Continuous counter-pull control system of shield tunneling machine for tunnel shield construction

Abstract

The invention relates to the technical field of shield tunneling machines, in particular to a shield tunneling machine continuous counter-pull control system for tunnel shield construction, which comprises a master control base station unit, a hydraulic pump station unit and a hydraulic execution module, the shield tunneling machine is subjected to continuous counter-pull starting driving through the hydraulic execution module, and the hydraulic pump station unit is communicated with the hydraulic execution module through a hydraulic pipeline. The hydraulic pump station unit provides a power source for the hydraulic execution module, and drive control over the hydraulic execution module is achieved. According to the control system, data are collected in real time through various sensors and fused, accurate state information is provided for the system, high-precision synchronous telescopic operation of all the hydraulic execution modules is achieved, proportion, integral and differential coefficients can be dynamically adjusted in cooperation with a self-adaptive PID control algorithm, and when errors are large due to the change of working conditions, the control precision is improved. And the proportionality coefficient can be quickly adjusted.

Description

Technical Field

[0001] The invention relates to the technical field of shield machines, in particular to a shield machine continuous back-pull control system used for tunnel shield construction. Background Art

[0002] During tunnel shield construction, the shield machine needs to be started. The new technology adopts negative ring-free starting, that is, no negative ring segments are required. By setting steel cables on the starting frame and a hydraulic execution module at the tail of the shield machine, the hydraulic execution module includes a hydraulic cylinder and a steel cable clamp. The steel cable clamp is used to clamp the steel cable and cooperate with the hydraulic cylinder to extend and pull the shield machine toward the starting direction.

[0003] Due to the large size of the shield machine and the large number of hydraulic execution modules, the control synchronization accuracy of each hydraulic execution module must be high. The traditional technology uses a hydraulic station to directly control the extension and retraction of the hydraulic cylinders in the hydraulic execution module, but the synchronization accuracy is low, which can easily lead to problems such as the starting offset of the shield machine. Summary of the Invention

[0004] The object of the present invention is to provide a shield machine continuous back-pulling control system for tunnel shield construction, so as to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a shield machine continuous reverse pull control system for tunnel shield construction, comprising a main control base station unit, a hydraulic pump station unit, a hydraulic execution module, and a sensor group. The shield machine is driven to reverse continuously via the hydraulic execution module. The hydraulic pump station unit is connected to the hydraulic execution module via a hydraulic pipeline. The hydraulic pump station unit provides a power source for the hydraulic execution module to realize drive control of the hydraulic execution module. The main control base station unit uniformly controls multiple hydraulic pump station units, coordinates the actions of each hydraulic execution module, and realizes synchronous extension and retraction operations. The sensor group includes: Displacement sensor: The displacement sensor is installed on the piston rod of the hydraulic cylinder of each hydraulic actuator module to collect the telescopic displacement data of the piston rod in real time; Pressure sensors are installed on the oil outlet of the hydraulic pump station unit and the oil inlet of the hydraulic cylinder of the hydraulic actuator module. The pressure sensor at the oil outlet is used to monitor the output pressure of the hydraulic pump station, and the pressure sensor at the oil inlet is used to feedback the working pressure of each hydraulic actuator module, thereby reflecting the traction tension of the steel cable; The tilt sensor is installed on the shield machine body and is used to detect the attitude angle of the shield machine, including the pitch angle and roll angle, to determine whether the shield machine is tilted or offset during the starting process; Temperature sensors are installed on the oil tank of the hydraulic pump station unit and the cylinder body of the hydraulic cylinder in the hydraulic execution module to monitor the temperature of the hydraulic oil and the hydraulic cylinder; The displacement data, pressure data, inclination data and temperature data obtained by the above sensors are transmitted to the main control base station unit. The main control base station unit uses the extended Kalman filter algorithm to fuse the multi-sensor data to obtain accurate displacement, pressure, inclination and temperature information. Based on the fused state information, the adaptive PID control algorithm is used to realize the synchronous extension and retraction operations of each hydraulic execution module.

[0006] The adaptive PID control algorithm is as follows: For each hydraulic actuator module Continuous control quantity , the formula is: ,in 、 、 are the proportional, integral and differential coefficients respectively, It's time The systematic error, is the integration variable, From the initial moment =0 to the current time The error integral of For the moment The error rate of change.

[0007] right 、 、 These three parameters are adjusted dynamically: The displacement data of the hydraulic actuator module is collected through the displacement sensor to calculate the system error at the current moment and error rate of change , , ,in is the target displacement, is the actual measured value, is the sampling time interval; Implemented using fuzzy logic 、 、 Adaptive dynamic adjustment.

[0008] The error and error rate of change Converted into fuzzy linguistic variables and determined by setting membership function and the degree of belonging to each fuzzy set; Based on control experience and system characteristics, a fuzzy rule table is formulated to determine the adjustment direction and amplitude of PID parameters under different combinations of errors and error change rates. Based on the fuzzified error and error change rate of the input, reasoning is performed according to the fuzzy rule table to obtain the fuzzy value of the PID parameter adjustment amount; By using the center of gravity clarification method, the fuzzy value of the PID parameter adjustment obtained by fuzzy reasoning is converted into an accurate value, and the 、 、 , used to update the current PID parameters:

[0009]

[0010] .

[0011] According to the updated 、 、 These three PID parameters, combined with the system error , calculate the control quantity according to the PID control algorithm formula ; The master base station unit calculates the control quantity , converted into control instructions for each corresponding hydraulic pump station unit, adjusting the output flow of the oil pump, and then controlling the telescopic displacement of the hydraulic execution module, so that the telescopic displacement of each hydraulic execution module remains consistent.

[0012] The main control base station unit is also provided with a dynamic load compensation algorithm based on an adaptive PID control algorithm. The dynamic load compensation algorithm estimates the load and monitors the load changes during the synchronous control of the telescopic displacement of the hydraulic execution module. When a load change is detected, the output flow and pressure of the hydraulic pump station unit are adjusted through a feedforward-feedback composite control strategy to dynamically compensate for the load change.

[0013] The dynamic load compensation algorithm is as follows: First, a load model is established. The load mainly includes formation resistance, friction, and inertia. The load model ,in is the displacement of the hydraulic actuator module, For speed, is the attitude angle of the shield machine, is the pressure of the hydraulic system; Since the formation conditions may change, the parameters of the load model will also change accordingly. The recursive least squares method is used to estimate the parameters of the load model online and update the load model in real time. The recursive least squares method continuously receives new sensor data and recursively calculates the optimal estimated values of the model parameters, so that the load model can adapt to changes in actual working conditions. The specific steps are as follows: Initialize the parameter estimate and the covariance matrix , for each sampling moment , calculate the predicted load ,in is the input vector, which contains displacement, velocity, attitude angle and pressure data; Calculate the estimated error ,in is the actual measured load, which is obtained through the pressure sensor data; Update the covariance matrix: Update parameter estimates .

[0014] In order to cope with the influence of load changes on the synchronous extension and retraction accuracy of the hydraulic actuator module, a feedforward-feedback composite control strategy is adopted. Feedforward control is introduced on the basis of feedback control to compensate for load changes in advance. The feedforward control is as follows: According to the real-time load change obtained by the load estimation algorithm , The load is obtained by subtracting the reference load from the load estimate. The reference load is determined by statistics of stable operating conditions at the initial stage or by offline simulation. According to the formula ,in is the effective working area of the hydraulic cylinder, is the viscous damping coefficient, is the known velocity change, The pressure compensation is obtained by combining the inverse transfer function model to derive the flow compensation. and Relationship: ,in is the feedforward gain matrix, determined by experiment or simulation; Receive the output of the load estimation algorithm in real time , call the pre-calibrated Calculate flow compensation and pressure compensation , directly send control instructions to the hydraulic pump station unit, adjust the pump output flow and pressure, and offset the impact of load changes on the synchronous expansion and contraction of the hydraulic execution module in advance.

[0015] Feedback control includes displacement feedback and pressure feedback. Adaptive PID control algorithm is used to perform closed-loop control of the system and correct the compensation error of feedforward control. Feedback control collects fused displacement and pressure feedback at a frequency of 100Hz, calculates the deviation from the target value, calls the adaptive PID control algorithm to generate the control quantity, corrects the compensation error of the feedforward control, and outputs it to the hydraulic pump station unit and hydraulic execution module to ensure the accuracy of synchronous extension and contraction.

[0016] Feedforward control and feedback control are coordinated in time through the master control base station unit. Feedforward control takes priority in the load change prediction stage and outputs compensation instructions 50-100ms in advance. Feedback control performs closed-loop correction at a 10ms cycle after the load change acts on the hydraulic actuator module. The two control quantities are superimposed as the final output instruction of the hydraulic pump station, namely: ,in is the feedforward control quantity, is the feedback control quantity.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The control system of the present invention collects data in real time through multiple sensors and performs fusion processing, providing accurate status information for the system, realizing high-precision synchronous extension and contraction operations of each hydraulic execution module, and cooperating with the adaptive PID control algorithm, so that the proportional, integral and differential coefficients can be dynamically adjusted. When the working conditions change and cause large errors, the proportional coefficient can be adjusted quickly to speed up the system response and enable the hydraulic execution module to quickly approach the target state. When the system approaches steady state, the integral and differential coefficients are adaptively adjusted to effectively reduce overshoot and improve control accuracy.

[0018] In addition, through the dynamic load compensation algorithm based on the adaptive PID control algorithm, load changes are monitored and estimated in real time, and dynamic compensation is performed through the feedforward-feedback composite control strategy, which can effectively respond to control requirements under complex working conditions and improve the efficiency and safety of the shield machine's starting operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Schematic diagram of the control system module of the present invention. DETAILED DESCRIPTION

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0021] See also Figure 1 The present invention provides a technical solution: a shield machine continuous back-pull control system for tunnel shield construction, including a main control base station unit, a hydraulic pump station unit, a hydraulic execution module and a sensor group.

[0022] The shield machine is driven by continuous reverse pulling through the hydraulic execution module. The hydraulic pump station unit is connected to the hydraulic execution module through hydraulic pipelines. The hydraulic pump station unit provides a power source for the hydraulic execution module to realize the drive control of the hydraulic execution module. The main control base station unit uniformly controls multiple hydraulic pump station units, coordinates the actions of each hydraulic execution module, and realizes synchronous telescopic operations. The hydraulic execution module consists of hydraulic cylinders and steel cable clamps. One hydraulic pump station unit controls the hydraulic cylinders in two hydraulic execution modules, and then uniformly coordinates and controls the hydraulic pump station units through the main control base station unit.

[0023] The sensor set includes: The displacement sensor uses a high-precision magnetostrictive displacement sensor with a measurement accuracy of ±0.1mm. The displacement sensor is installed on the piston rod of the hydraulic cylinder of each hydraulic actuator module. The sensor collects the telescopic displacement data of the piston rod in real time through the built-in magnetic ring and waveguide wire. Pressure sensors are installed on the oil outlet of the hydraulic pump station unit and the oil inlet of the hydraulic cylinder of the hydraulic actuator module, with a measurement accuracy of ±0.5% FS. The pressure sensor at the oil outlet is used to monitor the output pressure of the hydraulic pump station, and the pressure sensor at the oil inlet is used to feedback the working pressure of each hydraulic actuator module, thereby reflecting the traction tension of the steel cable; The inclination sensor uses a dual-axis inclination sensor with a measurement range of ±90° and an accuracy of ±0.1 degrees. It is installed on the shield machine body and is used to detect the attitude angle of the shield machine, including pitch angle and roll angle, to determine whether the shield machine is tilted or offset during the starting process; Temperature sensors are installed on the oil tank of the hydraulic pump station unit and the cylinder body of the hydraulic cylinder in the hydraulic execution module to monitor the temperature of the hydraulic oil and the hydraulic cylinder; The displacement data, pressure data, inclination data and temperature data obtained by the above sensors are transmitted to the main control base station unit, which uses the extended Kalman filter algorithm to fuse the multi-sensor data: first, the system state vector is clarified, covering the displacement / speed of the hydraulic actuator module, the pressure of the hydraulic pump station, the attitude and inclination of the shield machine, and the hydraulic oil temperature. According to the dynamics of the hydraulic cylinder and the kinematics of the shield machine, the state transfer equation is established; according to the measurement characteristics of the sensor, the observation equation containing the nonlinear observation function is constructed, considering the process noise and observation noise, and through the "prediction (using the previous moment state to estimate the current state) → update (using the observation value to correct the estimated value)" iteration, the optimal estimation of the system state is achieved, the noise is filtered out, and accurate displacement, pressure, attitude and inclination and temperature data are output.

[0024] Based on the fused state information, the adaptive PID control algorithm is used to achieve the synchronous extension and retraction of each hydraulic actuator module. The adaptive PID control algorithm is as follows: For each hydraulic actuator module Continuous control quantity , the formula is: ,in 、 、 are the proportional, integral and differential coefficients respectively, It's time The systematic error, is the integration variable, From the initial moment =0 to the current time The error integral of For the moment The error rate of change.

[0025] right 、 、 These three parameters are adjusted dynamically: The displacement data of the hydraulic actuator module is collected through the displacement sensor to calculate the system error at the current moment and error rate of change , , ,in is the target displacement, is the actual measured value, is the sampling time interval; Implemented using fuzzy logic 、 、 Adaptive dynamic adjustment.

[0026] The error and error rate of change Converted into fuzzy linguistic variables and determined by setting membership function and the degree of belonging to each fuzzy set; Based on control experience and system characteristics, a fuzzy rule table is formulated to determine the adjustment direction and amplitude of PID parameters under different combinations of errors and error change rates. Based on the fuzzified error and error change rate of the input, reasoning is performed according to the fuzzy rule table to obtain the fuzzy value of the PID parameter adjustment amount; By using the center of gravity clarification method, the fuzzy value of the PID parameter adjustment obtained by fuzzy reasoning is converted into an accurate value, and the 、 、 , used to update the current PID parameters:

[0027]

[0028] .

[0029] According to the updated 、 、 These three PID parameters, combined with the system error , calculate the control quantity according to the PID control algorithm formula ; The master base station unit calculates the control quantity , converted into control instructions for each corresponding hydraulic pump station unit, adjusting the output flow of the oil pump, and then controlling the telescopic displacement of the hydraulic execution module, so that the telescopic displacement of each hydraulic execution module remains consistent.

[0030] The main control base station unit is also equipped with a dynamic load compensation algorithm based on an adaptive PID control algorithm. The dynamic load compensation algorithm estimates the load and monitors load changes during the synchronous control of the telescopic displacement of the hydraulic execution module. When a load change is detected, the output flow and pressure of the hydraulic pump station unit are adjusted through a feedforward-feedback composite control strategy to dynamically compensate for the load change.

[0031] The dynamic load compensation algorithm is as follows: First, a load model is established. The load mainly includes formation resistance, friction, and inertia. The load model ,in is the displacement of the hydraulic actuator module, For speed, is the attitude angle of the shield machine, is the pressure of the hydraulic system; Since the formation conditions may change, the parameters of the load model will also change accordingly. The recursive least squares method is used to estimate the parameters of the load model online and update the load model in real time. The recursive least squares method continuously receives new sensor data and recursively calculates the optimal estimated values of the model parameters, so that the load model can adapt to changes in actual working conditions. The specific steps are as follows: Initialize the parameter estimate and the covariance matrix , for each sampling moment , calculate the predicted load ,in is the input vector, which contains displacement, velocity, attitude angle and pressure data; Calculate the estimated error ,in is the actual measured load, which is obtained through the pressure sensor data; Update the covariance matrix Update parameter estimates .

[0032] In order to cope with the influence of load changes on the synchronous extension and retraction accuracy of the hydraulic actuator module, a feedforward-feedback composite control strategy is adopted. Feedforward control is introduced on the basis of feedback control to compensate for load changes in advance. The feedforward control is as follows: According to the real-time load change obtained by the load estimation algorithm , The load is obtained by subtracting the reference load from the load estimate. The reference load is determined by statistics of stable operating conditions at the initial stage or by offline simulation. According to the formula ,in is the effective working area of the hydraulic cylinder, is the viscous damping coefficient, is the known velocity change, The pressure compensation is obtained by combining the inverse transfer function model to derive the flow compensation. and Relationship: ,in is the feedforward gain matrix, determined by experiment or simulation; Receive the output of the load estimation algorithm in real time , call the pre-calibrated Calculate flow compensation and pressure compensation , directly send control instructions to the hydraulic pump station unit, adjust the pump output flow and pressure, and offset the impact of load changes on the synchronous expansion and contraction of the hydraulic execution module in advance.

[0033] Feedback control includes displacement feedback and pressure feedback. Adaptive PID control algorithm is used to perform closed-loop control of the system and correct the compensation error of feedforward control. Feedback control collects fused displacement and pressure feedback at a frequency of 100Hz, calculates the deviation from the target value, calls the adaptive PID control algorithm to generate the control quantity, corrects the compensation error of the feedforward control, and outputs it to the hydraulic pump station unit and hydraulic execution module to ensure the accuracy of synchronous extension and contraction.

[0034] Feedforward control and feedback control are coordinated in time through the master control base station unit. Feedforward control takes priority in the load change prediction stage and outputs compensation instructions 50-100ms in advance. Feedback control performs closed-loop correction at a 10ms cycle after the load change acts on the hydraulic actuator module. The two control quantities are superimposed as the final output instruction of the hydraulic pump station, namely: ,in is the feedforward control quantity, is the feedback control quantity.

[0035] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A shield machine continuous back-pulling control system for tunnel shield construction, comprising a main control base station unit, a hydraulic pump station unit, a hydraulic execution module, and a sensor group, characterized by: The shield machine is driven by the hydraulic execution module for continuous reverse pulling. The hydraulic pump station unit is connected to the hydraulic execution module through a hydraulic pipeline. The hydraulic pump station unit provides a power source for the hydraulic execution module to realize the drive control of the hydraulic execution module. The main control base station unit uniformly controls multiple hydraulic pump station units, coordinates the actions of each hydraulic execution module, and realizes synchronous extension and retraction operations. The sensor group includes: Displacement sensor: The displacement sensor is installed on the piston rod of the hydraulic cylinder of each hydraulic actuator module to collect the telescopic displacement data of the piston rod in real time; Pressure sensors are installed on the oil outlet of the hydraulic pump station unit and the oil inlet of the hydraulic cylinder of the hydraulic actuator module. The pressure sensor at the oil outlet is used to monitor the output pressure of the hydraulic pump station, and the pressure sensor at the oil inlet is used to feedback the working pressure of each hydraulic actuator module, thereby reflecting the traction tension of the steel cable; The tilt sensor is installed on the shield machine body and is used to detect the attitude angle of the shield machine, including the pitch angle and roll angle, to determine whether the shield machine is tilted or offset during the starting process; Temperature sensors are installed on the oil tank of the hydraulic pump station unit and the cylinder body of the hydraulic cylinder in the hydraulic execution module to monitor the temperature of the hydraulic oil and the hydraulic cylinder; The displacement data, pressure data, inclination data and temperature data obtained by the above sensors are transmitted to the main control base station unit. The main control base station unit uses the extended Kalman filter algorithm to fuse the multi-sensor data to obtain accurate displacement, pressure, inclination and temperature information. Based on the fused state information, the adaptive PID control algorithm is used to realize the synchronous extension and retraction operations of each hydraulic execution module.

2. The shield machine continuous back-pull control system for tunnel shield construction according to claim 1, characterized in that: The adaptive PID control algorithm is as follows: For each hydraulic actuator module Continuous control quantity , the formula is: ,in 、 、 are the proportional, integral and differential coefficients respectively, It's time The systematic error of is the integration variable, From the initial moment =0 to the current time The error integral of For the moment The error rate of change.

3. The shield machine continuous back-pull control system for tunnel shield construction according to claim 2, characterized in that: right 、 、 These three parameters are adjusted dynamically: The displacement data of the hydraulic actuator module is collected through the displacement sensor to calculate the system error at the current moment and error rate of change , , ,in is the target displacement, is the actual measured value, is the sampling time interval; Implemented using fuzzy logic 、 、 Adaptive dynamic adjustment.

4. The shield machine continuous back-pull control system for tunnel shield construction according to claim 3, characterized in that: The error and error rate of change Converted into fuzzy linguistic variables and determined by setting membership function and the degree of belonging to each fuzzy set; Based on control experience and system characteristics, a fuzzy rule table is formulated to determine the adjustment direction and amplitude of PID parameters under different combinations of errors and error change rates. According to the fuzzified error and error change rate of the input, reasoning is performed based on the fuzzy rule table to obtain the fuzzy value of the PID parameter adjustment amount; By using the center of gravity clarification method, the fuzzy value of the PID parameter adjustment obtained by fuzzy reasoning is converted into an accurate value, and the 、 、 , used to update the current PID parameters: ， ， 。 5. The shield machine continuous back-pull control system for tunnel shield construction according to claim 4, characterized in that: According to the updated 、 、 These three PID parameters, combined with the system error , calculate the control quantity according to the PID control algorithm formula ; The master base station unit calculates the control quantity , converted into control instructions for each corresponding hydraulic pump station unit, adjusting the output flow of the oil pump, and then controlling the telescopic displacement of the hydraulic execution module, so that the telescopic displacement of each hydraulic execution module remains consistent.

6. The shield machine continuous back-pull control system for tunnel shield construction according to claim 1, characterized in that: The main control base station unit is also provided with a dynamic load compensation algorithm based on an adaptive PID control algorithm. The dynamic load compensation algorithm estimates the load and monitors the load changes during the synchronous control of the telescopic displacement of the hydraulic execution module. When a load change is detected, the output flow and pressure of the hydraulic pump station unit are adjusted through a feedforward-feedback composite control strategy to dynamically compensate for the load change.

7. The shield machine continuous back-pull control system for tunnel shield construction according to claim 6, characterized in that: The dynamic load compensation algorithm is as follows: First, a load model is established. The load mainly includes formation resistance, friction, and inertia. The load model ,in is the displacement of the hydraulic actuator module, For speed, is the attitude angle of the shield machine, is the pressure of the hydraulic system; Since the formation conditions may change, the parameters of the load model will also change accordingly. The recursive least squares method is used to estimate the parameters of the load model online and update the load model in real time. The recursive least squares method continuously receives new sensor data and recursively calculates the optimal estimated values of the model parameters, so that the load model can adapt to changes in actual working conditions. The specific steps are as follows: Initialize the parameter estimate and the covariance matrix , for each sampling moment , calculate the predicted load ,in is the input vector, which contains displacement, velocity, attitude angle and pressure data; Calculate the estimated error ,in is the actual measured load, which is obtained through the pressure sensor data; Update the covariance matrix Update parameter estimates .

8. The shield machine continuous back-pull control system for tunnel shield construction according to claim 7, characterized in that: In order to cope with the influence of load changes on the synchronous extension and retraction accuracy of the hydraulic actuator module, a feedforward-feedback composite control strategy is adopted. Feedforward control is introduced on the basis of feedback control to compensate for load changes in advance. The feedforward control is as follows: According to the real-time load change obtained by the load estimation algorithm , The load is obtained by subtracting the reference load from the load estimate. The reference load is determined by statistics of stable operating conditions at the initial stage or by offline simulation. According to the formula ,in is the effective working area of the hydraulic cylinder, is the viscous damping coefficient, is the known velocity change, The pressure compensation is obtained by combining the inverse transfer function model to derive the flow compensation. and Relationship: ,in is the feedforward gain matrix, determined by experiments or simulations; Receive the output of the load estimation algorithm in real time , call the pre-calibrated Calculate flow compensation and pressure compensation , directly send control instructions to the hydraulic pump station unit, adjust the pump output flow and pressure, and offset the impact of load changes on the synchronous expansion and contraction of the hydraulic execution module in advance.

9. The shield machine continuous back-pull control system for tunnel shield construction according to claim 8, characterized in that: Feedback control includes displacement feedback and pressure feedback. Adaptive PID control algorithm is used to perform closed-loop control of the system and correct the compensation error of feedforward control. Feedback control collects fused displacement and pressure feedback at a frequency of 100Hz, calculates the deviation from the target value, calls the adaptive PID control algorithm to generate the control quantity, corrects the compensation error of the feedforward control, and outputs it to the hydraulic pump station unit and hydraulic execution module to ensure the accuracy of synchronous extension and contraction.

10. The shield machine continuous back-pull control system for tunnel shield construction according to claim 9, characterized in that: Feedforward control and feedback control are coordinated in time through the master control base station unit. Feedforward control takes priority in the load change prediction stage and outputs compensation instructions 50-100ms in advance. Feedback control performs closed-loop correction at a 10ms cycle after the load change acts on the hydraulic actuator module. The two control quantities are superimposed as the final output instruction of the hydraulic pump station, namely: ,in is the feedforward control quantity, is the feedback control quantity.

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