A shield tunneling machine with an adaptive damping adjusting cutter and a control method thereof

Abstract

The application relates to a shield tunneling system with adaptive damping adjustment cutters and a control method thereof, which comprises a shield cutter head, cutter assemblies arranged in an array on the shield cutter head and a radar monitoring network; the radar monitoring network comprises a plurality of radar monitoring modules; the radar monitoring modules emit electromagnetic wave signals to the front rock-soil body and monitor the quality of the front rock-soil body in real time by receiving reflected electromagnetic waves; the cutter assemblies are provided with damping assemblies; the damping assemblies are magneto-rheological dampings; and the damping assemblies adjust damping forces according to the quality of the front rock-soil body monitored by the radar monitoring modules. The application can monitor the quality and spatial distribution information of the front rock-soil body in real time through the radar monitoring modules, adjust the magnetic field intensity and the opening degree of the electric control valve according to the quality of the front rock-soil body, match the working damping of the shield cutter with the surrounding rock condition, effectively reduce the disturbance to the surrounding rock during the tunneling process, reduce the influence of the construction process on the surrounding rock, and improve the safety and stability of the construction.

Description

Technical Field

[0001] This invention relates to the field of underground engineering construction technology, and in particular to a tunnel boring machine tunneling system with adaptive damping adjustable cutter and its control method. Background Technology

[0002] With the accelerating pace of urbanization, the demand for underground engineering projects such as tunnels is increasing daily. Tunnel boring machines (TBMs), capable of rapid advancement in complex underground environments and improving the efficiency of underground space excavation, have become key equipment for urban underground space development and transportation network construction. During construction and operation, the safety and stability of the surrounding rock in tunnels and other underground spaces are crucial. When using TBMs for rock excavation, the excavation activities inevitably generate disturbance zones, which can affect the quality of the surrounding rock and even potentially compromise the structural safety of the tunnel. Therefore, minimizing disturbance during the excavation process and maintaining the stability of the surrounding rock is a significant challenge currently facing TBM technology.

[0003] Traditional tunnel boring machine (TBM) cutters typically rely on a fixed mechanical design, employing a uniform jacking force for rock breaking. While this design is suitable for general tunneling needs, it fails to flexibly adjust to changes in rock strata. Especially when the surrounding rock strength is uneven, the cutter's operating state cannot adaptively adjust to the rock properties in real time, leading to excessive disturbance of the surrounding rock and affecting tunnel stability and subsequent operational safety. With technological advancements, particularly the rapid development of intelligent manufacturing, the intelligence and adaptability of mechanical equipment have become new development trends. Currently, TBM design is increasingly trending towards intelligence, capable of dynamically responding to complex underground environments through real-time monitoring and adjustment systems.

[0004] However, current tunnel boring machine (TBM) technology still lacks a system capable of automatically adjusting the cutter's working state according to changes in the surrounding rock properties, thereby reducing disturbance to the surrounding rock. Therefore, there is an urgent need to invent a TBM cutter system capable of adjusting the cutter's working state based on changes in the surrounding rock properties, in order to minimize disturbance to the surrounding rock and ensure both high efficiency and safety of tunnel construction. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a shield tunneling system with adaptive damping adjustable cutter and its control method, which is a shield tunneling cutter system that can adjust the working state of the cutter according to changes in the surrounding rock properties, and can minimize the disturbance to the surrounding rock.

[0006] To solve the above-mentioned technical problems, the technical solution of the present invention is: a shield tunneling system based on adaptive damping adjustment cutter, including a shield machine cutterhead, cutter components arrayed and installed on the shield machine cutterhead, and a radar monitoring network;

[0007] The radar monitoring network consists of multiple radar monitoring modules installed on one side of the cutting tool assembly. The radar monitoring modules emit electromagnetic wave signals to the rock and soil in front and monitor the quality of the rock and soil in front in real time by receiving the reflected electromagnetic waves.

[0008] The tool assembly includes a tool body and a tool cross shaft. Damping components supporting the tool body are installed at both ends of the tool cross shaft. The damping components are magnetorheological dampers. The magnetorheological dampers include two electrically controlled valves for adjusting the flow rate of the magnetorheological fluid and an excitation coil for adjusting the magnetic field strength passing through the magnetorheological fluid.

[0009] An adaptive damping control method for the cutterhead of a tunnel boring machine (TBM) includes the following steps:

[0010] Step S1: The radar monitoring module emits detection electromagnetic waves to the rock and soil in front and receives the reflected electromagnetic waves, and generates a detection image of the rock and soil in front based on the reflected electromagnetic waves.

[0011] Step S2: Identify the target objects in the rock and soil mass based on the detection image of the rock and soil mass in front, and obtain the number, outline and location of the target objects, as well as the rock and soil strength of the target objects and non-target objects;

[0012] Step S3: Determine the target control tool assembly corresponding to each target body in the cutterhead of the tunnel boring machine, generate the target control tool sequence for each target body, and generate the non-target control tool sequence composed of tool assemblies at non-target body positions, and determine the working status of the target control tool assembly;

[0013] Step S4: Calculate the first damping adjustment data based on the soil and rock strength of the non-target body, and calculate the second damping adjustment data based on the soil and rock strength of the target body. When the tool assembly cuts the non-target body, adjust the damping force of the damping assembly with the first damping adjustment data. When the target-controlled tool assembly cuts the target body, adjust the damping force of the target-controlled tool damping assembly with the second damping adjustment data.

[0014] As a preferred technical solution, step S2 specifically includes:

[0015] Step S21: Identify the target objects in the rock and soil ahead based on the detection image of the rock and soil ahead, and obtain the rock and soil strength of the rock and soil ahead and the number and strength of the target objects;

[0016] Step S22: Create a working coordinate system with the center point of the shield machine cutterhead as the reference origin, the working plane of the shield machine cutterhead as the reference plane, and the direction of travel of the shield machine as the Z-axis. Generate three-dimensional images of each target body based on the detection images of multiple radar monitoring modules, and obtain the outline and three-dimensional coordinates of each target body in the working coordinate system.

[0017] Step S23: Map the three-dimensional coordinates of each target body contour to the reference plane to generate a series of two-dimensional images of the target body contours arranged in order along the positive Z-axis.

[0018] As a preferred technical solution, step S3 specifically includes:

[0019] Step S31: Project the two-dimensional image onto the reference plane, and use the distance from the edge contour point of the target body in the two-dimensional image to the reference origin in the reference plane as a reference circle. In the reference plane, obtain the tool component number that falls into the reference circle, generate the target control tool sequence, and combine the other tool component numbers that do not fall into the reference circle into a non-target control tool sequence.

[0020] Step S32: Using the reference origin as the center and the tool mounting position as the radius, draw multiple control circles inside the reference circle. Tool assemblies located on the same control circle are divided into the same control sequence, thus dividing the target control tool sequence into multiple control sequences.

[0021] Step S33: Obtain two boundary points between the target body and the surrounding rock and soil body on each control circle in the two-dimensional image, and obtain the coordinates of the boundary points and the control distance between the two boundary points;

[0022] Step S34: Obtain the real-time position of the cutter assembly based on the tunnel boring machine's travel speed and rotation speed, determine the two-dimensional image corresponding to the real-time position of the cutter assembly, compare the current position of the cutter assembly with the position of the boundary point in each control sequence, and when the cutter assembly moves between two boundary points, the working state of the cutter assembly is the target body cutting state. The working state of the cutter in the control cutter and non-target control cutter sequences that have not entered the target body boundary points is the non-target body cutting state.

[0023] As a preferred technical solution, step S4 specifically includes:

[0024] Step S41: The first damping adjustment data calculated based on the soil and rock strength of the non-target body is sent to the target control tool sequence and the non-target control tool sequence; the second damping adjustment data calculated based on the soil and rock strength of the target body is sent to the target control tool sequence.

[0025] Step S42: When cutting the rock and soil in front, the damping component of the non-target control tool assembly adjusts its damping force in response to the first damping adjustment data;

[0026] Step S43: When cutting a non-target body, the damping component of the target control tool assembly adjusts its damping force in response to the first damping adjustment data;

[0027] Step S44: When cutting the target body, the damping component of the target control tool assembly adjusts its damping force in response to the second damping adjustment data.

[0028] As a further technical improvement, the first damping adjustment data includes a first opening signal of the electronically controlled valve calculated based on the soil and rock strength of the non-target body, and a first magnetic field strength of the excitation coil; the second damping adjustment data includes a second opening signal of the electronically controlled valve calculated based on the soil and rock strength of the target body, and a second magnetic field strength of the excitation coil.

[0029] As a further technological improvement, adjusting the damping force of the damping component also includes the following steps:

[0030] Based on the two-dimensional image of the target body, the time it takes for the tool assembly to pass through the boundary point of the target body is obtained, and a timing control signal for each tool assembly is generated. Within one control cycle, the timing control signal outputs a first control point and a second control point. At the first control point or the second control point, the control valve switches from a first opening degree to a second opening degree, or from a second opening degree to a first opening degree; and the magnetic field strength of the excitation coil switches from a first magnetic field strength to a second magnetic field strength, or from a second magnetic field strength to a first magnetic field strength.

[0031] As a further technical improvement, the control cycle is the time it takes for the tunnel boring machine cutterhead to rotate one revolution, and the first control point and the second control point are the moment when the cutter assembly begins to cut the target body or the moment when the cutter assembly begins to cut the non-target body.

[0032] The beneficial effects of this invention are as follows: Since a radar monitoring module is installed on one side of the tunnel boring machine cutter to monitor the quality and spatial distribution of the rock and soil in front in real time, the damping force can be adjusted according to the quality of the rock and soil in front when the cutter cuts the rock and soil layer, which can effectively reduce the disturbance to the surrounding rock during the tunneling process and improve the safety and stability of the construction.

[0033] Because of the use of magnetorheological damping, the inside of the magnetorheological damper is filled with carbon nanotube magnetorheological fluid. By changing the magnetic field strength applied to the carbon nanotube magnetorheological fluid, the viscosity of the carbon nanotube magnetorheological fluid can be adjusted. When the viscosity increases, the cutting force and damping force increase, and vice versa.

[0034] The flow rate of carbon nanotube magnetorheological fluid is controlled by an electronically controlled valve, thereby regulating the damping force. In this invention, the electronically controlled valve adjusts the valve opening according to the quality of the surrounding rock. When the surrounding rock is relatively soft, the valve opening increases, reducing the damping of the tunnel boring machine cutter. When the surrounding rock is relatively hard, the valve opening decreases, increasing the damping of the tunnel boring machine cutter.

[0035] By adjusting the magnetic field strength and the opening of the electronically controlled valve, the working damping of the tunnel boring machine cutter can be matched with the surrounding rock conditions, thereby reducing disturbance to the surrounding rock, minimizing the impact on the surrounding rock during construction, and accelerating the excavation efficiency of underground space. Attached Figure Description

[0036] 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 only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of the cutterhead of the tunnel boring machine in Embodiment 1 of the present invention;

[0038] Figure 2 This is a schematic diagram of the tool assembly in Embodiment 1 of the present invention;

[0039] Figure 3 This is a schematic diagram of the structural principle of the damping component in Embodiment 1 of the present invention;

[0040] Figure 4 This is a schematic diagram of the position of the target body in Embodiment 1 of the present invention;

[0041] Figure 5 This is a schematic diagram of the projection of a two-dimensional image of the target body onto a reference plane in Embodiment 1 of the present invention;

[0042] Figure 6 This is a schematic diagram of the control of the tool damping component in Embodiment 1 of the present invention;

[0043] Figure 7 This is a schematic diagram of the mechanism of the damping component according to Embodiment 2 of the present invention;

[0044] Figure 8 This is a schematic diagram of the tool damping component control in Embodiment 2 of the present invention;

[0045] In the diagram: 1-Shield machine cutterhead, 2-Cutter assembly, 3-Radar monitoring module, 4-Cutter body, 5-Cutter cross axis, 6-Damping assembly, 7-Piston rod, 8-Piston head, 9-First reservoir cylinder, 10-Second reservoir cylinder, 11-Excitation coil, 12-Electrically controlled valve, 13-Magnetic emission chamber, 14-Electromagnetic transmitter, 15-Linear elastic compression plug. Detailed Implementation

[0046] Example 1: As Figures 1 to 3 The diagram shows a tunnel boring machine (TBM) tunneling system with adaptive damping adjustable cutterheads, including a TBM cutterhead 1, multiple TBM cutterhead assemblies 2 arrayed on the cutterhead 1, and a radar monitoring network.

[0047] The radar monitoring network consists of multiple radar monitoring modules 3 installed on one side of the tool assembly 2. The radar monitoring module 3 emits electromagnetic wave signals to the rock and soil in front and monitors the quality of the rock and soil in front in real time by receiving the reflected electromagnetic waves.

[0048] The cutter assembly 2 includes a cutter body 4 and a cutter cross shaft 5. Damping components 6 supporting the cutter body 4 are installed at both ends of the cutter cross shaft 5. The tunnel boring machine cutterhead 1 is provided with multiple cutter mounting slots, and the cutter assembly 2 is installed in the cutter mounting slots.

[0049] Damping component 6 is a magnetorheological damper, such as Figure 3 As shown, the magnetorheological damping includes two electrically controlled valves 12 for adjusting the flow rate of the magnetorheological fluid and an excitation coil 11 for adjusting the magnetic field strength passing through the magnetorheological fluid. The damping assembly 6 is filled with carbon nanotube magnetorheological fluid, which flows between a first reservoir 9 and a second reservoir 10. A piston head 8 is installed inside the first reservoir 9 and the second reservoir 10. The piston head 8 is pushed by a piston rod 7, which is connected to the cross shaft 5 of the cutter. The excitation coil 11 is used to generate a magnetic field. The magnetic field strength and the direction of the magnetic field lines affect the arrangement direction of the carbon nanotubes inside the magnetorheological fluid, thereby adjusting the viscosity of the carbon nanotube magnetorheological fluid. The flow rate of the magnetorheological fluid is controlled by adjusting the opening of the electrically controlled valves 12 to adjust the damping force.

[0050] In this embodiment, the control system of the tunnel boring machine is used to control the operation of the tunnel boring machine, receive signals from the monitoring components, and send operation commands to the execution elements. Among them, the radar monitoring module 3 is a monitoring element, which has the functions of both electromagnetic wave transmission and reception. The control system sets the parameters of the radar transmitted wave, the radar monitoring module 3 receives the radar reflected wave and transmits it to the control system, the control system analyzes and calculates the radar reflected wave and issues corresponding operation commands. The damping element is an execution element, which receives the opening signal of the electrically controlled valve issued by the control system to control the opening of the electrically controlled valve, and receives the magnetic field strength signal to adjust the magnetic field strength of the excitation coil 11.

[0051] Specifically, this embodiment uses a magnetorheological damping-based adaptive tool control method, which is implemented through the following steps:

[0052] Step S1: Radar monitoring module 3 transmits detection electromagnetic waves to the rock and soil in front and receives reflected electromagnetic waves, and generates a detection image of the rock and soil in front based on the reflected electromagnetic waves.

[0053] The radar monitoring module 3 installed on the cutterhead 1 of the tunnel boring machine emits electromagnetic waves into the rock and soil in front. The electromagnetic waves can propagate forward in the rock and soil to detect the soil conditions in front. Based on the radar reflected waves, the structure and strength of the rock and soil in front, as well as whether there are cavities or cracks, can be detected.

[0054] The tunnel boring machine's control system generates a detection image of the rock and soil ahead based on the received radar reflection waves.

[0055] Step S2: Identify target bodies within the soil and rock mass based on the detected images, obtaining the number, outline, and location of the target bodies, as well as the soil and rock strength of both target and non-target bodies. This specifically includes the following steps:

[0056] Step S21: Identify the target body in the soil and rock mass based on the detection image of the soil and rock mass in front. Using the soil and rock strength during construction as a benchmark, obtain the soil and rock strength of the soil and rock mass in front based on the radar reflection wave and compare it with the soil and rock strength. Combine the detection image to obtain the soil and rock strength of the soil and rock mass in front, and analyze the existence of the target body based on the waveform changes in the detection image. In this embodiment, the target body is not limited to cavities, fissures and rocks. Determine the number and type of the target body based on the detection image.

[0057] Step S22: Create a working coordinate system with the center point of the tunnel boring machine cutterhead 1 as the reference origin, the working plane of the cutterhead 1 as the reference plane, the direction of travel of the tunnel boring machine as the Z-axis, and the starting point of the tunnel boring machine construction operation or the designated position of the tunnel boring machine as the origin of the Z-axis. Based on the received radar reflected waves and the generated detection images, use the 3D visual simulation development tool MultigenCreator and the Vega radar simulation module to generate 3D images of each target object. Obtain the contour and 3D coordinates of each target object in the working coordinate system. Based on the current cutterhead position, determine the distance between the target object and the tunnel boring machine cutterhead 1. Figure 4 As shown, the distance between the current position of the tunnel boring machine cutterhead 1 and the origin of the Z-axis is H0, the distance between the rear end of the target body M and the tunnel boring machine cutterhead 1 is H1, and Zm is the coordinate of the lowest point of the target body M on the Z-axis. Figure 4 The right half is the projection of the cross section at the lowest point Zm of the target body M onto the surface of the cutter head.

[0058] Step S23: Map the three-dimensional coordinates of each target body contour to the reference plane to generate a series of two-dimensional images of the target body contours arranged in order along the positive Z-axis. Since the positive Z-axis represents the direction of travel of the tunnel boring machine, when the tunnel boring machine is working, the corresponding two-dimensional image is selected according to the travel speed and current position of the tunnel boring machine.

[0059] exist Figure 5 In the diagram, the target body is sliced ​​along the positive Z-axis. h1 To Z hn The cutting line represents the cutting line that cuts the target body into multiple two-dimensional planes parallel to the reference plane. The tunnel boring machine travels to the Z-axis... h1 At that time, the target body to be cut is Z. h1The two-dimensional image corresponding to the point. During construction, the time it takes for the cutterhead to rotate one revolution is taken as a control cycle T, and the product of the tunnel boring machine's speed V and the control cycle T is taken as the control step distance D.

[0060] Step S3: Determine the target control cutter assembly corresponding to each target body in the cutterhead 1 of the tunnel boring machine, generate the target control cutter sequence for each target body, and generate the non-target control cutter sequence composed of cutter assemblies at non-target body locations. Determine the working status of the target control cutter assembly. This specifically includes the following steps:

[0061] Step S31: Project the two-dimensional image onto the reference plane, obtain the distance from the edge contour point of the target body in the two-dimensional image to the reference origin in the reference plane, and draw a reference circle. In the reference plane, obtain the tool component number that falls into the reference circle of the cutting target body, generate the target control tool sequence, and combine the tool component numbers that do not fall into the reference circle into the non-target control tool sequence.

[0062] Figure 5 The right half is the projection of the lowest point Zm of the target body M onto the surface of the cutter head. The target body M lies in the reference plane, r h r is the maximum cutting radius of the target body M. m Let r be the minimum cutting radius for cutting the target body M. h A circle with radius r and a radius of r m A circle with radius r falls within the cutting range of the target body, serving as a reference circle for that position. In the reference plane, the circle falls within the cutting range of the target body. h A reference circle with radius r and a reference circle with radius r m The tool assemblies between reference circles of radius need to cut the target body. For target-controlled tools, obtain the tool assembly numbers and generate the target-controlled tool sequence [K]. m1 K m2 , ... K mn ... ... K h1 K h2 , ... K hn ], falling into r m Tool assemblies within a reference circle of radius do not cut the target body; these are non-target controlled tools. These tools are combined into a non-target controlled tool sequence [K1, K2, ...]. ... K m-1 When controlling the tool, the non-target control tool sequence [K1, K2, ...] is directed to the tool. ... K m-1 Send the same control command to control the non-target control tool to cut the non-target rock and soil.

[0063] Step S32: Using the reference origin as the center and the tool installation position as the radius, draw multiple control circles inside the reference circle. Tool assemblies located on the same control circle are divided into the same control sequence, thus dividing the target control tool sequence into multiple control sequences. Figure 5 Based on the position of the tool on the tool turret, control circles O1, O2, O3, and O4 can be drawn. Tool assemblies located on the same control circle are divided into a control sequence. Figure 5 It contains four control sequences.

[0064] Step S33: Obtain the two boundary points of the target body and the surrounding rock and soil body on each control circle in the two-dimensional image, and obtain the coordinates of the boundary points and the control distance between the two boundary points.

[0065] Figure 5 The two radial lines r of the target object's edge are drawn in the middle. h and r f The control distance is the radial distance r. h and r f The angle between them, that is, the angle between the cutter head and the radial line r h Rotate to radial line r f The radian 'a' between the two sides is used to calculate the control time t1 = a / ω based on the angular velocity ω of the cutter head rotation.

[0066] Step S34: Obtain the real-time position of the cutter assembly based on the tunnel boring machine's travel speed and rotation speed. Determine the two-dimensional image corresponding to the real-time position of the cutter assembly. Compare the current position of the cutter assembly with the position of the boundary point in each control sequence. When the cutter assembly moves between two boundary points, its working state is the target body cutting state. For cutters not entering the target body boundary points, the working state of the cutters in the target control cutter and non-target control cutter sequences is the non-target body cutting state. When the cutterhead rotates counterclockwise, the position of the boundary point is located on the radial line r. h and r f Above, that is, a tool assembly moves to the radial line r. f At that time, the working state of the tool assembly is the target body cutting state, and the working states of the subsequent multiple tool assemblies are switched to the target body cutting state in sequence.

[0067] Selection of 2D image: The initial position of the cutterhead is H0. The tunnel boring machine cutterhead rotates one revolution and advances a distance of D along the Z-axis. The current position of the cutterhead is H0+D. The boundary point and control distance in the next rotation cycle of the cutterhead are determined by the 2D image corresponding to the position H0+D.

[0068] Step S4: Calculate the first damping adjustment data based on the soil and rock strength of the non-target body, and calculate the second damping adjustment data based on the soil and rock strength of the target body. When the tool assembly cuts the non-target body, adjust the damping force of the damping assembly according to the first damping adjustment data. When the target-controlled tool assembly cuts the target body, adjust the damping force of the target-controlled tool damping assembly according to the second damping adjustment data. Specifically, this includes the following steps:

[0069] Step S41: Calculate the first damping adjustment data based on the soil and rock strength of the non-target body, and send it to the target control tool sequence and the non-target control tool sequence; calculate the second damping adjustment data based on the soil and rock strength of the target body, and send it to the target control tool sequence.

[0070] Step S42: When cutting the rock and soil ahead, the damping component of the non-target control tool assembly adjusts its damping force in response to the first damping adjustment data.

[0071] Step S43: When cutting a non-target body, the damping component of the target control tool assembly adjusts its damping force in response to the first damping adjustment data.

[0072] Step S44: When cutting the target body, the damping component of the target control tool assembly adjusts its damping force in response to the second damping adjustment data.

[0073] In this step, the rock and soil strength of the non-target body and the target body are obtained through the reflected waves of the radar monitoring module 3. When cutting the rock and soil, the damping component of the non-target control tool sequence supports the tool assembly with the damping force corresponding to the first damping adjustment data. When cutting the target body, the target control tool sequence supports the tool assembly with the damping force corresponding to the second damping adjustment data. When cutting the non-target body, the tool assembly is supported with the damping force corresponding to the first damping adjustment data.

[0074] The first damping adjustment data includes the first opening signal of the electronically controlled valve calculated based on the soil and rock strength of the non-target body, and the first magnetic field strength of the excitation coil; the second damping adjustment data includes the second opening signal of the electronically controlled valve calculated based on the soil and rock strength of the target body, and the second magnetic field strength of the excitation coil.

[0075] Adjusting the damping force of the damping component also includes the following steps:

[0076] Based on the two-dimensional image of the target body, the time it takes for the tool assembly to pass through the boundary point of the target body is obtained, and a timing control signal for each tool assembly is generated. Within one control cycle, the timing control signal outputs a first control point and a second control point. At the first control point or the second control point, the control valve switches from a first opening degree to a second opening degree, or from a second opening degree to a first opening degree; and the magnetic field strength of the excitation coil switches from a first magnetic field strength to a second magnetic field strength, or from a second magnetic field strength to a first magnetic field strength.

[0077] The viscosity of magnetorheological fluids is closely related to the strength and direction of the external magnetic field, and can adjust its flowability in real time in response to changes in the surrounding magnetic field. According to the formula:

[0078] η(H)=η0(1+k·H 2 )

[0079] η0 represents the initial viscosity without an applied magnetic field, H is the magnetic field strength, and k is the material constant of the liquid. A stronger magnetic field increases the viscosity of the magnetorheological fluid, thus providing greater damping force. In this way, the fluid viscosity can be dynamically adjusted according to the quality of the rock strata in contact with the cutting tool. Higher viscosity of the magnetorheological fluid increases cutting force and damping force, and vice versa. This allows the system to adapt to the characteristics of different rock strata in real time during tunneling.

[0080] The electrically controlled valve is preferably a microelectromechanical system (MEMS) valve control system, which can regulate the liquid flow rate by controlling the valve opening and closing size. The liquid flow rate Q is determined by adjusting the opening and closing size ΔA of the channel.

[0081] Q=k valve ·ΔA·(2ΔP / ρ) 1 / 2

[0082] k valve Let ΔP be a constant related to the valve, ρ be the pressure difference generated by the liquid flow, and ρ be the density of the liquid. In this way, the electrically controlled valve can adjust the fluid flow in real time, thereby controlling the cutting reaction force and damping of the tool. Based on real-time rock strata data, the electrically controlled valve adjusts the opening and closing size to regulate the fluid flow, thus regulating the damping. If the tool contacts a looser rock layer, the valve opening increases, reducing the damping force; if the tool contacts a harder rock layer, the valve opening decreases, increasing the damping force. In this way, the working damping of the tool can be matched to the surrounding rock conditions, thereby reducing disturbance to the surrounding rock.

[0083] The electrically controlled valve controls the opening degree of the valve body by receiving digital or analog opening signals. The excitation coil 11 controls the magnetic field strength by controlling the magnitude of the excitation current. When cutting the target body, the switching of the valve body opening degree and magnetic field strength is controlled by a timing control signal. The tunnel boring machine's control system generates a timing control signal Clk, the control period of which is the time T for one rotation of the tunnel boring machine cutterhead. The first control point and the second control point are the moment when the cutter assembly begins cutting the target body or the moment when the cutter assembly begins cutting a non-target body. Within one control period T, when the cutter is cutting the target body, the timing control signal Clk is set to 1, and the duration is the duration of the cutter assembly cutting the target body.

[0084] Target-controlled tool sequence [K] m1 K m2 , ... K mn ... ... K h1 K h2 , ... K hn For example, Figure 6 The timing control signal CLK and the magnetic field strength control signal i are shown in the figure. l and opening control signal i k The control waveform diagram shows that the solid line represents the tool assembly K. m1 Timing control signal K m1-CLK Magnetic field strength control signal K m1-iL and opening control signal K m1-iK The waveform, with the dashed line representing the tool assembly K. m2 Timing control signal K m2-CLK Magnetic field strength control signal K m2-iL and opening control signal K m2-iK The waveform, within one control cycle T, is under the timing control signal K. m1-CLK The rising or falling edge of the magnetic field strength control signal i l and opening control signal i k A jump occurs, such as in tool assembly K. m1 The working state is in the timing control signal K m1-CLK When the value is 1, the target body is in the cutting state, and the magnetic field strength control signal K is at this time. m1-iL The value is determined by i 1l Switch to i 12 Opening control signal K m1-iK The value is determined by i kl Switch to i k2 Timing control signal K m1-CLK Set time 1 for tool assembly K m1 Cutting time t1, tool assembly K m1 The cutting path is from the radial line r hRotate to radial line r f The radius between the two is 'a', the cutting head speed is 'ω', and the cutting time is 't1' = a / ω.

[0085] Target control tool sequence [K] m1 K m2 , ... K mn ... ... K h1 K h2 , ... K hn The cutting paths of all parts are in radians 'a', and the next tool assembly K... m2 The delay time compared to the previous tool assembly is t 延 , t 延 =2π / nω, where n is the number of tool assemblies on control circle O1, then the included angle between the two tools is 2π / n radians, and the delay time for the next tool assembly to start cutting is the time it takes for the tool head to rotate 2π / n arc lengths, 2π / nω, then K m2 The function K of the timing control signal m2-CLK (t) = K m1-CLK (t-2π / nω), magnetic field strength control signal K m2-iL =K m1-iL (t-2π / nω), opening control signal K m2-iK =K m1-iK (t-2π / nω); K is a function of the timing control signal for the nth tool. mn-CLK (t) = K m1-CLK (t-2π(n-1) / nω), magnetic field strength control signal K mn-iL =K m1-iL (t-2π(n-1) / nω), opening control signal K mn-iK =K m1-iK (t-2π(n-1) / nω).

[0086] The timing control signal CLK and the magnetic field strength control signal i corresponding to the tool control sequence of each control circle O2, O3, and O4 are obtained sequentially. l and opening control signal i k The control waveform diagrams are sent by the tunnel boring machine's control system to the electrical control valves and excitation coils of each cutter assembly.

[0087] Example 2: This example shows a schematic diagram of another damping component, such as... Figure 6As shown, damping components 6 supporting the tool body 4 are installed at both ends of the tool cross axis 5. The damping components 6 include a first liquid storage cylinder 9 and a second liquid storage cylinder 10, which are filled with magnetorheological fluid. The piston rod 7 reciprocates in the first liquid storage cylinder 9. The first liquid storage cylinder 9 and the second liquid storage cylinder 10 are connected by an opening and closing joint, and the size of the opening and closing joint is adjusted by an electric control valve 12.

[0088] The electrically controlled valve 12 employs a microelectromechanical system (MEMS) valve control system. Based on the soil and rock strength data fed back from the radar monitoring module 3, the MEMS valve control system adjusts the opening degree of the valve joint, thereby regulating the fluid flow and achieving the purpose of controlling the viscosity and damping force of the magnetorheological fluid. When the soil and rock strength of the surrounding rock is low, the valve opening degree increases, reducing damping; when the soil and rock strength of the surrounding rock is high, the valve opening degree decreases, increasing damping.

[0089] The top of the second liquid storage cylinder 10 is provided with a linear elastic compression plug 15. The linear elastic compression plug 15 is made of an elastic compressible material. When the piston rod 7 is pushed down, the magnetorheological fluid enters the second liquid storage cylinder 10 from the first liquid storage cylinder 9. The magnetorheological fluid in the second liquid storage cylinder 10 increases, compressing the linear elastic compression plug 15. The linear elastic compression plug 15 generates sufficient cutting reaction force, thereby increasing the damping force.

[0090] The viscosity of magnetorheological fluids is related to the strength and direction of the external magnetic field, and its flowability can be adjusted in real time in response to changes in the surrounding magnetic field. According to the formula:

[0091] η(H)=η0(1+k·H 2 )

[0092] η0 represents the initial viscosity without an applied magnetic field, H represents the magnetic field strength, and k represents the material constant of the liquid. A stronger magnetic field increases the viscosity of the magnetorheological fluid, thus providing greater damping force. In this way, the fluid viscosity can be dynamically adjusted according to the strength of the rock and soil in contact with the cutting tool. Higher viscosity of the magnetorheological fluid increases both cutting force and damping force, and vice versa. This allows the damping to adapt to different rock and soil properties in real time during tunneling.

[0093] The first reservoir 9 and the second reservoir 10 are filled with carbon nanotube magnetorheological fluid. A magnetic emission chamber 13 is located outside the second reservoir 10, containing a variable-direction electromagnetic transmitter 14, which functions as an excitation coil. A hinge shaft is mounted at the bottom of the electromagnetic transmitter 14, and its rotation is controlled by a motor drive mechanism to adjust the direction of the magnetic field, thereby affecting the viscosity and compressibility of the liquid and adjusting the damping force.

[0094] According to: η adjusted =η0(1+k·H·cos(θ))

[0095] ηadjusted η0 is the adjusted viscosity, H is the magnetic field strength, and θ is the angle between the magnetic field direction and the carbon nanotube alignment direction in the magnetorheological fluid.

[0096] Adjusting the direction of the magnetic field allows for precise control of the arrangement of carbon nanotubes in the liquid, thereby regulating the compressibility and viscosity of the liquid. When the cutting tool contacts softer or looser rock and soil, the electromagnetic transmitter 14 rotates, reducing the viscosity of the carbon nanotube magnetorheological fluid and decreasing the damping force to reduce cutting force and disturbance to the surrounding rock. When the cutting tool contacts harder rock layers, the electromagnetic transmitter 14 rotates in the opposite direction, increasing the viscosity of the liquid and increasing the damping force to provide greater cutting force and reduce disturbance to the surrounding rock.

[0097] In this embodiment, the damping force is adjusted through the following steps:

[0098] The rock and soil strength of the non-target body and the target body are obtained by the reflected wave of the radar monitoring module 3. When cutting the rock and soil body, the damping component of the non-target control tool sequence supports the tool with the damping force corresponding to the first damping adjustment data. When cutting the target body, the target control tool sequence supports the tool with the damping force corresponding to the second damping adjustment data. When cutting the non-target body, the tool is supported with the damping force corresponding to the first damping adjustment data.

[0099] The first damping adjustment data includes a first opening signal of the electronically controlled valve 12 calculated based on the soil and rock strength of the non-target body, and a first magnetic field strength and a first tilt angle of the electromagnetic transmitter 14; the second damping adjustment data includes a second opening signal of the electronically controlled valve 12 calculated based on the soil and rock strength of the target body, and a second magnetic field strength and a second tilt angle of the electromagnetic transmitter 14.

[0100] The tilt angle of the electromagnetic transmitter 14 is the angle θ between the direction of the magnetic field and the arrangement direction of the carbon nanotubes in the magnetorheological fluid.

[0101] In this embodiment, the opening adjustment of the solenoid valve 12 and the magnetic field strength adjustment of the electromagnetic transmitter 14 are the same as in Embodiment 1. This embodiment adds a step of adjusting the tilt angle of the electromagnetic transmitter 14.

[0102] The tilt angle adjustment of the electromagnetic transmitter 14, such as Figure 8 As shown, within one control cycle T, the timing control signal K... m1-CLK The rising or falling edge of the magnetic field strength control signal i l Tilt angle θ and opening control signal i k A jump occurs, such as in tool assembly K. m1 The working state is under the timing control signal K m1-CLK When the value is 1, the target body is in the cutting state, and the magnetic field strength control signal K is at this time. m1-iLThe value is determined by i 1l Switch to i 12 Opening control signal K m1-iK The value is determined by i kl Switch to i k2 Inclination angle K m1-θ The value is determined by θ l Switch to θ2.

[0103] The tilt angle θ is achieved by controlling the rotation angle of the motor, in the timing control signal K. m1-CLK At the rising or falling edge of the pulse, the motor starts, and the tilt angle of the electromagnetic transmitter 14 gradually changes from θ. l Rotate to θ2.

[0104] Tool assembly K m2 The delay time between the previous tool assembly and the previous tool assembly is t. 延 .

[0105] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A method for adaptive damping control of the cutterhead in a tunnel boring machine (TBM) system, characterized in that, The tunnel boring machine (TBM) system includes the TBM cutterhead, cutter assemblies arrayed on the TBM cutterhead, and a radar monitoring network. The radar monitoring network consists of multiple radar monitoring modules installed on one side of the cutting tool assembly. The radar monitoring modules emit electromagnetic wave signals to the rock and soil in front and receive the reflected electromagnetic waves to monitor the quality of the rock and soil in front in real time. The tool assembly includes a tool body and a tool cross shaft. Damping components supporting the tool body are installed at both ends of the tool cross shaft. The damping components are magnetorheological dampers. The magnetorheological dampers include two electrically controlled valves for adjusting the flow rate of the magnetorheological fluid and an excitation coil for adjusting the magnetic field strength passing through the magnetorheological fluid. The method includes the following steps: Step S1: The radar monitoring module emits detection electromagnetic waves to the rock and soil in front and receives the reflected electromagnetic waves, and generates a detection image of the rock and soil in front based on the reflected electromagnetic waves. Step S2: Identify the target objects in the rock and soil mass based on the detection image of the rock and soil mass in front, and obtain the number, outline and location of the target objects, as well as the rock and soil strength of the target objects and non-target objects; Step S3: Determine the target control tool assembly corresponding to each target body in the cutterhead of the tunnel boring machine, generate the target control tool sequence for each target body, and generate the non-target control tool sequence composed of tool assemblies at non-target body positions, and determine the working status of the target control tool assembly; Step S4: Calculate the first damping adjustment data based on the soil and rock strength of the non-target body, and calculate the second damping adjustment data based on the soil and rock strength of the target body. When the tool assembly cuts the non-target body, adjust the damping force of the damping assembly with the first damping adjustment data. When the target-controlled tool assembly cuts the target body, adjust the damping force of the target-controlled tool damping assembly with the second damping adjustment data.

2. The adaptive damping control method for the cutterhead of a tunnel boring machine as described in claim 1, characterized in that, Step S2 specifically includes: Step S21: Identify the target objects in the rock and soil ahead based on the detection image of the rock and soil ahead, and obtain the rock and soil strength, the number of target objects and their rock and soil strength; Step S22: Create a working coordinate system with the center point of the shield machine cutterhead as the reference origin, the working plane of the shield machine cutterhead as the reference plane, and the direction of travel of the shield machine as the Z-axis. Generate three-dimensional images of each target body based on the detection images of multiple radar monitoring modules, and obtain the outline and three-dimensional coordinates of each target body in the working coordinate system. Step S23: Map the three-dimensional coordinates of each target body contour to the reference plane to generate a series of two-dimensional images of the target body contours arranged in order along the positive Z-axis.

3. The adaptive damping control method for the cutterhead of a tunnel boring machine as described in claim 2, characterized in that, Step S3 specifically includes: Step S31: Project the two-dimensional image onto the reference plane, and use the distance from the edge contour point of the target body in the two-dimensional image to the reference origin in the reference plane as a reference circle. In the reference plane, obtain the tool component number that falls into the reference circle, generate the target control tool sequence, and combine the other tool component numbers that do not fall into the reference circle into a non-target control tool sequence. Step S32: Using the reference origin as the center and the tool mounting position as the radius, draw multiple control circles inside the reference circle. Tool assemblies located on the same control circle are divided into the same control sequence, thus dividing the target control tool sequence into multiple control sequences. Step S33: Obtain two boundary points between the target body and the surrounding rock and soil body on each control circle in the two-dimensional image, and obtain the coordinates of the boundary points and the control distance between the two boundary points; Step S34: Obtain the real-time position of the cutter assembly based on the tunnel boring machine's travel speed and rotation speed, determine the two-dimensional image corresponding to the real-time position of the cutter assembly, compare the current position of the cutter assembly with the position of the boundary point in each control sequence, and when the cutter assembly moves between two boundary points, the working state of the cutter assembly is the target body cutting state. The working state of the cutter in the control cutter and non-target control cutter sequences that have not entered the target body boundary points is the non-target body cutting state.

4. The adaptive damping control method for the cutterhead of a tunnel boring machine as described in claim 3, characterized in that, Step S4 specifically includes: Step S41: Calculate the first damping adjustment data based on the soil and rock strength of the non-target body, and send it to the target control tool sequence and the non-target control tool sequence; calculate the second damping adjustment data based on the soil and rock strength of the target body, and send it to the target control tool sequence; Step S42: When cutting the rock and soil in front, the damping component of the non-target control tool assembly adjusts its damping force in response to the first damping adjustment data; Step S43: When cutting a non-target body, the damping component of the target control tool assembly adjusts its damping force in response to the first damping adjustment data; Step S44: When cutting the target body, the damping component of the target control tool assembly adjusts its damping force in response to the second damping adjustment data.

5. The adaptive damping control method for the cutterhead of a tunnel boring machine as described in claim 4, characterized in that, The first damping adjustment data includes the first opening signal of the electrically controlled valve calculated based on the rock and soil strength of the non-target body, and the first magnetic field strength of the excitation coil; the second damping adjustment data includes the second opening signal of the electrically controlled valve calculated based on the rock strength of the target body, and the second magnetic field strength of the excitation coil.

6. The adaptive damping control method for the cutterhead of a tunnel boring machine as described in claim 5, characterized in that, Adjusting the damping force of the damping component further includes the following steps: obtaining the time it takes for the tool assembly to pass through the boundary point of the target body based on the two-dimensional image of the target body, and generating a timing control signal for each tool assembly; within a control cycle, the timing control signal outputs a first control point and a second control point, and at the first control point or the second control point, controlling the electronically controlled valve to switch from a first opening degree to a second opening degree, or from a second opening degree to a first opening degree; and controlling the magnetic field strength of the excitation coil to switch from a first magnetic field strength to a second magnetic field strength, or from a second magnetic field strength to a first magnetic field strength.

7. The adaptive damping control method for the cutterhead of a tunnel boring machine as described in claim 6, characterized in that, The control cycle is the time it takes for the tunnel boring machine cutterhead to rotate one revolution. The first control point and the second control point are the moment when the cutter assembly begins to cut the target body or the moment when the cutter assembly begins to cut the non-target body.

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