A method and device for controlling an oil cylinder of a shield tunneling machine, and a storage medium

Abstract

The application provides a shield machine oil cylinder control method and device and a storage medium, and relates to the field of shield machines. The method comprises the following steps: acquiring first oil cylinder parameters of all oil cylinders of the shield machine in an initial state; determining a first total thrust and a first action point; acquiring second oil cylinder parameters in a region to be assembled after the oil cylinders enter a synchronous advancing state; determining a second thrust target value of a second type of oil cylinder in a non-assembled region; determining an oil cylinder mode switching step number; controlling the first type of oil cylinder and the second type of oil cylinder to perform multiple first thrust adjustments until the number of executions reaches the oil cylinder mode switching step number, then reducing the thrust of each first type of oil cylinder to 0, and controlling the first type of oil cylinder to retract, so as to realize segment installation. The application solves the problem that the prior art ignores the influence of sudden changes in the thrust of the oil cylinders in the assembled region on the resultant thrust and the target point, and only focuses on the steady-state error after the target thrust distribution is completed, thereby reducing the control efficiency of the oil cylinders.

Description

Technical Field

[0001] This application relates to the field of tunnel boring machines, and more particularly to a method, device and storage medium for controlling the hydraulic cylinders of a tunnel boring machine. Background Technology

[0002] Segment assembly is a crucial step in tunnel construction. In traditional shield tunneling, the tunneling and assembly processes are carried out alternately. After the shield machine completes one segment, it must stop and wait for the segment assembly to be completed, which makes it difficult to improve construction efficiency. Therefore, synchronous tunneling and assembly technology is of great significance for improving construction efficiency and shortening the construction period.

[0003] In existing synchronous assembly technology, the target thrust of the hydraulic cylinder in the propulsion mode is generally obtained by solving the total thrust constraint equation set, and the target thrust is distributed to the corresponding hydraulic cylinder while the hydraulic cylinder in the assembly area retracts.

[0004] However, in the existing synchronous push-and-assemble technology, the shield machine's thrust decreases and the target point moves the instant the hydraulic cylinder switches from the push mode to the assembly mode. This may cause a drop in chamber pressure and a sudden change in attitude, leading to construction risks and reducing the hydraulic cylinder control efficiency of the shield machine. Summary of the Invention

[0005] This application provides a method, device, and storage medium for controlling the hydraulic cylinders of a tunnel boring machine (TBM), which addresses the problem that existing synchronous pushing and assembling technologies neglect the impact of sudden changes in hydraulic cylinder thrust in the assembly area, resulting in low hydraulic cylinder control efficiency for TBMs.

[0006] In a first aspect, this application provides a method for controlling the hydraulic cylinders of a tunnel boring machine, comprising:

[0007] Obtain the parameters of the first hydraulic cylinder of all hydraulic cylinders of the tunnel boring machine in its initial state;

[0008] Based on the parameters of the first hydraulic cylinder, determine the first total thrust and the first point of application;

[0009] Once the hydraulic cylinder enters the synchronous propulsion state, the parameters of the second hydraulic cylinder of the first type of hydraulic cylinder in the area to be assembled are obtained.

[0010] Based on the parameters of the first cylinder, the first total thrust, the first point of application, and the parameters of the second cylinder, determine the target value of the second thrust of the second type of cylinder in the non-assembly area;

[0011] The number of cylinder mode switching steps is determined based on the second thrust target value of the second type of cylinder, the parameters of the first cylinder, the number of first type cylinders, the number of second type cylinders, the preset total thrust change rate threshold, and the preset total thrust application point change threshold.

[0012] Control the first type of hydraulic cylinder and the second type of hydraulic cylinder to perform the first thrust adjustment multiple times until the number of times the hydraulic cylinder mode switching step is reached. Then, reduce the thrust of each first type of hydraulic cylinder to 0, and the second total thrust and the second point of action of the second type of hydraulic cylinder meet the preset target propulsion requirements.

[0013] Control the retraction of the first type of hydraulic cylinder to achieve segment installation.

[0014] In one possible design, based on the second thrust target value of the second type of hydraulic cylinder, the parameters of the first hydraulic cylinder, the number of first type hydraulic cylinders, the number of second type hydraulic cylinders, a preset total thrust change rate threshold, and a preset total thrust application point change threshold, the number of hydraulic cylinder mode switching steps is determined, including:

[0015] Obtain a preset hydraulic cylinder thrust control model; wherein, the preset hydraulic cylinder thrust control model is trained by a hydraulic cylinder dataset, which includes samples of the second thrust target value of the second type of hydraulic cylinder, samples of the parameters of the first type of hydraulic cylinder, samples of the number of the first type of hydraulic cylinder, samples of the number of the second type of hydraulic cylinder, samples of the preset total thrust change rate threshold, samples of the preset total thrust application point change threshold, and samples of the corresponding number of hydraulic cylinder mode switching steps.

[0016] The second thrust target value of the second type of hydraulic cylinder, the parameters of the first hydraulic cylinder, the number of the first type of hydraulic cylinder, the number of the second type of hydraulic cylinder, the preset total thrust change rate threshold, and the preset total thrust application point change threshold are input into the preset hydraulic cylinder thrust control model. Based on the output results of the preset hydraulic cylinder thrust control model, the number of hydraulic cylinder mode switching steps is determined.

[0017] In one possible design, before obtaining the preset cylinder thrust control model, the following is also included:

[0018] The original hydraulic cylinder thrust control model is determined, and the loss function for the original hydraulic cylinder thrust control model is determined; the hydraulic cylinder thrust control model includes an input layer, a hidden layer, and an output layer;

[0019] Obtain the hydraulic cylinder dataset; the hydraulic cylinder dataset was obtained through simulation experiments.

[0020] The hydraulic cylinder dataset was split into a training dataset and a test dataset.

[0021] The original hydraulic cylinder thrust control model is trained based on the training dataset, and the trained hydraulic cylinder thrust control model is optimized based on the test dataset to obtain the preset hydraulic cylinder thrust control model.

[0022] In one possible design, the parameters of the first hydraulic cylinder include the cylinder distribution angle, the total number of hydraulic cylinders, the cylinder distribution radius, and the initial thrust of the hydraulic cylinder.

[0023] In one possible design, the first total thrust and the first point of application are determined based on the parameters of the first hydraulic cylinder, including:

[0024] The first total thrust is calculated based on the total number of hydraulic cylinders and the initial thrust of the hydraulic cylinders;

[0025] The first point of action is calculated based on the cylinder distribution angle, the total number of cylinders, the cylinder distribution radius, and the initial thrust of the cylinders.

[0026] In one possible design, the parameters of the second cylinder include the total number of the first type of cylinders and the first thrust target value; wherein, the first thrust target value is 0.

[0027] In one possible design, based on the parameters of the first cylinder, the first total thrust, the first point of application, and the parameters of the second cylinder, the target value of the second thrust of the second type of cylinder in the non-assembly area is determined, including:

[0028] Based on the cylinder distribution angle, total number of cylinders, cylinder distribution radius, initial cylinder thrust, first total thrust, first point of application, total number of first cylinders and second cylinder parameters, solve the inference constraint equation set to obtain the second thrust target value for each second type of cylinder.

[0029] In one possible design, after controlling the retraction of the first type of hydraulic cylinder to achieve segment installation, the following is also included:

[0030] Based on the number of cylinder mode switching steps, determine the target value of the third thrust for all cylinders;

[0031] Control all cylinders to perform multiple second thrust adjustments until the number of cylinder mode switching steps is reached, then adjust the thrust of each cylinder to the corresponding third thrust target value.

[0032] Secondly, this application provides a hydraulic cylinder control device for a tunnel boring machine, comprising: a first acquisition module, a first determination module, a second acquisition module, a second determination module, a third determination module, a first control module, and a second control module;

[0033] The first acquisition module is used to acquire the first cylinder parameters of all cylinders of the tunnel boring machine in the initial state;

[0034] The first determining module is used to determine the first total thrust and the first point of application based on the parameters of the first hydraulic cylinder.

[0035] The second acquisition module is used to acquire the second cylinder parameters of the first type of cylinder in the assembly area after the cylinder enters the synchronous propulsion state.

[0036] The second determining module is used to determine the second thrust target value of the second type of hydraulic cylinder in the non-assembly area based on the parameters of the first hydraulic cylinder, the first total thrust, the first point of application, and the parameters of the second hydraulic cylinder.

[0037] The third determining module is used to determine the number of cylinder mode switching steps based on the second thrust target value of the second type of cylinder, the parameters of the first cylinder, the number of the first type of cylinder, the number of the second type of cylinder, the preset total thrust change rate threshold, and the preset total thrust application point change threshold.

[0038] The first control module is used to control the first type of hydraulic cylinder and the second type of hydraulic cylinder to perform multiple first thrust adjustments until the number of times the hydraulic cylinder mode switching steps are reached. Then, the thrust of each first type of hydraulic cylinder is reduced to 0, and the second total thrust and the second point of action of the second type of hydraulic cylinder meet the preset target propulsion requirements.

[0039] The second control module is used to control the retraction of the first type of hydraulic cylinder to achieve segment installation.

[0040] Thirdly, this application provides a hydraulic cylinder control device for a tunnel boring machine, comprising:

[0041] At least one processor;

[0042] and memory that is communicatively connected to at least one processor;

[0043] The memory stores instructions that can be executed by at least one processor, which are executed by at least one processor to enable the at least one processor to perform a cylinder control method for a tunnel boring machine as described in the first aspect of the invention.

[0044] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement a cylinder control method for a tunnel boring machine as described in the first aspect of the invention.

[0045] Fifthly, this application provides a computer program product, including a computer program, which, when executed by a processor, is used to implement a method for controlling the hydraulic cylinders of a tunnel boring machine according to the first aspect of the invention.

[0046] This application provides a method, device, and storage medium for controlling the hydraulic cylinders of a tunnel boring machine (TBM). Based on the cylinder parameters, after the TBM enters the synchronous pushing and assembling state, the thrust of the cylinders in the assembly area is gradually reduced from its initial value to 0. In each step, the thrust of the remaining cylinders is calculated based on the thrust value of the cylinders in the assembly area and the total thrust constraint equations, ensuring that the magnitude and point of application of the total thrust remain constant. After the thrust of the cylinders in the assembly area decreases to 0, the system switches to assembly mode. This method can stabilize the resultant thrust and the target point in the synchronous pushing and assembling state of the TBM, maintain the stability of the TBM's tunneling posture during the synchronous pushing and assembling process, and thus improve the hydraulic cylinder control efficiency of the TBM. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 A schematic diagram of the hydraulic cylinder control system architecture for a tunnel boring machine provided in this application embodiment;

[0049] Figure 2 A flowchart illustrating a hydraulic cylinder control method for a tunnel boring machine provided in this application embodiment. Figure 1 ;

[0050] Figure 3 This is a schematic diagram of the cylinder distribution angle and cylinder distribution radius provided in the embodiments of this application;

[0051] Figure 4 This is a schematic diagram of the tunnel boring machine structure provided in an embodiment of this application;

[0052] Figure 5 A flowchart illustrating a hydraulic cylinder control method for a tunnel boring machine provided in this application embodiment. Figure 2 ;

[0053] Figure 6 A schematic diagram illustrating thrust changes during the propulsion mode switching process provided in this application embodiment;

[0054] Figure 7 A flowchart illustrating a hydraulic cylinder control method for a tunnel boring machine provided in this application embodiment. Figure 3 ;

[0055] Figure 8 A flowchart illustrating a hydraulic cylinder control method for a tunnel boring machine provided in this application embodiment. Figure 4 ;

[0056] Figure 9 This is a schematic diagram illustrating the thrust change during the assembly mode switching process provided in an embodiment of this application.

[0057] Figure 10 A schematic diagram of the structure of the hydraulic cylinder control device for a tunnel boring machine provided in an embodiment of this application;

[0058] Figure 11 This is a schematic diagram of the structure of a hydraulic cylinder control device for a tunnel boring machine, provided in an embodiment of this application. Detailed Implementation

[0059] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0060] In the embodiments of this application, the terms "first" and "second" are used to distinguish identical or similar items with substantially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, nor do they necessarily imply difference. It should be noted that in the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner. In the embodiments of this application, "at least one" refers to one or more, and "more than one" refers to two or more.

[0061] It should be noted that the phrase "at...time" in the embodiments of this application can refer to the instant at which a certain situation occurs, or to a period of time after the occurrence of a certain situation; the embodiments of this application do not specifically limit this. Furthermore, the cylinder control method for a tunnel boring machine provided in the embodiments of this application is merely an example; the cylinder control method for a tunnel boring machine may include more or fewer elements.

[0062] To facilitate a clear description of the technical solutions in the embodiments of this application, some terms and technologies involved in the embodiments of this application will be briefly introduced below:

[0063] Thrust control model optimizer: It is a technical framework based on feedback control and optimization algorithms. Its core goal is to adjust the control parameters of components such as engine, valve group or propulsion pump in real time (such as engine speed, valve group opening and closing, pump outlet pressure) so that the thrust control system can reach the performance limit (such as maximum thrust, minimum power consumption) or achieve specific control objectives (such as attitude stabilization, trajectory tracking) while meeting safety constraints.

[0064] Segment assembly is a crucial step in tunnel construction. In traditional shield tunneling, the tunneling and assembly processes are carried out alternately. After the shield machine completes one segment, it must stop and wait for the segment assembly to be completed, which makes it difficult to improve construction efficiency. Therefore, synchronous tunneling and assembly technology is of great significance for improving construction efficiency and shortening the construction period.

[0065] In existing synchronous assembly technology, the target thrust of the hydraulic cylinder in the propulsion mode is generally obtained by solving the total thrust constraint equation set, and the target thrust is distributed to the corresponding hydraulic cylinder while the hydraulic cylinder in the assembly area retracts.

[0066] Existing synchronous push-assembly technology ignores the impact of sudden changes in hydraulic cylinder thrust in the assembly area on the resultant thrust and the target point, and only focuses on the steady-state error after the target thrust distribution is completed.

[0067] When the hydraulic cylinders in the assembly area retract, the sudden drop in thrust causes an instantaneous decrease in the total thrust, while the hydraulic cylinders in other areas need to rapidly increase pressure to compensate for the thrust. This dynamic adjustment may cause periodic fluctuations in the resultant thrust, and the impact load generated by the sudden thrust change may induce system resonance, causing key components such as the segment assembly interface and the hydraulic cylinder support structure to be subjected to alternating stress. Under long-term operation, this vibration will accelerate the wear of seals, increase the risk of hydraulic pipeline leakage, and even cause structural fatigue cracks.

[0068] Sudden thrust changes can alter the direction of the thrust vector. For example, during tunnel boring machine (TBM) construction, if the retraction of the hydraulic cylinders in the assembly area causes a sudden decrease in thrust on the left side, and the right-side hydraulic cylinders fail to compensate in time, the point of application of the resultant force will shift to the right, causing the tunnel axis to deviate from the designed route.

[0069] Specifically, at the moment the hydraulic cylinder switches from propulsion mode to assembly mode, the combined thrust of the tunnel boring machine decreases and the target point moves, which may cause a drop in chamber pressure and a sudden change in attitude, leading to construction risks.

[0070] To address the aforementioned issues, the inventors, during their research on the cylinder control problem of tunnel boring machines (TBMs) using synchronous thrust-assembly technology, discovered that existing methods allocate target thrust by solving the total thrust constraint equations, but neglect the impact of sudden changes in cylinder thrust in the assembly area on the resultant thrust and target point, focusing only on steady-state error. However, when the cylinders in the assembly area retract, a sudden drop in thrust leads to an instantaneous decrease in total thrust. Other cylinders in the assembly area need to rapidly increase pressure to compensate for the thrust, causing the target point to shift. This can result in a decrease in chamber pressure and sudden changes in attitude, leading to construction risks and reduced cylinder control efficiency of the TBM. Therefore, the inventors considered gradually reducing the thrust of the cylinders in the assembly area from its initial value to 0 after the TBM enters the synchronous thrust-assembly state, based on the cylinder parameters. In each step, the thrust of the remaining cylinders is calculated based on the thrust value of the cylinders in the assembly area and the total thrust constraint equations, ensuring that the magnitude and point of application of the total thrust remain constant. After the thrust of the cylinders in the assembly area decreases to 0, the assembly mode is switched. This achieves stability of the thrust resultant force and target point during synchronous pushing and assembling of the tunnel boring machine (TBM), maintaining the stability of the TBM's tunneling posture during the synchronous pushing and assembling process. Based on this, embodiments of this application provide a cylinder control method, device, and storage medium for a TBM, applicable in the field of TBMs, aiming to solve the aforementioned technical problems of the prior art and further effectively improve the cylinder control efficiency of the TBM.

[0071] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0072] Figure 1 This is a schematic diagram of the hydraulic cylinder control system architecture for a tunnel boring machine (TBM) according to an embodiment of this application. The hydraulic cylinder control system of this TBM is a computer device. Figure 1 In the above architecture, at least one of data acquisition device 101, processing device 102 and display device 103 is included.

[0073] It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the architecture of the cylinder control system of a tunnel boring machine. In other feasible embodiments of this application, the above architecture may include more or fewer components than illustrated, or combine some components, or divide some components, or arrange different components, which can be determined according to the actual application scenario and is not limited here. Figure 1 The components shown can be implemented in hardware, software, or a combination of both.

[0074] In the specific implementation process, the data acquisition device 101 may include an input / output interface or a communication interface, and the data acquisition device 101 can be connected to the processing device through the input / output interface or the communication interface.

[0075] The processing device 102 can process the collected data objects and control the switching between propulsion mode and assembly mode through the hydraulic cylinder thrust control model.

[0076] The display device 103 can also be a touch screen or the screen of a terminal device, used to receive user commands while displaying the above-mentioned content, so as to realize interaction with the user.

[0077] It should be understood that the aforementioned processing device can be implemented by a processor reading instructions from memory and executing those instructions, or it can be implemented by a chip circuit.

[0078] Furthermore, the network architecture and business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0079] The technical solution of this application will be described in detail below with reference to specific embodiments:

[0080] Figure 2 A flowchart illustrating a hydraulic cylinder control method for a tunnel boring machine provided in this application embodiment. Figure 1 ,like Figure 2 As shown, the method includes:

[0081] S201. Obtain the parameters of the first cylinder of all cylinders of the tunnel boring machine in its initial state.

[0082] The initial state refers to the state before the tunnel boring machine enters the synchronous pushing and splicing state.

[0083] The parameters of the first hydraulic cylinder include the hydraulic cylinder distribution angle, the total number of hydraulic cylinders, the hydraulic cylinder distribution radius, and the initial thrust of the hydraulic cylinder.

[0084] Specifically, before the tunnel boring machine leaves the factory, the cylinder distribution angles θ1, θ2, ... θ are obtained. i , where i is the total number of hydraulic cylinders, and then the distribution radius R of the hydraulic cylinders is obtained.

[0085] In one embodiment, Figure 3 This is a schematic diagram of the cylinder distribution angle and cylinder distribution radius provided in the embodiments of this application, as shown below. Figure 3 As shown, the cylinder distribution angles are θ1, θ2, ... θ i The cylinder distribution radius R is such that a number of cylinders are distributed along the circumference on the same plane.

[0086] In one embodiment, Figure 4 This is a schematic diagram of the tunnel boring machine structure provided in the embodiments of this application, such as... Figure 4 As shown, 1 is the hydraulic cylinder in assembly mode, with one end fixed to the shield body of the tunnel boring machine and the other end retracted to leave space for the assembly of segment 3. 2 is the hydraulic cylinder in propulsion mode, with one end fixed to the shield body of the tunnel boring machine and the other end pressing against the segment, the reaction force of the segment providing the thrust of the tunnel boring machine.

[0087] Specifically, before the tunnel boring machine enters the synchronous pushing and splicing state, the hydraulic cylinder thrust is obtained as the initial thrust F0(1), F0(2), ..., F0(i).

[0088] S202. Determine the first total thrust and the first point of application based on the parameters of the first cylinder.

[0089] Specifically, based on the total number of hydraulic cylinders and the initial thrust of the hydraulic cylinders, the first total thrust is calculated:

[0090]

[0091] Where Ft is the first total thrust; k is the number of cylinders in the area to be assembled.

[0092] Furthermore, the first point of action is calculated based on the cylinder distribution angle, the total number of cylinders, the cylinder distribution radius, and the initial thrust of the cylinders.

[0093] Specifically, the first point of action is (Xt, Yt):

[0094]

[0095] Where Xt is the X coordinate of the thrust application point; Yt is the Y coordinate of the thrust application point; and F1(k) is the initial thrust.

[0096] S203. After the hydraulic cylinder enters the synchronous propulsion state, obtain the second hydraulic cylinder parameters of the first type of hydraulic cylinder in the assembly area.

[0097] Specifically, the parameters of the second hydraulic cylinder include the total number of the first type of hydraulic cylinders and the first thrust target value; wherein, the first thrust target value is 0.

[0098] More specifically, the total number of the first type of hydraulic cylinders is k, which is the number of hydraulic cylinders in the area to be assembled, corresponding to cylinder numbers n1, n2, ..., n. k .

[0099] More specifically, the first thrust target value is the final target value F of the cylinder thrust. N (1), F N (2), ..., F N (i) Let F be the final target value of the hydraulic cylinder thrust in the area to be assembled. N (n1), F N (n2), ..., F N (nk) is 0.

[0100] S204. Based on the parameters of the first cylinder, the first total thrust, the first point of application, and the parameters of the second cylinder, determine the target value of the second thrust of the second type of cylinder in the non-assembly area.

[0101] Specifically, based on the cylinder distribution angle, the total number of cylinders, the cylinder distribution radius, the initial thrust of the cylinders, the first total thrust, the first point of application, the total number of first cylinders, and the parameters of the second cylinder, the inference constraint equations are solved to obtain the second thrust target value for each second type of cylinder.

[0102] Among them, the target value of the second thrust of the second type of hydraulic cylinder is F. N (1), F N (2), ..., F N (i):

[0103]

[0104]

[0105] Where k = 1, k ≠ n1, n2, ... nk represents: from k = 1 to k = i, but excluding the specific values ​​of n1, n2, ... nk, for F N (k) is summed; F0(k) represents the initial thrust of the cylinder; F N (k) represents the second thrust target value.

[0106] S205. Based on the second thrust target value of the second type of hydraulic cylinder, the parameters of the first hydraulic cylinder, the number of the first type of hydraulic cylinder, the number of the second type of hydraulic cylinder, the preset total thrust change rate threshold, and the preset total thrust application point change threshold, determine the number of hydraulic cylinder mode switching steps.

[0107] S206. Control the first type of hydraulic cylinder and the second type of hydraulic cylinder to perform multiple first thrust adjustments until the number of times the hydraulic cylinder mode switching steps are reached. Then, reduce the thrust of each first type of hydraulic cylinder to 0, and ensure that the second total thrust and the second point of action of the second type of hydraulic cylinder meet the preset target propulsion requirements.

[0108] S207. Control the retraction of the first type of hydraulic cylinder to achieve segment installation.

[0109] Specifically, the assembly area cylinder switches from the advance mode to the assembly mode, the assembly area cylinder retracts, and after the operator completes the segment installation, the assembly area cylinder extends.

[0110] This embodiment provides a cylinder control method for a tunnel boring machine (TBM), comprising: acquiring first cylinder parameters of all cylinders of the TBM in its initial state; determining a first total thrust and a first point of action based on the first cylinder parameters; acquiring second cylinder parameters of the first type of cylinders in the assembly area after the cylinders enter the synchronous propulsion state; determining a second thrust target value of the second type of cylinders in the non-assembly area based on the first cylinder parameters, the first total thrust, the first point of action, and the second cylinder parameters; determining the number of cylinder mode switching steps based on the second thrust target value of the second type of cylinders, the first cylinder parameters, the number of first type cylinders, the number of second type cylinders, a preset total thrust change rate threshold, and a preset total thrust point of action change threshold; controlling the first type of cylinders and the second type of cylinders to perform multiple first thrust adjustments until the number of executions reaches the cylinder mode switching step number, reducing the thrust of each first type of cylinder to 0, and ensuring that the second total thrust and the second point of action of the second type of cylinders meet the preset target propulsion requirements; and controlling the first type of cylinders to retract to achieve segment installation. Compared to existing technologies that neglect the impact of sudden changes in cylinder thrust in the assembly area on the resultant thrust and target point, focusing only on the steady-state error after the target thrust distribution is completed; and considering the decrease in the resultant thrust and target point movement of the tunnel boring machine (TBM) during the instant the cylinder switches from propulsion mode to assembly mode, potentially causing a drop in chamber pressure and sudden attitude changes, leading to construction risks. These issues all contribute to the low cylinder control efficiency of the TBM. This application, based on cylinder parameters, gradually reduces the thrust of the cylinders in the assembly area from its initial value to 0 after the TBM enters the synchronous propulsion and assembly state. In each step, the thrust of the remaining cylinders is calculated based on the thrust value of the cylinders in the assembly area and the total thrust constraint equations, ensuring that the magnitude and point of application of the total thrust remain constant. After the thrust of the cylinders in the assembly area decreases to 0, the TBM switches to assembly mode. This achieves stability of the resultant thrust and target point in the synchronous propulsion and assembly state, maintains the stability of the TBM's tunneling attitude during the synchronous propulsion and assembly process, and thus improves the cylinder control efficiency of the TBM.

[0111] Figure 5 A flowchart illustrating a hydraulic cylinder control method for a tunnel boring machine provided in this application embodiment. Figure 2 ,exist Figure 2 The foundation, such as Figure 5 As shown, the specific implementation steps of S205 above include:

[0112] S501. Obtain the parameters of the first cylinder of all cylinders of the tunnel boring machine in its initial state.

[0113] S502. Determine the first total thrust and the first point of application based on the parameters of the first cylinder.

[0114] S503. After the hydraulic cylinder enters the synchronous propulsion state, obtain the second hydraulic cylinder parameters of the first type of hydraulic cylinder in the assembly area.

[0115] S504. Based on the parameters of the first cylinder, the first total thrust, the first point of application, and the parameters of the second cylinder, determine the target value of the second thrust of the second type of cylinder in the non-assembly area.

[0116] S505. Obtain a preset hydraulic cylinder thrust control model; wherein, the preset hydraulic cylinder thrust control model is trained by a hydraulic cylinder dataset, which includes samples of the second thrust target value of the second type of hydraulic cylinder, samples of the parameters of the first type of hydraulic cylinder, samples of the number of the first type of hydraulic cylinder, samples of the number of the second type of hydraulic cylinder, samples of the preset total thrust change rate threshold, samples of the preset total thrust application point change threshold, and samples of the corresponding number of hydraulic cylinder mode switching steps.

[0117] S506. Input the second thrust target value of the second type of hydraulic cylinder, the parameters of the first hydraulic cylinder, the number of the first type of hydraulic cylinder, the number of the second type of hydraulic cylinder, the preset total thrust change rate threshold, and the preset total thrust application point change threshold into the preset hydraulic cylinder thrust control model. Based on the output results of the preset hydraulic cylinder thrust control model, determine the number of hydraulic cylinder mode switching steps.

[0118] S507. Control the first type of hydraulic cylinder and the second type of hydraulic cylinder to perform multiple first thrust adjustments until the number of times the hydraulic cylinder mode switching steps are reached, then reduce the thrust of each first type of hydraulic cylinder to 0, and ensure that the second total thrust and the second point of action of the second type of hydraulic cylinder meet the preset target propulsion requirements.

[0119] Among them, meeting the target propulsion requirements can be: the target total thrust range determined based on the first total thrust and the total thrust change rate threshold, and the target point of action range determined based on the first point of action and the preset total thrust point of action change threshold.

[0120] For example, the initial thrust of the hydraulic cylinders F1(1), F1(2), ..., F1(i), the total number of hydraulic cylinders i, and the distribution angles of the hydraulic cylinders θ1, θ2, ... θ i The cylinder distribution radius R, and the cylinder numbers n1, n2, ..., n in the assembly area. k The number of cylinders k in the assembly area, the threshold of the total thrust change rate δ, and the threshold of the total thrust application point change Xδ and Yδ are input into the cylinder thrust control model. After real-time calculation and processing, the model outputs the number of cylinder mode switching steps N.

[0121] Furthermore, initialize the switching step j=1.

[0122] Furthermore, proceed to mode switching step j, and calculate the target value of the hydraulic cylinder thrust in the area to be assembled step j:

[0123] F j (n1)=F0(n1)*(1-j / N)

[0124] ...

[0125] F j (nk)=F0(nk)*(1-j / N)

[0126] Here, (1-j / N) is a coefficient, where j represents the current step and N represents the total number of steps. This coefficient reflects how the thrust target value gradually changes as the steps progress during the mode switching process: as j increases from 1 to N, the value of the coefficient (1-j / N) will gradually decrease from close to 1 to close to 0, which means that the thrust target value will gradually decrease.

[0127] It should be noted that by gradually reducing the thrust of the hydraulic cylinders in the assembly area and adjusting the thrust of the remaining hydraulic cylinders in real time according to the total thrust constraint equations, the magnitude and point of application of the resultant thrust are ensured to remain stable during the hydraulic cylinder mode switching process. This effectively avoids construction risks such as pressure drop and attitude change that may be caused by sudden thrust changes, and ensures the stable tunneling of the tunnel boring machine.

[0128] Furthermore, by solving the thrust constraint equations, the target values ​​of the cylinder thrust step j in the non-assembly region are obtained as F1(1), F1(2), ..., F1(i):

[0129]

[0130] Where k = 1, k ≠ n1, n2, ... nk represents: from k = 1 to k = i, but excluding the specific values ​​of n1, n2, ... nk, for F j (k) is summed; k = n1, n2, ... nk represents: summing only for the specific values ​​of k = n1, n2, ... nk. j (k) is used for summation.

[0131] Furthermore, the target value of the cylinder thrust step j is allocated to the cylinder control module. After the actual thrust of all cylinders reaches the target value of step j, j = j + 1 is set, the switching step j + 1 is initialized, and the mode switching step j is entered. The model calculates and processes in real time and outputs the cylinder mode switching step number. The switching step number is repeated multiple times until all steps are completed, i.e., j > N.

[0132] It should be noted that, with the help of the hydraulic cylinder thrust control model, construction parameters can be monitored in real time, and the hydraulic cylinder thrust can be quickly calculated and adjusted according to the actual situation. After training with a large amount of data, the thrust control model can quickly predict the number of hydraulic cylinder mode switching steps, achieving real-time control.

[0133] In one embodiment, Figure 6 This is a schematic diagram of thrust change during the propulsion mode switching process provided in an embodiment of this application, such as... Figure 6As shown, the trends of thrust and stroke during the transition from propulsion mode to assembly mode are illustrated. The black solid line depicts the gradual decrease in thrust as the propulsion progresses through each stage, while the gray solid line reflects the corresponding changes in stroke. The thrust gradually decreases to zero.

[0134] S508, Control the retraction of the first type of hydraulic cylinder to achieve segment installation.

[0135] In this embodiment, the thrust of the hydraulic cylinder in the assembly area is gradually reduced from its initial value to 0. In each step, the thrust of the hydraulic cylinder in the assembly area is calculated based on the thrust value of the hydraulic cylinder in the assembly area and the total thrust constraint equation set, and the thrust of the remaining hydraulic cylinders is calculated based on the hydraulic cylinder thrust control model. This keeps the magnitude and point of application of the total thrust constant, effectively avoiding construction risks such as pressure drop and attitude change that may be caused by sudden thrust changes. This is closer to the actual situation, improves the accuracy of the control results, and thus improves the hydraulic cylinder control efficiency of the tunnel boring machine.

[0136] Figure 7 A flowchart illustrating a hydraulic cylinder control method for a tunnel boring machine provided in this application embodiment. Figure 3 ,like Figure 7 As shown, the procedure before step S505 includes:

[0137] S701. Determine the original hydraulic cylinder thrust control model and determine the loss function for the original hydraulic cylinder thrust control model; wherein, the hydraulic cylinder thrust control model includes an input layer, a hidden layer and an output layer.

[0138] Specifically, a loss function is defined to measure the difference between the predicted and the true values, and a thrust control model optimizer is defined to adjust the model parameters through gradient descent and its variants to minimize the loss function.

[0139] It's important to note that defining a loss function to measure the difference between predicted and true values, and defining a thrust-controlled model optimizer, allows for adjusting model parameters using gradient descent and its variants to minimize the loss function. This helps optimize the model's training process, enabling the model to converge to the optimal solution more quickly and improving training efficiency.

[0140] S702. Obtain the hydraulic cylinder dataset; the hydraulic cylinder dataset is obtained through simulation experiments.

[0141] S703. Split the hydraulic cylinder dataset into a training dataset and a test dataset.

[0142] Specifically, effective data are selected based on the total thrust control target to construct a dataset, which is then divided into a training set and a test set.

[0143] S704. Train the original hydraulic cylinder thrust control model based on the training dataset, and optimize the trained hydraulic cylinder thrust control model based on the test dataset to obtain the preset hydraulic cylinder thrust control model.

[0144] The optimization process includes iteratively training the dataset and updating the network parameters.

[0145] Furthermore, the network performance is evaluated using a test set, and the network parameters are saved after training is complete.

[0146] Furthermore, the model with the best training performance is selected as the control model.

[0147] It should be noted that the specific implementation steps of the simulation experiment are as follows:

[0148] The first step is to select the total number of hydraulic cylinders i, calculate the distribution angle based on the characteristic of uniform distribution of hydraulic cylinders, and set the distribution radius of hydraulic cylinders within the allowable range.

[0149] The second step is to randomly generate the initial thrust of the hydraulic cylinder within the allowable range.

[0150] The third step is to randomly select several assembly areas for the hydraulic cylinders.

[0151] The fourth step is to set the total thrust variation threshold and the total thrust application point variation threshold according to actual needs.

[0152] Fifth, use simulation tools or actual experiments to try different numbers of switching steps N to simulate the thrust adjustment process.

[0153] Step 6: Calculate the minimum N value that satisfies the threshold based on the thrust change rate threshold and the total thrust application point change threshold, and record the input features and the corresponding N value.

[0154] It should be noted that by acquiring simulation or experimental data and selecting effective data to construct a dataset based on the overall thrust control target, the data quality for model training can be ensured. This data reflects the thrust control requirements of the tunnel boring machine under different working conditions, helping the model learn more accurate thrust control strategies.

[0155] In this embodiment, data is obtained based on simulation experiments, and effective data is selected based on the total thrust control target to construct a dataset. The original hydraulic cylinder thrust control model is trained based on the training dataset, and the trained hydraulic cylinder thrust control model is optimized based on the test dataset. By iterating the training dataset and updating the network parameters, the generalization ability and accuracy of the hydraulic cylinder thrust control model are improved, thereby improving the hydraulic cylinder control efficiency of the tunnel boring machine.

[0156] Figure 8 A flowchart illustrating a hydraulic cylinder control method for a tunnel boring machine provided in this application embodiment. Figure 4,like Figure 8 As shown, the process after step S207 includes:

[0157] S801. Determine the target value of the third thrust for all cylinders based on the number of cylinder mode switching steps.

[0158] Specifically, after the assembly mode is completed, the system switches to the propulsion mode, and the number of steps is gradually switched according to the hydraulic cylinder mode to determine the target value of the third thrust for all hydraulic cylinders.

[0159] S802. Control all cylinders to perform multiple second thrust adjustments until the number of times the cylinder mode switching step is reached, then adjust the thrust of each cylinder to the corresponding third thrust target value.

[0160] In one embodiment, Figure 9 This is a schematic diagram of thrust change during the assembly mode switching process provided in the embodiments of this application, such as... Figure 9 As shown, the relationship between thrust and stroke during the transition from assembly mode to propulsion mode is illustrated. Thrust gradually increases with increasing stroke. The black solid line depicts the trend of thrust gradually increasing with each stage of propulsion, while the gray solid line reflects the corresponding changes in stroke. The thrust gradually increases from 0.

[0161] It should be noted that the switching process of the tunnel boring machine from propulsion mode to assembly mode and back to propulsion mode is as follows:

[0162] First, the hydraulic cylinder thrust in the assembly area is reduced to 0 before switching to assembly mode.

[0163] Secondly, after the hydraulic cylinder thrust decreases to zero, the cylinder needs to retract a certain stroke. This stroke must be greater than or equal to the width of the tunnel segment to allow sufficient space for segment assembly. If the cylinder retracts too little, the tunnel segment will not be able to be assembled smoothly, affecting the integrity and stability of the tunnel structure.

[0164] Secondly, after the hydraulic cylinder retracts, the segments can be assembled in the freed-up space.

[0165] Finally, after the tunnel segments are assembled, the propulsion cylinder needs to be extended again so that its end face is pressed against the assembled tunnel segments. Then, the cylinder thrust is gradually increased to the initial value F0(1) to restore the tunnel boring machine's propulsion capability and continue tunnel excavation.

[0166] In this embodiment, based on the number of cylinder mode switching steps, the cylinder thrust is gradually increased to the initial value to avoid sudden thrust changes, maintain the stability of the tunnel boring machine's (TBM) tunneling posture during synchronous propulsion, achieve a smooth transition from assembly mode to propulsion mode, reduce the impact on the TBM and tunnel segments, and lower construction risks. This further improves the cylinder control efficiency of the TBM.

[0167] Figure 10 This is a schematic diagram of the hydraulic cylinder control device for a tunnel boring machine provided in an embodiment of this application, as shown below. Figure 10 As shown, the device includes: a first acquisition module 101, a first determination module 102, a second acquisition module 103, a second determination module 104, a third determination module 105, a first control module 106, and a second control module 107.

[0168] The first acquisition module 101 is used to acquire the first cylinder parameters of all cylinders of the tunnel boring machine in the initial state;

[0169] The first determining module 102 is used to determine the first total thrust and the first point of application based on the parameters of the first hydraulic cylinder.

[0170] The second acquisition module 103 is used to acquire the second cylinder parameters of the first type of cylinder in the assembly area after the cylinder enters the synchronous propulsion state.

[0171] The second determining module 104 is used to determine the second thrust target value of the second type of hydraulic cylinder in the non-assembly area based on the first cylinder parameters, the first total thrust, the first point of application, and the second cylinder parameters.

[0172] The third determining module 105 is used to determine the number of cylinder mode switching steps based on the second thrust target value of the second type of cylinder, the parameters of the first cylinder, the number of the first type of cylinder, the number of the second type of cylinder, the preset total thrust change rate threshold, and the preset total thrust application point change threshold.

[0173] The first control module 106 is used to control the first type of hydraulic cylinder and the second type of hydraulic cylinder to perform multiple first thrust adjustments until the number of times the hydraulic cylinder mode switching steps are reached, then the thrust of each first type of hydraulic cylinder is reduced to 0, and the second total thrust and the second point of action of the second type of hydraulic cylinder meet the preset target propulsion requirements.

[0174] The second control module 107 is used to control the retraction of the first type of hydraulic cylinder to achieve segment installation.

[0175] In one possible design, based on the second thrust target value of the second type of hydraulic cylinder, the parameters of the first hydraulic cylinder, the number of first type hydraulic cylinders, the number of second type hydraulic cylinders, a preset total thrust change rate threshold, and a preset total thrust application point change threshold, the number of hydraulic cylinder mode switching steps is determined, including:

[0176] The third determining module 105 is also used to obtain a preset cylinder thrust control model; wherein, the preset cylinder thrust control model is trained by a cylinder dataset, and the cylinder dataset includes samples of the second thrust target value of the second type of cylinder, samples of the parameters of the first cylinder, samples of the number of the first type of cylinder, samples of the number of the second type of cylinder, samples of the preset total thrust change rate threshold, samples of the preset total thrust application point change threshold, and samples of the corresponding cylinder mode switching step number.

[0177] The second thrust target value of the second type of hydraulic cylinder, the parameters of the first hydraulic cylinder, the number of the first type of hydraulic cylinder, the number of the second type of hydraulic cylinder, the preset total thrust change rate threshold, and the preset total thrust application point change threshold are input into the preset hydraulic cylinder thrust control model. Based on the output results of the preset hydraulic cylinder thrust control model, the number of hydraulic cylinder mode switching steps is determined.

[0178] In one possible design, before obtaining the preset cylinder thrust control model, the following is also included:

[0179] The third determining module 105 is also used to determine the original hydraulic cylinder thrust control model and to determine the loss function for the original hydraulic cylinder thrust control model; wherein, the hydraulic cylinder thrust control model includes an input layer, a hidden layer and an output layer;

[0180] Obtain the hydraulic cylinder dataset; the hydraulic cylinder dataset was obtained through simulation experiments.

[0181] The hydraulic cylinder dataset was split into a training dataset and a test dataset.

[0182] The original hydraulic cylinder thrust control model is trained based on the training dataset, and the trained hydraulic cylinder thrust control model is optimized based on the test dataset to obtain the preset hydraulic cylinder thrust control model.

[0183] In one possible design, the parameters of the first hydraulic cylinder include the cylinder distribution angle, the total number of hydraulic cylinders, the cylinder distribution radius, and the initial thrust of the hydraulic cylinder.

[0184] In one possible design, the first total thrust and the first point of application are determined based on the parameters of the first hydraulic cylinder, including:

[0185] The first determining module 102 is also used to calculate the first total thrust based on the total number of hydraulic cylinders and the initial thrust of the hydraulic cylinders;

[0186] The first point of action is calculated based on the cylinder distribution angle, the total number of cylinders, the cylinder distribution radius, and the initial thrust of the cylinders.

[0187] In one possible design, the parameters of the second cylinder include the total number of the first type of cylinders and the first thrust target value; wherein, the first thrust target value is 0.

[0188] In one possible design, based on the parameters of the first cylinder, the first total thrust, the first point of application, and the parameters of the second cylinder, the target value of the second thrust of the second type of cylinder in the non-assembly area is determined, including:

[0189] The second determining module 104 is also used to solve the inference constraint equation set based on the cylinder distribution angle, the total number of cylinders, the cylinder distribution radius, the initial thrust of the cylinder, the first total thrust, the first point of application, the total number of first cylinders and the second cylinder parameters, so as to obtain the second thrust target value for each second type of cylinder.

[0190] In one possible design, after controlling the retraction of the first type of hydraulic cylinder to achieve segment installation, the following is also included:

[0191] The second control module 107 is also used to determine the third thrust target value corresponding to all cylinders based on the number of cylinder mode switching steps.

[0192] Control all cylinders to perform multiple second thrust adjustments until the number of cylinder mode switching steps is reached, then adjust the thrust of each cylinder to the corresponding third thrust target value.

[0193] This embodiment provides a cylinder control device for a tunnel boring machine, which can execute a cylinder control method for a tunnel boring machine as described in the above embodiment. Its implementation principle and technical effect are similar, and will not be repeated here.

[0194] In the specific implementation of the aforementioned method for controlling the hydraulic cylinders of a tunnel boring machine, each module can be implemented as a processor. The processor can execute computer execution instructions stored in the memory, thereby enabling the processor to execute the aforementioned method for controlling the hydraulic cylinders of a tunnel boring machine.

[0195] Figure 11 This is a schematic diagram of the structure of a hydraulic cylinder control device for a tunnel boring machine, provided as an embodiment of this application. Figure 11 As shown, the cylinder control device 110 of the tunnel boring machine includes at least one processor 111 and a memory 112. The cylinder control device 110 of the tunnel boring machine also includes a communication component 113. The processor 111, the memory 112, and the communication component 113 are connected via a second bus 114.

[0196] In the specific implementation process, at least one processor 111 executes computer execution instructions stored in memory 112, causing at least one processor 111 to execute a cylinder control method for a tunnel boring machine as described above on the cylinder control device side of the tunnel boring machine.

[0197] The specific implementation process of processor 111 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0198] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0199] The memory may include high-speed RAM, and may also include non-volatile storage (NVM), such as at least one disk storage.

[0200] The second bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0201] The above description of the functions implemented by the cylinder control device and main control device of the tunnel boring machine (TBM) illustrates the solution provided by the embodiments of the present invention. It is understood that, to achieve the above functions, the cylinder control device or main control device of the TBM includes corresponding hardware structures and / or software modules for executing each function. By combining the units and algorithm steps of the various examples described in the embodiments of the present invention, the embodiments of the present invention can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the technical solution of the embodiments of the present invention.

[0202] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the above-described method for controlling the hydraulic cylinders of a tunnel boring machine.

[0203] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0204] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Alternatively, the readable storage medium can be an integral part of the processor. The processor and the readable storage medium can reside in application-specific integrated circuits (ASICs). Alternatively, the processor and the readable storage medium can exist as discrete components in the cylinder control device or main control device of the tunnel boring machine.

[0205] This application also provides a computer program product, which includes: a computer program stored in a readable storage medium, at least one processor of the cylinder control device of the tunnel boring machine can read the computer program from the readable storage medium, and the at least one processor executes the computer program to cause the cylinder control device of the tunnel boring machine to perform the scheme provided in any of the above embodiments.

[0206] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disk, or optical disk.

[0207] The technical solutions of this application have been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it is readily understood by those skilled in the art that the scope of protection of this application is obviously not limited to these specific embodiments. The above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method of controlling a cylinder of a shield tunneling machine, characterized by, include: Obtain the parameters of the first hydraulic cylinder of all hydraulic cylinders of the tunnel boring machine in its initial state; Based on the parameters of the first hydraulic cylinder, determine the first total thrust and the first point of application; Once the hydraulic cylinder enters the synchronous propulsion state, the second hydraulic cylinder parameters of the first type of hydraulic cylinder in the area to be assembled are obtained. Based on the parameters of the first cylinder, the first total thrust, the first point of application, and the parameters of the second cylinder, determine the target value of the second thrust of the second type of cylinder in the non-assembly area; The original hydraulic cylinder thrust control model is determined, and a loss function is determined for the original hydraulic cylinder thrust control model; wherein the hydraulic cylinder thrust control model includes an input layer, a hidden layer, and an output layer; a hydraulic cylinder dataset is obtained; wherein the hydraulic cylinder dataset is obtained through simulation experiments; the hydraulic cylinder dataset is split into a training dataset and a test dataset; the original hydraulic cylinder thrust control model is trained based on the training dataset, and the trained hydraulic cylinder thrust control model is optimized based on the test dataset to obtain a preset hydraulic cylinder thrust control model; Obtain the preset cylinder thrust control model; wherein the preset cylinder thrust control model is trained by a cylinder dataset, the cylinder dataset includes a sample of the second thrust target value of the second type of cylinder, a sample of the parameters of the first cylinder, a sample of the number of the first type of cylinder, a sample of the number of the second type of cylinder, a sample of the preset total thrust change rate threshold, a sample of the preset total thrust application point change threshold, and a sample of the corresponding number of cylinder mode switching steps. The second thrust target value of the second type of hydraulic cylinder, the parameters of the first hydraulic cylinder, the number of the first type of hydraulic cylinder, the number of the second type of hydraulic cylinder, the preset total thrust change rate threshold, and the preset total thrust application point change threshold are input into the preset hydraulic cylinder thrust control model. Based on the output of the preset hydraulic cylinder thrust control model, the number of hydraulic cylinder mode switching steps is determined. Control the first type of hydraulic cylinder and the second type of hydraulic cylinder to perform multiple first thrust adjustments until the number of times the hydraulic cylinder mode switching steps are reached, then reduce the thrust of each first type of hydraulic cylinder to 0, and the second total thrust and the second point of action of the second type of hydraulic cylinder meet the preset target propulsion requirements; Control the retraction of the first type of hydraulic cylinder to achieve segment installation.

2. The method according to claim 1, characterized in that, The first cylinder parameters include cylinder distribution angle, total number of cylinders, cylinder distribution radius, and initial cylinder thrust.

3. The method according to claim 2, characterized in that, The step of determining the first total thrust and the first point of application based on the parameters of the first hydraulic cylinder includes: The first total thrust is calculated based on the total number of hydraulic cylinders and the initial thrust of the hydraulic cylinders; The first point of action is calculated based on the cylinder distribution angle, the total number of cylinders, the cylinder distribution radius, and the initial thrust of the cylinder.

4. The method according to claim 2 or 3, characterized in that, The second cylinder parameters include the total number of the first type of cylinders and the first thrust target value; wherein, the first thrust target value is 0.

5. The method according to claim 4, characterized in that, The step of determining the target value of the second thrust of the second type of hydraulic cylinder in the non-assembly area based on the parameters of the first hydraulic cylinder, the first total thrust, the first point of application, and the parameters of the second hydraulic cylinder includes: Based on the cylinder distribution angle, the total number of cylinders, the cylinder distribution radius, the initial thrust of the cylinders, the first total thrust, the first point of application, the total number of the first cylinders, and the second cylinder parameters, solve the inference constraint equation set to obtain the second thrust target value for each second type of cylinder.

6. The method according to claim 1, characterized in that, After controlling the retraction of the first type of hydraulic cylinder to achieve segment installation, the method further includes: Based on the number of cylinder mode switching steps, determine the target value of the third thrust for all cylinders; Control all the hydraulic cylinders to perform multiple second thrust adjustments until the number of times the hydraulic cylinder mode switching step is reached, then adjust the thrust of each hydraulic cylinder to the corresponding third thrust target value.

7. A hydraulic cylinder control device for a tunnel boring machine, characterized in that, include: At least one processor; and a memory communicatively connected to the at least one processor; The memory stores instructions that can be executed by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the cylinder control method for the tunnel boring machine as described in any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the cylinder control method for a tunnel boring machine as described in any one of claims 1 to 6.

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