, including an outermost ring - a total thrust control ring, an intermediate ring - a posture change ring, and an innermost ring - a cylinder control ring.

[0031] The outermost loop - total thrust control loop: is responsible for dynamically adjusting the expected total thrust of the total thrust PID control loop based on the cutter head torque of the shield machine, and realizing real-time adjustment of the total thrust through the PID controller. Among them, the total thrust control loop is directly related to the cutter head torque, and the value of the cutter head torque affects the adjustment of the total thrust.

[0032] Middle ring - attitude ring: This control ring adjusts the pressure of each group of cylinders according to the attitude deviation (horizontal deviation and vertical deviation) during the tunneling process of the shield machine to keep the attitude of the shield machine stable. The attitude deviation is monitored in real time by the sensor. When the attitude of the shield machine deviates during the tunneling process, the attitude ring will automatically adjust the corresponding cylinder pressure to ensure that the shield machine is advanced according to the designed axis.

[0033] The innermost ring - cylinder control ring: This control ring is responsible for the specific ABCD four-group partition cylinder action to ensure the precise control of the propulsion posture. The pressure adjustment of the ABCD four-group partition cylinder is controlled by the posture control ring command to ensure the stability of the shield machine posture under different geological conditions.

[0034] Specifically, the shield machine cylinder pressure distribution method and system based on support vector regression provided by the present invention is an optimization technical solution for adjusting the cylinder pressure distribution of the innermost ring - the cylinder control ring based on the above-mentioned shield machine propulsion system.

[0035] Figure 2 is an exemplary flow chart of the operation of a shield machine propulsion system according to some embodiments of the present specification.

[0036] During the tunneling process of the shield machine, the shield machine propulsion system first monitors the attitude deviation of the shield machine in real time through the attitude sensor. If there is a deviation in the horizontal or vertical direction of the shield machine, the attitude control loop will adjust the corresponding partition cylinder pressure according to the deviation information to ensure the stability of the shield machine's attitude. At the same time, the total thrust control loop will adjust the total thrust based on the change of the cutter head torque to ensure uniformity during the propulsion process. Finally, the cylinder control loop is responsible for executing the instructions of the attitude control loop and the total thrust control loop, and accurately controlling the ABCD partition cylinders, thereby realizing the automatic propulsion of the shield machine under complex geological conditions. The specific work flow is as follows:

[0037] (1) System initialization:

[0038] Start the shield machine automatic control system and check whether all sensors and control modules are working properly;

[0039] Initialize the initial pressure value of each group of zone cylinders;

[0040] Read and display the current posture of the shield machine, total thrust, pressure and stroke of the four groups of ABCD cylinders, and cutter head torque data.

[0041] (2) Read the cutter head torque:

[0042] The system displays the value of the cutter disc torque in real time;

[0043] If the cutter head torque exceeds a preset threshold, adjusting the desired total thrust in the total thrust control loop;

[0044] The adjusted total thrust setpoint is input to the total thrust control loop.

[0045] (3) Attitude control loop:

[0046] The system reads the data of the shield machine's attitude sensor in real time and monitors the horizontal and vertical attitude deviations of the shield machine;

[0047] If attitude deviation (including horizontal and vertical deviation) is detected, the system adjusts the desired attitude setting value of the attitude loop;

[0048] Adjust the pressure setting value of each group of zone cylinders according to the posture deviation to keep the shield machine posture stable;

[0049] Output attitude adjustment instructions to the cylinder control loop.

[0050] (4) Cylinder control ring

[0051] The system reads the data of the shield machine's attitude sensor in real time and monitors the horizontal and vertical attitude deviations of the shield machine;

[0052] The cylinder control loop adjusts the pressure of the four-group ABCD zone cylinders in real time according to the output instructions of the attitude control loop;

[0053] Adjust the posture of the shield machine to ensure that the shield machine excavates along the designed axis;

[0054] At the same time, the feedback of the cylinder pressure is detected to ensure the accurate execution of the control instructions.

[0055] (5) Promoting process monitoring

[0056] The system continuously monitors the total thrust, cutterhead torque, TBM posture, and the pressure and stroke of each group of cylinders;

[0057] If the posture, cutter torque and total thrust are detected to be beyond the preset range, an alarm will be issued immediately and the control parameters will be adjusted;

[0058] During the advancement process, the system checks and updates the control parameters at regular intervals to cope with changes in different geological conditions.

[0059] (6) End of excavation section

[0060] When the shield machine completes the advancement task of the preset excavation section, the system automatically stops the advancement operation;

[0061] The system enters standby mode, waiting for the start command of the next excavation task.

[0062] Figure 3 This is an exemplary flow chart of a shield machine cylinder pressure distribution method based on support vector regression according to some embodiments of this specification. The process specifically includes the following steps:

[0063] S310, obtaining the total thrust of the shield machine.

[0064] In some embodiments, the total thrust of the shield machine can be obtained through the total thrust control loop, and the total thrust control loop can dynamically adjust the total thrust of the shield machine based on the torque of the shield machine cutter head. The total thrust of the shield machine during propulsion is adjusted by the PID controller, so that the shield machine can maintain a stable propulsion force when the geological conditions change.

[0065] S320: Based on the total propulsion thrust, a basic pressure value of each partition of the oil cylinder is set.

[0066] In some embodiments, in order to avoid the phenomenon of drooping when the shield machine is advancing, a basic pressure value is set for each partition cylinder during the cylinder startup phase. The basic pressure setting principle is as follows:

[0067] (1) The base pressure of the left and right partition cylinders should be similar to maintain horizontal stability;

[0068] (2) The base pressure of the lower sub-zone cylinder is the largest to cope with the greater ground resistance generated during excavation;

[0069] (3) The base pressure of the upper partition cylinder is lower than that of the lower partition, but slightly higher than or equal to that of the left and right partitions.

[0070] The setting of this basic pressure lays the foundation for the subsequent dynamic thrust distribution, allowing the shield machine to advance smoothly during the startup phase and avoid posture deviations caused by pressure differences.

[0071] S330, obtaining the posture deviation of the shield machine.

[0072] In some embodiments, the posture deviation of the shield machine in the horizontal and vertical directions can be acquired in real time through a posture sensor, and the deviation value of the shield machine in the horizontal and / or vertical directions can be calculated through a posture adjustment module.

[0073] S340, determining whether the posture deviation exceeds a posture threshold.

[0074] In some embodiments, the posture adjustment module can calculate in real time whether the posture deviation of the shield machine is within the posture threshold range, so as to maintain the balance of posture control and total thrust of the shield machine during the excavation process.

[0075] S350: When the posture deviation exceeds the posture threshold, the pressure value of each zone of the cylinder is adjusted according to the zoned cylinder allocation strategy.

[0076] In some embodiments, the partitioned cylinder allocation strategy includes: the shield machine cylinder includes four partitions: upper, lower, left, and right, wherein the left partition cylinder and the right partition cylinder evenly distribute one-half of the total thrust, and the upper partition cylinder and the lower partition cylinder are allocated according to the upper partition cylinder allocation coefficient and the lower partition cylinder allocation coefficient, and the upper partition cylinder allocation coefficient and the lower partition cylinder allocation coefficient are calculated by the cylinder thrust distribution coefficient model.

[0077] In some embodiments, due to the different number of cylinders in the upper and lower partitions and the difference in soil pressure, the thrust distribution coefficients of the upper and lower partition cylinders are not equal. The upper partition cylinder distribution coefficient and the lower partition cylinder distribution coefficient are set to K1 and K2 respectively, and K1+K2=1 is satisfied.

[0078] The specific thrust distribution formula is:

[0079]

[0080]

[0081] Among them, F high is the thrust of the upper partition cylinder; F low is the thrust of the lower partition cylinder; F is the total thrust; K1 is the upper partition cylinder distribution coefficient; K2 is the lower partition cylinder distribution coefficient.

[0082] In some embodiments, the upper partition cylinder allocation coefficient and the lower partition cylinder allocation coefficient can be calculated by a cylinder thrust allocation coefficient model. The cylinder thrust allocation coefficient model calculation includes:

[0083] First, the propulsion data, equipment data and geological parameters of the shield machine are obtained.

[0084] In some embodiments, the propulsion data includes the total propulsion thrust F, cutter head torque P, and propulsion speed V of the shield machine; the equipment data includes the cutter head diameter L, the number of upper partition cylinders N1 and the number of lower partition cylinders N2; the geological parameters include soil type N.

[0085] Secondly, the propulsion data, equipment data and geological parameters are preprocessed to obtain standardized characteristic values.

[0086] Specifically, the above data is preprocessed, including data cleaning and standardization. Standardization is to eliminate the influence between variables of different dimensions, and the following formula is used to standardize each feature:

[0087]

[0088] Among them, x iis the original characteristic value of each feature in the advancement data, equipment data and geological parameters, u is the mean of the feature, σ is the standard deviation, x i-std is the standardized feature value.

[0089] Finally, the characteristic value is input into the cylinder thrust distribution coefficient model to obtain the upper partition cylinder distribution coefficient and the lower partition cylinder distribution coefficient.

[0090] In some embodiments, the cylinder thrust distribution coefficient model may be a SUR linear support vector regression model, and its formula is as follows:

[0091] K i =w1·x1+w2·x2+w3·x3+w4·x4+w5·x5+w6·x6+w7·x7+, b

[0092] in, is a vector of original eigenvalues ​​of propulsion data, equipment data and geological parameters, is the weight vector corresponding to each eigenvector, b is the bias term, K i is the output value.

[0093] In some embodiments, the cylinder thrust distribution coefficient model can also be obtained by optimizing the SUR linear support vector regression model. The process of the optimized SUR linear support vector regression model includes:

[0094] First, a standard linear support vector regression function is established as described above.

[0095] Then, Lagrange multipliers are introduced to construct the Lagrange function.

[0096] Specifically, we first establish the model complexity ||w|| 2 The objective function with the estimation error ε:

[0097]

[0098] In order to meet the error limit of the SVR model, the optimization of the objective function also needs to meet the following constraints:

[0099]

[0100]

[0101] Among them, C is the penalty coefficient, which controls the balance between model complexity and error, ||w|| 2 is the regularization term of model complexity, ξ i and is a slack variable used to handle points outside ε, corresponding to underestimated and overestimated errors, respectively.

[0102] Then, by introducing the Lagrange multiplier, the constrained optimization problem is converted into an unconstrained optimization problem. i and To handle the above constraints:

[0103]

[0104] Where: α i ≥0 and are the Lagrange multipliers used to handle inequality constraints.

[0105] Next, the Lagrangian function for w, b, ξ ι , Find the partial derivatives and substitute the results into the optimization problem. This will give a dual problem, which is solved by optimizing the Lagrange multipliers.

[0106] First, find the partial derivative of w:

[0107]

[0108] This means:

[0109] Then, find the partial derivative with respect to b:

[0110] Next, the slack variable ξ ι and Taking partial derivatives, we get:

[0111]

[0112]

[0113] By solving the partial derivatives of the Lagrangian function and eliminating the variables w, b, ξ ι , Finally, we can get the dual optimization problem of support vector regression:

[0114]

[0115] in, is the kernel function used to map the input to a high-dimensional space.

[0116] Finally, solve for the Lagrange multiplier α i and After that, the regression function of the model can be calculated:

[0117]

[0118] Finally, after optimizing the model parameters, the optimized cylinder thrust distribution coefficient model is obtained:

[0119]

[0120] Since K1=1-K2, the upper partition cylinder distribution coefficient and the lower partition cylinder distribution coefficient can be obtained through the optimized cylinder thrust distribution coefficient model.

[0121] In some embodiments, the cylinder thrust distribution coefficient model is obtained through training, and the specific training process includes:

[0122] (1) Data preprocessing: prepare and clean the data set, extract features and target variables;

[0123] (2) Divide the data set into training set and test set: Divide the data set into training set and test set;

[0124] (3) SVR model training and prediction: Use the training set to train the model, adjust the model parameters, use the test set to evaluate the model performance, and predict the thrust distribution coefficients K1 and K2;

[0125] (4) Result evaluation and hyperparameter adjustment: The output mean square error (MES) can help us evaluate the performance of the model. Based on the model performance, the hyperparameters of the SVR model can be further adjusted through cross-validation to improve the prediction accuracy.

[0126] (5) Prediction after model optimization: Based on the cross-validation results, the model is trained again using the optimal parameters and the final prediction is made.

[0127] It should be noted that the above description of the relevant process is only for example and explanation, and does not limit the scope of application of this specification. For those skilled in the art, various modifications and changes can be made to the process under the guidance of this specification. However, these modifications and changes are still within the scope of this specification.

[0128] Figure 4 4 is an exemplary structural diagram of a shield machine oil cylinder pressure distribution system based on support vector regression according to some embodiments of this specification. As shown in the figure, the shield machine total thrust control system 400 based on neural network includes

[0129] The total thrust acquisition module 410 is used to acquire the total thrust of the shield machine.

[0130] The basic pressure distribution module 420 is used to set the basic pressure value of each partition of the cylinder based on the total propulsion thrust.

[0131] The posture acquisition module 430 is used to obtain the posture deviation of the shield machine.

[0132] The posture adjustment module 440 is used to determine whether the posture deviation exceeds the posture threshold.

[0133] The cylinder pressure distribution module 450 is used to adjust the pressure value of each zone of the cylinder according to the zone cylinder distribution strategy when the posture deviation exceeds the posture threshold.

[0134] Figure 5 This is a flow chart of the cylinder control of the shield machine propulsion system according to some embodiments of this specification. Figure 5 As shown, the control process of distributing the pressure of the cylinder based on the shield machine propulsion system may include:

[0135] (1) Start-up phase

[0136] System initialization: Detect the current state of the propulsion system and ensure that the cylinder and attitude sensor are working properly.

[0137] Loading base pressure setting: Allocate the initial pressure of each zone cylinder to ensure the system can run smoothly at startup.

[0138] (2) Input total thrust setting

[0139] Input cutterhead torque: Set the desired total thrust according to the cutterhead torque measured in real time during excavation.

[0140] The total thrust controller calculates the total thrust: based on the difference between the desired total thrust and the actual thrust, the total thrust controller makes adjustments to ensure that the total thrust reaches the desired value.

[0141] (3) Posture adjustment

[0142] Reading attitude sensor: Real-time acquisition of the attitude deviation of the shield machine in the horizontal and vertical directions.

[0143] Calculate attitude deviation: Determine the horizontal and vertical deviation values ​​based on the attitude data fed back by the sensor.

[0144] Adjust the cylinder pressure: According to the posture deviation, the pressure of each partition cylinder is adjusted through the algorithm to maintain the stability of the shield machine's posture.

[0145] (4) Cylinder pressure control

[0146] Cylinder pressure distribution calculation: According to the instructions in the attitude adjustment loop, accurately calculate the pressure of the four partition cylinders ABCD.

[0147] Real-time pressure adjustment: The pressure applied to the cylinder is updated in real time to ensure posture control and balance of total thrust during excavation.

[0148] (5) Introduction of self-learning mechanism

[0149] Obtain historical data: Use historical geological data and advance feedback data as input.

[0150] Cylinder thrust distribution coefficient model prediction: Through the support vector regression model, the optimal solution for the pressure distribution of the upper and lower partitioned cylinders is calculated, and the pressure distribution strategy is optimized in real time.

[0151] (6) Feedback adjustment during excavation

[0152] Real-time feedback: According to the posture changes and cylinder pressure feedback during the tunneling process of the shield machine, the system's thrust and posture control are continuously adjusted.

[0153] Cutter disc torque monitoring: As the propulsion process progresses, the cutter disc torque changes in real time, and the system dynamically adjusts the total thrust based on its changes.

[0154] In some embodiments, the present application also provides a shield machine cylinder pressure distribution device based on support vector regression, including a processor, and the processor is used to execute the above-mentioned shield machine cylinder pressure distribution method based on support vector regression.

[0155] In some embodiments, the present application also provides a computer-readable storage medium, which stores computer instructions. When the computer reads the computer instructions in the storage medium, the computer executes the shield machine cylinder pressure distribution method based on support vector regression as described above.

[0156] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only for example and does not constitute a limitation of this specification. Although not explicitly stated here, those skilled in the art may make various modifications, improvements and corrections to this specification. Such modifications, improvements and corrections are suggested in this specification, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of this specification.

[0157] At the same time, this specification uses specific words to describe the embodiments of this specification. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of this specification. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures or characteristics in one or more embodiments of this specification can be appropriately combined.

[0158] In addition, unless explicitly stated in the claims, the order of the processing elements and sequences described in this specification, the use of alphanumeric characters, or the use of other names are not intended to limit the order of the processes and methods of this specification. Although the above disclosure discusses some invention embodiments that are currently considered useful through various examples, it should be understood that such details are only for illustrative purposes, and the attached claims are not limited to the disclosed embodiments. On the contrary, the claims are intended to cover all modifications and equivalent combinations that are consistent with the essence and scope of the embodiments of this specification. For example, although the system components described above can be implemented by hardware devices, they can also be implemented only by software solutions, such as installing the described system on an existing server or mobile device.

[0159] Similarly, it should be noted that in order to simplify the description disclosed in this specification and thus help understand one or more embodiments of the invention, in the above description of the embodiments of this specification, multiple features are sometimes combined into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the subject matter of this specification are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0160] In some embodiments, numbers describing the number of components and attributes are used. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise specified, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of this specification are approximate values, in specific embodiments, the setting of such numerical values ​​is as accurate as possible within the feasible range.

[0161] Each patent, patent application, patent application publication, and other materials, such as articles, books, specifications, publications, documents, etc., cited in this specification are hereby incorporated by reference in their entirety. Except for application history documents that are inconsistent with or conflicting with the contents of this specification, documents that limit the broadest scope of the claims of this specification (currently or later attached to this specification) are also excluded. It should be noted that if the descriptions, definitions, and / or use of terms in the materials attached to this specification are inconsistent or conflicting with the contents described in this specification, the descriptions, definitions, and / or use of terms in this specification shall prevail.

[0162] Finally, it should be understood that the embodiments described in this specification are only used to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, as an example and not a limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly introduced and described in this specification.

Claims

1. A shield machine cylinder pressure distribution method based on support vector regression, characterized in that: include: Obtain the total thrust of the shield machine; Based on the total propulsion thrust, a basic pressure value of each partition of the oil cylinder is set; Obtaining the posture deviation of the shield machine; Determining whether the posture deviation exceeds a posture threshold; When the posture deviation exceeds the posture threshold, the pressure value of each zone of the cylinder is adjusted according to the zoned cylinder allocation strategy.

2. The shield machine cylinder pressure distribution method based on support vector regression according to claim 1 is characterized in that: The zoned cylinder allocation strategy includes: The shield machine cylinder includes four partitions: upper, lower, left and right. The left partition cylinder and the right partition cylinder evenly distribute half of the total thrust. The upper partition cylinder and the lower partition cylinder are distributed according to the upper partition cylinder distribution coefficient and the lower partition cylinder distribution coefficient. The upper partition cylinder distribution coefficient and the lower partition cylinder distribution coefficient are calculated by the cylinder thrust distribution coefficient model.

3. The shield machine cylinder pressure distribution method based on support vector regression according to claim 2 is characterized in that: The cylinder thrust distribution coefficient model calculation includes: Obtaining propulsion data, equipment data and geological parameters of the shield machine; Preprocessing the propulsion data, equipment data and geological parameters to obtain standardized characteristic values; The characteristic value is input into the cylinder thrust distribution coefficient model to obtain the upper partition cylinder distribution coefficient and the lower partition cylinder distribution coefficient.

4. The shield machine cylinder pressure distribution method based on support vector regression according to claim 3 is characterized in that: The propulsion data includes the total propulsion thrust, cutter head torque, and propulsion speed of the shield machine; the equipment data includes the cutter head diameter, the number of upper partition cylinders, and the number of lower partition cylinders of the shield machine; and the geological parameters include soil type.

5. The shield machine cylinder pressure distribution method based on support vector regression according to claim 3 is characterized in that: The establishment of the cylinder thrust distribution coefficient model includes: Create a standard linear support vector regression function: Introducing Lagrange multipliers and constructing Lagrange functions to optimize the variables of the linear support vector regression function; After optimizing the model variables, the cylinder thrust distribution coefficient model is obtained.

6. A shield machine cylinder pressure distribution system based on support vector regression, characterized in that: include: The total thrust acquisition module is used to obtain the total thrust of the shield machine; A pressure base allocation module, used for setting a basic pressure value of each partition of the oil cylinder based on the total propulsion thrust; A posture acquisition module, used to obtain the posture deviation of the shield machine; A posture adjustment module, used to determine whether the posture deviation exceeds a posture threshold; The oil cylinder pressure distribution module is used to adjust the pressure value of each zone of the oil cylinder according to the zoned oil cylinder distribution strategy when the posture deviation exceeds the posture threshold.

7. A total thrust control device for a shield machine based on a neural network, comprising a processor, wherein the processor is used to execute the shield machine cylinder pressure distribution method based on support vector regression as described in any one of claims 1 to 5.

8. A computer-readable storage medium, wherein the storage medium stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes the shield machine cylinder pressure distribution method based on support vector regression as described in any one of claims 1 to 5.

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