Horizontal displacement control system and method for sharp curve shield tunnel

Abstract

The invention relates to a sharp curve shield tunnel horizontal displacement control system and method. The method comprises the following steps that the current pose of a shield is obtained; the target position of the shield is obtained according to the design axis of the sharp curve and the current pose of the shield; establishing a shield tunnel overall model, and obtaining a transfer relation between a first ring starting end state vector and an (n + 1) th ring tail end state vector of the whole tunnel; according to the target position of the shield and the transmission relation between the state vector of the initial end of the first ring and the state vector of the tail end of the (n + 1) th ring of the tunnel, the jacking force of the shield is calculated; and controlling a thrust cylinder of the shield by using the calculated jacking force of the shield. The invention provides a deformation calculation method suitable for a small curvature radius working condition for a sharp curve section shield tunnel. By adopting the curved beam model and the elastic foundation theory, the deformation behavior of the sharp curve section tunnel can be described more accurately, and particularly the transverse displacement can be accurately calculated.

Description

Technical Field

[0001] The invention relates to the technical field of shield deviation correction control, and in particular to a horizontal displacement control system and method for a sharp curve shield tunnel. Background Art

[0002] When the shield machine is excavating along a curve or correcting the axis, the asymmetric thrust of the shield tail will generate additional bending moment at the end of the segment, causing construction defects such as longitudinal deformation of the tunnel and misalignment between rings. Most existing analytical methods simplify the shield tunnel into an equivalent continuous beam, and fail to consider the weakening of the joints between the tunnel segments. Based on the elastic foundation beam theory, the shield tunnel is simplified to a Timoshenko beam located in the Winkler foundation, such as Figure 1 As shown, an analytical calculation model for the additional response analysis of the shield tunnel under asymmetric thrust is established.

[0003] Considering the model of the tunnel segment joints, a simplified longitudinal beam-spring shield tunnel model (SLBSM) that can simultaneously consider the inter-ring opening and shear misalignment; the tunnel under construction is simplified to the SLBSM on the Winkler foundation, such as Figure 2 As shown in the figure, the analytical solution to the longitudinal deformation of the shield tunnel under asymmetric thrust is derived using the state space method.

[0004] The basic assumptions of this method are as follows: (1) The tunnel consists of many short hollow beams, which are connected in the longitudinal direction by longitudinal joints. (2) The deformation of the tunnel ring segment is simulated by Euler-Bernoulli beams. (3) Only rotation and misalignment deformation occur between the tunnel rings, and rotation springs and shear springs are used to simulate the longitudinal joints. (4) The change of the spring stiffness between the rings during tunnel deformation is not considered. SLBSM decomposes the shield tunnel into a pipe ring segment and a longitudinal joint segment along the longitudinal direction. The pipe ring segment is regarded as a short Euler-Bernoulli beam, whose length is consistent with the length of the segment; the longitudinal joint segment consists of linear rotation springs and shear springs, which are used to simulate the rotation and misalignment deformation between the rings, respectively.

[0005] The above solution has the following problems:

[0006] 1. The longitudinal beam-spring model of the longitudinal deformation of the shield tunnel adopts the linear Euler-Bernoulli beam theory, which is only suitable for analyzing the horizontal displacement of the shield tunnel with linear advancement, and cannot be directly applied to the longitudinal deformation control of the sharp curve shield tunnel.

[0007] 2. For the simulation of segment joints, only rotation springs and shear springs are used to simulate the rotation and misalignment deformation between the rings, without considering the axial compression deformation between the rings. Therefore, the deformation and displacement of the shield tunnel along the axial direction cannot be analyzed. Summary of the invention

[0008] The purpose of the present invention is to overcome the defects of the prior art and provide a horizontal displacement control system and method for a sharp curve shield tunnel to solve the existing problems.

[0009] The technical solution to achieve the above purpose is:

[0010] The present invention provides a method for controlling horizontal displacement of a steep curve shield tunnel, comprising the following steps:

[0011] Get the current position of the shield;

[0012] Obtain the target position of the shield according to the design axis of the sharp curve and the current position of the shield;

[0013] The overall model of the shield tunnel is established to obtain the transfer relationship between the state vector at the beginning of the first ring and the state vector at the end of the n+1th ring of the entire tunnel;

[0014] The thrust force of the shield is calculated based on the target position of the shield and the transfer relationship between the state vector at the beginning of the first ring of the tunnel and the state vector at the end of the n+1 ring.

[0015] The calculated shield thrust is used to control the shield's propulsion cylinder.

[0016] A further improvement of the horizontal displacement control method of a steep curve shield tunnel of the present invention is that establishing an overall model of the shield tunnel comprises the following steps:

[0017] Collect basic information of the sharp curve shield project;

[0018] Based on the basic information collected from the sharp curve shield project, the deformation model of the curved shield tunnel ring segment is established, and the transfer relationship between the state vectors at both ends of the ring segment deformation model is obtained;

[0019] Based on the basic information collected from the sharp curve shield project, a tunnel ring joint model is established to obtain the transfer relationship of the state vectors on both sides of the joint;

[0020] Based on the established curved shield tunnel segment deformation model and tunnel ring joint model, the overall model of the shield tunnel is established, and the transfer relationship between the state vector of the first ring start and the state vector of the n+1th ring end of the entire tunnel is obtained.

[0021] A further improvement of the horizontal displacement control method of a steep curve shield tunnel of the present invention is that the transfer relationship between the state vector at the beginning of the first ring and the state vector at the end of the n+1th ring of the entire tunnel is:

[0022]

[0023] In the above formula, is the transfer matrix of the inter-ring joint, is the transfer matrix of the state vectors at both ends of the i-th ring segment.

[0024] A further improvement of the horizontal displacement control method of a steep curve shield tunnel of the present invention is that boundary conditions are applied to the established overall model of the shield tunnel, including:

[0025] Set the tunnel end as a fixed constraint;

[0026] Set the tail end of the shield as a spring support.

[0027] A further improvement of the horizontal displacement control method of a steep curve shield tunnel of the present invention is that when the thrust force of the shield is calculated, if the thrust force is greater than the thrust limit, the thrust force is gradually reduced, and the corresponding displacement is calculated according to the transfer relationship between the state vector of the beginning of the first ring of the tunnel and the state vector of the end of the n+1th ring by using the reduced thrust force, so as to judge whether the horizontal lateral displacement of the segment exceeds the limit;

[0028] The shield's top thrust is zoned and adjusted. When the curve is displaced outwards by a greater than limit value, the thrust of the jacks in the upper and lower zones is reduced, the thrust of the jacks in the outer zone of the curve is increased, and the thrust of the jacks in the inner zone of the curve is reduced, while the stability of the excavation surface is ensured. When the curve is displaced inwards by a greater than limit value, the thrust of the jacks in the upper and lower zones is increased, the thrust of the jacks in the outer zone of the curve is reduced, and the thrust of the jacks in the inner zone of the curve is increased, while the stability of the excavation surface is ensured.

[0029] The present invention also provides a horizontal displacement control system for a steep curve shield tunnel, comprising:

[0030] A collection unit is used to collect the current position of the shield machine;

[0031] A target determination unit, connected to the acquisition unit, for determining a target position of the shield according to a design axis of the sharp curve and a current displacement of the shield;

[0032] The model building unit is used to build the overall model of the shield tunnel and obtain the transfer relationship between the state vector of the first ring start and the state vector of the n+1th ring end of the entire tunnel;

[0033] A thrust calculation unit connected to the target determination unit and the model establishment unit, for calculating the thrust of the shield according to the target position of the shield and the transfer relationship between the state vector of the beginning of the first ring of the tunnel and the state vector of the end of the n+1th ring;

[0034] The processing unit is connected to the jacking force calculation unit and is used to send the calculated jacking force of the shield to the propulsion cylinder of the shield.

[0035] A further improvement of the horizontal displacement control system of the steep curve shield tunnel of the present invention is that the model building unit is also used to receive the collected basic information of the steep curve shield project;

[0036] According to the basic information collected from the sharp curve shield project, the deformation model of the curved shield tunnel ring segment is established, and the transfer relationship between the state vectors at both ends of the ring segment deformation model is obtained;

[0037] Based on the basic information collected from the sharp curve shield project, a tunnel ring joint model is established to obtain the transfer relationship of the state vectors on both sides of the joint;

[0038] According to the established curved shield tunnel segment deformation model and tunnel ring joint model, the overall model of the shield tunnel is established, and the transfer relationship between the state vector of the first ring start and the state vector of the n+1th ring end of the entire tunnel is obtained.

[0039] A further improvement of the horizontal displacement control system of the steep curve shield tunnel of the present invention is that the transfer relationship between the state vector of the first ring start and the state vector of the n+1th ring end of the entire tunnel is:

[0040]

[0041] In the above formula, is the transfer matrix of the inter-ring joint, is the transfer matrix of the state vectors at both ends of the i-th ring segment.

[0042] A further improvement of the horizontal displacement control system of a steep curve shield tunnel of the present invention is that the overall model of the shield tunnel established by the model establishment unit has boundary conditions, and the boundary conditions include that the tunnel end is a fixed constraint and the shield tail end is a spring support.

[0043] A further improvement of the horizontal displacement control system of a steep curve shield tunnel of the present invention is that it also includes a thrust force partition adjustment module;

[0044] When calculating the top thrust of the shield machine, if the top thrust is greater than the preset thrust limit, the top thrust is gradually reduced, and based on the transfer relationship between the state vector of the starting end of the first ring of the tunnel and the state vector of the end of the n+1th ring, the corresponding displacement value is calculated to determine whether the horizontal lateral displacement of the segment exceeds the limit; the thrust of the partitioned jacks is dynamically adjusted according to the displacement direction of the curve; wherein, when the curve is displaced outwardly greater than the limit, the thrust partitioning adjustment module reduces the thrust of the upper and lower partitioned jacks, increases the thrust of the partitioned jacks on the outer side of the curve, and reduces the thrust of the partitioned jacks on the inner side of the curve, while ensuring the stability of the excavation surface; when the curve is displaced inwardly greater than the limit, the thrust partitioning adjustment module increases the thrust of the upper and lower partitioned jacks, reduces the thrust of the partitioned jacks on the outer side of the curve, and increases the thrust of the partitioned jacks on the inner side of the curve, while ensuring the stability of the excavation surface.

[0045] The beneficial effects of the horizontal displacement control system and method of the steep curve shield tunnel of the present invention are:

[0046] The present invention is applicable to the deformation calculation of the shield tunnel in the sharp curve section. Different from the prior art which mainly focuses on the longitudinal deformation analysis of the straight shield tunnel, the present invention proposes a deformation calculation method applicable to the working condition of the small curvature radius for the shield tunnel in the sharp curve section. By adopting the curved beam model and the elastic foundation theory, the deformation behavior of the tunnel in the sharp curve section can be described more accurately, especially the accurate calculation of the lateral displacement.

[0047] The present invention comprehensively considers axial compression deformation and various mechanical effects. The prior art usually ignores the axial compression deformation of the tunnel ring segment. The present invention establishes a joint model of shear springs, rotation springs, and compression springs, comprehensively considers various mechanical effects such as axial, shear and bending of the ring segment, so that the analysis of the overall deformation of the tunnel is more comprehensive and accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a longitudinal beam-spring model of longitudinal deformation of shield tunnel in the prior art.

[0049] Figure 2 This is the Winkler foundation model that considers the tunnel segment inter-ring joints in the prior art.

[0050] Figure 3 The present invention is a schematic diagram of the area division of the propulsion cylinder of the shield in the horizontal displacement control system and method of the steep curve shield tunnel.

[0051] Figure 4 The figure is a simplified force diagram of the tunnel segment ring in the horizontal displacement control system and method of the steep curve shield tunnel of the present invention.

[0052] Figure 5 It is a deformation model of a curved shield tunnel ring section in the horizontal displacement control system and method of a steep curved shield tunnel of the present invention.

[0053] Figure 6 It is a rotation spring model of the tunnel inter-ring joint model in the horizontal displacement control system and method of the sharp curve shield tunnel of the present invention.

[0054] Figure 7 It is a shear spring model of the tunnel ring joint model in the horizontal displacement control system and method of the sharp curve shield tunnel of the present invention.

[0055] Figure 8 It is the overall model of the shield tunnel in the horizontal displacement control system and method of the steep curve shield tunnel of the present invention.

[0056] Fig. 9 The present invention provides a flow chart for establishing a model and applying the model in the horizontal displacement control system and method of a steep curve shield tunnel. DETAILED DESCRIPTION

[0057] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0058] See also Figure 8 The present invention provides a horizontal displacement control system and method for a steep curve shield tunnel. The curved beam model and elastic foundation theory are used to accurately predict the lateral displacement of the steep curve section tunnel. The shear spring, rotation spring, and compression spring models are used to accurately describe the axial, shear, and bending deformations of the tunnel ring section joints. The multi-field coupling of the stratum reaction force, the support of different grouting strategies, and the shield thrust force are comprehensively considered to improve the accuracy and stability of the deformation prediction of the tunnel under complex working conditions. The horizontal displacement control system and method for a steep curve shield tunnel of the present invention are described below in conjunction with the accompanying drawings.

[0059] A sharp curve shield tunnel horizontal displacement control system of the present invention comprises a collection unit, a target determination unit, a model building unit, a push force calculation unit and a processing unit, wherein the target determination unit is connected with the collection unit, the push force calculation unit is connected with the target determination unit and the model building unit, and the processing unit is connected with the push force calculation unit. The collection unit is used to collect the current posture of the shield; the target determination unit is used to determine the target position of the shield according to the design axis of the sharp curve and the current displacement of the shield; the model building unit is used to establish an overall model of the shield tunnel and obtain the transfer relationship between the state vector of the first ring start end and the state vector of the n+1th ring end of the entire tunnel; the push force calculation unit is used to calculate the push force of the shield according to the target position of the shield and the transfer relationship between the state vector of the first ring start end and the state vector of the n+1th ring end of the tunnel; the processing unit is used to send the calculated push force of the shield to the propulsion cylinder of the shield.

[0060] Furthermore, the model building unit is also used to receive the collected basic information of the sharp curve shield project;

[0061] According to the basic information collected from the sharp curve shield project, the deformation model of the curved shield tunnel ring segment is established, and the transfer relationship between the state vectors at both ends of the ring segment deformation model is obtained;

[0062] Based on the basic information collected from the sharp curve shield project, a tunnel ring joint model is established to obtain the transfer relationship of the state vectors on both sides of the joint;

[0063] According to the established curved shield tunnel segment deformation model and tunnel ring joint model, the overall model of the shield tunnel is established, and the transfer relationship between the state vector of the first ring start and the state vector of the n+1th ring end of the entire tunnel is obtained.

[0064] Specifically, the basic information collected for the steep curve shield project includes geological exploration information, engineering material properties and geometric parameters. The geological exploration information includes the physical parameters of the strata such as the base coefficient and unconfined compressive strength of the strata through which the shield passes; the engineering material properties include the mechanical properties of steel (such as Q355), concrete (such as C55), steel bars and bolts, which are used for the subsequent calculation of elastic modulus and strength; the geometric parameters include the radius of the tunnel, the ring width and the radius of the design axis.

[0065] like Figure 3 and Figure 4 As shown in the figure, the thrust of the shield jack is simplified: the asymmetric thrust generated during the shield advancement process is simplified into concentrated force and bending moment to better describe the stress conditions at the end. According to the working conditions of the shield tunnel, the axial force (N) and bending moment (M) at each stage are calculated to determine the corresponding simplified end force.

[0066] The model building unit uses the curved beam model and foundation reaction model to build the deformation model of the curved shield tunnel ring segment. The curved beam model uses the Euler-Bernoulli curved beam model, which is based on the Euler-Bernoulli beam model on the elastic foundation to describe the deformation of the tunnel ring segment. The basic assumption of the curved beam is that each beam segment is subjected to forces in the longitudinal and circumferential directions, among which radial displacement and bending moment are the main force directions. In the foundation reaction model, Winkler springs are introduced to simulate the foundation reaction, in which the radial resistance and circumferential resistance are defined as k z and k s , these resistance coefficients can be calculated from the base coefficient and shear modulus of the formation.

[0067] The load on a single continuous curved beam segment on an elastic foundation is Figure 5 As shown, the shield curve radius is R, and the center angle of the curved beam segment is [θ 0 ,θ 1 ], establish the coordinate axis s along the curve in the tunnel, and establish the coordinate axis z along the radial direction. Assume that the arbitrary distributed loads acting on the tunnel along these two coordinate directions are qs and q z The radial displacement is recorded as w, the circumferential displacement is recorded as u, the bending moment is recorded as M, the shear force is recorded as Q, and the axial force is recorded as N. Their positive directions are as follows: Figure 3 The radial resistance coefficient and the annular resistance coefficient of the Winkler spring are denoted as k z and k s According to Euler's curved beam theory:

[0068]

[0069] In the formula, A and I are the area and bending moment of inertia of the cross section, E is the elastic modulus, and the angle of rotation of the cross section is Defined as:

[0070] The equilibrium equation of a curved beam on an elastic foundation is:

[0071]

[0072] The above equation can be organized into matrix form:

[0073] is the state vector, which consists of three internal forces and three displacements of the cross section. is the external load vector on the lining segment. is the system matrix.

[0074]

[0075] According to matrix theory, the transfer relationship between the state vectors at both ends of a single curved beam segment is obtained:

[0076]

[0077] In the formula, is the state vector At θ = θ 0 The value of is the transfer matrix.

[0078] like Figure 6 and Figure 7 As shown in the figure, when establishing the tunnel inter-ring joint model, the model building unit uses shear units, rotation springs and compression springs to simulate the force characteristics of the shield tunnel inter-ring joint; the misalignment and rotation deformation between the rings are calculated to evaluate the specific deformation of the shield tunnel joint under thrust and foundation reaction force.

[0079] Transfer of state vectors on both sides of the joint: In the formula, and are the dimensionless state vectors of the end section of the jth curved beam and the beginning section of the j+1th curved beam, respectively. is the dimensionless transfer matrix of the jth joint.

[0080]

[0081] and are the shear stiffness, axial stiffness and bending stiffness of the jth joint spring respectively.

[0082] The model building unit models the shield tunnel as a beam-spring model on an elastic foundation, including the interaction between the stratum, shield ring and shield tail section, such as Figure 8 As shown, the state vector transfer function is used to calculate the state of each ring (radial displacement, bending moment, etc.) ring by ring. The transfer relationship between the state vector at the beginning of the first ring of the entire tunnel and the state vector at the end of the n+1th ring is:

[0083]

[0084] In the above formula, is the transfer matrix of the inter-ring joint, is the transfer matrix of the state vectors at both ends of the i-th ring segment.

[0085] The overall model of the shield tunnel established by the model building unit has boundary conditions, which include the tunnel end as a fixed constraint and the shield tail end as a spring support. The tunnel end is set as a fixed constraint, the anchoring effect of the grouting slurry is considered, the shield tail end is set as a spring support, and the support effect of the shield machine shell on the tunnel is considered, which is between free and simply supported.

[0086] Furthermore, based on the established overall model of the shield tunnel, the impact analysis of the grouting strategy can be carried out, considering different grouting measurements, such as synchronous grouting, MJS reinforcement, the arrangement of grouting bags and bladders, changing the bed coefficient of the Winkler spring, and comparing the deformation of the tunnel ring under different working conditions. Considering the influence of different grouting times on the formation resistance, it is simulated by linear changes in the formation spring stiffness.

[0087] Furthermore, the processing unit calculates the lateral displacement and cumulative deformation, and uses the state vector transfer method to establish the relationship between the initial state and the terminal state, combined with the boundary conditions, and gradually calculates the deformation distribution of the entire tunnel. Considering the influence of the radial displacement of the previous ring on the displacement of the next ring, the overall lateral displacement of the tunnel is obtained by superimposing the deformation of each ring. For each ring segment, the cumulative value of the lateral displacement under different working conditions is calculated, as well as the impact caused by changes in construction technology.

[0088] Furthermore, the system of the present invention also includes a thrust zone adjustment module, which is connected to the processing unit, and the processing unit realizes zone adjustment of the jack thrust through the thrust zone adjustment module to control the lateral displacement. When the thrust calculation unit calculates the thrust of the shield, the processing unit determines whether the thrust is greater than the preset thrust limit. If the thrust is greater than the preset thrust limit, the processing unit gradually reduces the fixed example, and calculates the corresponding displacement value based on the transmission relationship between the state vector of the beginning of the first ring of the tunnel and the state vector of the end of the n+1 ring, and determines whether the horizontal lateral displacement of the segment exceeds the limit; dynamically adjust the zone jack thrust according to the displacement direction of the curve; wherein, when the calculated displacement exceeds the limit, the jack thrust is adjusted in the zone. When the curve is displaced outward by more than the limit, the thrust zone adjustment module reduces the thrust of the upper and lower zone jacks, increases the thrust of the outer zone jacks of the curve, and reduces the thrust of the inner zone jacks on the premise of ensuring the stability of the excavation surface. When the inward displacement of the curve is greater than the limit value, the thrust zone adjustment module increases the thrust of the upper and lower zone jacks, reduces the thrust of the outer zone jacks, and increases the thrust of the inner zone jacks while ensuring the stability of the excavation surface.

[0089] The present invention also provides a method for controlling horizontal displacement of a steep curve shield tunnel, comprising the following steps:

[0090] Get the current position of the shield;

[0091] Obtain the target position of the shield according to the design axis of the sharp curve and the current position of the shield;

[0092] The overall model of the shield tunnel is established to obtain the transfer relationship between the state vector at the beginning of the first ring and the state vector at the end of the n+1th ring of the entire tunnel;

[0093] The thrust force of the shield is calculated based on the target position of the shield and the transfer relationship between the state vector at the beginning of the first ring of the tunnel and the state vector at the end of the n+1 ring.

[0094] The calculated shield thrust is used to control the shield's propulsion cylinder.

[0095] Furthermore, if Fig. 9 As shown in Figure 1, establishing the overall model of the shield tunnel includes the following steps:

[0096] Collect basic information of the sharp curve shield project; including geological exploration information: the physical parameters of the stratum such as the base coefficient and unconfined compressive strength of the stratum through which the shield passes; engineering material properties: including the mechanical properties of steel (such as Q355), concrete (such as C55), steel bars, and bolts, etc., which are used for subsequent calculation of elastic modulus and strength; geometric parameters: including the radius of the tunnel, the ring width, and the radius of the design axis, etc.

[0097] Simplified thrust of the shield tail jack: The asymmetric thrust generated during the shield advancement process is simplified into concentrated force and bending moment to better describe the stress conditions at the end. According to the working conditions of the shield tunnel, the axial force (N) and bending moment (M) at each stage are calculated to determine the corresponding simplified end forces.

[0098] Based on the basic information collected from the sharp curve shield project, the deformation model of the curved shield tunnel ring segment is established, and the transfer relationship between the state vectors at both ends of the ring segment deformation model is obtained;

[0099] Based on the basic information collected from the sharp curve shield project, a tunnel ring joint model is established to obtain the transfer relationship of the state vectors on both sides of the joint;

[0100] Based on the established curved shield tunnel segment deformation model and tunnel ring joint model, the overall model of the shield tunnel is established, and the transfer relationship between the state vector of the first ring start and the state vector of the n+1th ring end of the entire tunnel is obtained.

[0101] Furthermore, the transfer relationship between the state vector at the beginning of the first ring and the state vector at the end of the n+1th ring of the entire tunnel is:

[0102]

[0103] In the above formula, is the transfer matrix of the inter-ring joint, is the transfer matrix of the state vectors at both ends of the i-th ring segment.

[0104] Furthermore, boundary conditions are imposed on the established overall model of the shield tunnel, including: setting the end of the tunnel as a fixed constraint; and setting the tail end of the shield as a spring support.

[0105] Furthermore, when the thrust force of the shield is calculated, if the thrust force is greater than the thrust limit, the thrust force is gradually reduced, and the corresponding displacement is calculated according to the transfer relationship between the state vector of the beginning of the first ring of the tunnel and the state vector of the end of the n+1th ring by using the reduced thrust force to determine whether the horizontal lateral displacement of the segment exceeds the limit;

[0106] The shield's top thrust is zoned and adjusted. When the curve is displaced outwards by a greater than limit value, the thrust of the jacks in the upper and lower zones is reduced, the thrust of the jacks in the outer zone of the curve is increased, and the thrust of the jacks in the inner zone of the curve is reduced, while the stability of the excavation surface is ensured. When the curve is displaced inwards by a greater than limit value, the thrust of the jacks in the upper and lower zones is increased, the thrust of the jacks in the outer zone of the curve is reduced, and the thrust of the jacks in the inner zone of the curve is increased, while the stability of the excavation surface is ensured.

[0107] The present invention is described in detail above in conjunction with the embodiments of the accompanying drawings. A person skilled in the art can make various variations of the present invention according to the above description. Therefore, certain details in the embodiments should not constitute a limitation of the present invention, and the scope of protection of the present invention shall be defined by the scope of the attached claims.

Claims

1. A method for controlling horizontal displacement of a steep curve shield tunnel, characterized in that: The steps include: Get the current position of the shield; Obtain the target position of the shield according to the design axis of the sharp curve and the current position of the shield; The overall model of the shield tunnel is established to obtain the transfer relationship between the state vector at the beginning of the first ring and the state vector at the end of the n+1th ring of the entire tunnel; The thrust force of the shield is calculated based on the target position of the shield and the transfer relationship between the state vector at the beginning of the first ring of the tunnel and the state vector at the end of the n+1 ring. The calculated shield thrust is used to control the shield's propulsion cylinder.

2. The method for controlling horizontal displacement of a steep curve shield tunnel according to claim 1, characterized in that: The establishment of the overall model of the shield tunnel includes the following steps: Collect basic information of the sharp curve shield project; Based on the basic information collected from the sharp curve shield project, the deformation model of the curved shield tunnel ring segment is established, and the transfer relationship between the state vectors at both ends of the ring segment deformation model is obtained; Based on the basic information collected from the sharp curve shield project, a tunnel ring joint model is established to obtain the transfer relationship of the state vectors on both sides of the joint; Based on the established curved shield tunnel segment deformation model and tunnel ring joint model, the overall model of the shield tunnel is established, and the transfer relationship between the state vector of the first ring start and the state vector of the n+1th ring end of the entire tunnel is obtained.

3. The method for controlling horizontal displacement of a steep curve shield tunnel according to claim 2, characterized in that: The transfer relationship between the state vector at the beginning of the first ring and the state vector at the end of the n+1 ring of the entire tunnel is: In the above formula, is the transfer matrix of the inter-ring joint, is the transfer matrix of the state vectors at both ends of the i-th ring segment.

4. The method for controlling horizontal displacement of a steep curve shield tunnel according to claim 1, characterized in that: Boundary conditions are applied to the established shield tunnel overall model, including: Set the tunnel end as a fixed constraint; Set the tail end of the shield as a spring support.

5. The method for controlling horizontal displacement of a steep curve shield tunnel according to claim 1, characterized in that: When the thrust force of the shield is calculated, if the thrust force is greater than the thrust limit, the thrust force is gradually reduced, and the corresponding displacement is calculated according to the transfer relationship between the state vector of the first ring start and the state vector of the n+1th ring end of the tunnel using the reduced thrust force to determine whether the horizontal lateral displacement of the segment exceeds the limit; The shield's top thrust is zoned and adjusted. When the curve is displaced outwards by a greater than limit value, the thrust of the jacks in the upper and lower zones is reduced, the thrust of the jacks in the outer zone of the curve is increased, and the thrust of the jacks in the inner zone of the curve is reduced, while the stability of the excavation surface is ensured. When the curve is displaced inwards by a greater than limit value, the thrust of the jacks in the upper and lower zones is increased, the thrust of the jacks in the outer zone of the curve is reduced, and the thrust of the jacks in the inner zone of the curve is increased, while the stability of the excavation surface is ensured.

6. A horizontal displacement control system for a steep curve shield tunnel, characterized in that: include: A collection unit is used to collect the current position of the shield machine; A target determination unit, connected to the acquisition unit, for determining a target position of the shield according to a design axis of the sharp curve and a current displacement of the shield; The model building unit is used to build the overall model of the shield tunnel and obtain the transfer relationship between the state vector of the first ring start and the state vector of the n+1th ring end of the entire tunnel; A thrust calculation unit connected to the target determination unit and the model establishment unit, for calculating the thrust of the shield according to the target position of the shield and the transfer relationship between the state vector of the beginning of the first ring of the tunnel and the state vector of the end of the n+1th ring; The processing unit is connected to the jacking force calculation unit and is used to send the calculated jacking force of the shield to the propulsion cylinder of the shield.

7. The horizontal displacement control system for a steep curve shield tunnel according to claim 6, characterized in that: The model building unit is also used to receive the collected basic information of the sharp curve shield project; According to the basic information collected from the sharp curve shield project, the deformation model of the curved shield tunnel ring segment is established, and the transfer relationship between the state vectors at both ends of the ring segment deformation model is obtained; Based on the basic information collected from the sharp curve shield project, a tunnel ring joint model is established to obtain the transfer relationship of the state vectors on both sides of the joint; According to the established curved shield tunnel segment deformation model and tunnel ring joint model, the overall model of the shield tunnel is established, and the transfer relationship between the state vector of the first ring start and the state vector of the n+1th ring end of the entire tunnel is obtained.

8. The horizontal displacement control system for a steep curve shield tunnel according to claim 7, characterized in that: The transfer relationship between the state vector at the beginning of the first ring and the state vector at the end of the n+1 ring of the entire tunnel is: In the above formula, is the transfer matrix of the inter-ring joint, is the transfer matrix of the state vectors at both ends of the i-th ring segment.

9. The horizontal displacement control system for a steep curve shield tunnel according to claim 6, characterized in that: The overall model of the shield tunnel established by the model establishment unit has boundary conditions, and the boundary conditions include that the tunnel end is a fixed constraint and the shield tail end is a spring support.

10. The horizontal displacement control system for a steep curve shield tunnel according to claim 6, characterized in that: It also includes a thrust zone adjustment module; When calculating the top thrust of the shield machine, if the top thrust is greater than the preset thrust limit, the top thrust is gradually reduced, and based on the transfer relationship between the state vector of the starting end of the first ring of the tunnel and the state vector of the end of the n+1th ring, the corresponding displacement value is calculated to determine whether the horizontal lateral displacement of the segment exceeds the limit; the thrust of the partitioned jacks is dynamically adjusted according to the displacement direction of the curve; wherein, when the curve is displaced outwardly greater than the limit, the thrust partitioning adjustment module reduces the thrust of the upper and lower partitioned jacks, increases the thrust of the partitioned jacks on the outer side of the curve, and reduces the thrust of the partitioned jacks on the inner side of the curve, while ensuring the stability of the excavation surface; when the curve is displaced inwardly greater than the limit, the thrust partitioning adjustment module increases the thrust of the upper and lower partitioned jacks, reduces the thrust of the partitioned jacks on the outer side of the curve, and increases the thrust of the partitioned jacks on the inner side of the curve, while ensuring the stability of the excavation surface.

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