A control method, device and medium for monitoring the working state of a mechanical device

Abstract

The present application belongs to the technical field of data acquisition and monitoring control, and particularly relates to a control method, device and medium for monitoring the working state of mechanical equipment, comprising: synchronously collecting the torque data of a cutter head, total thrust data, cutter head rotation speed data, tunneling speed data and push oil cylinder array pressure data of the mechanical equipment; obtaining the thrust mass center offset based on the push oil cylinder array pressure data, and obtaining the eccentric torsion push impedance; extracting the average impedance of the eccentric torsion push impedance in a sliding time window, and obtaining the working state fluctuation energy according to the time index distribution law; obtaining the relative deviation mapping mechanism based on the average tunneling speed and the rated maximum tunneling speed, and modulating the working state fluctuation energy to calculate the equipment degradation index; comparing the equipment degradation index with the safety critical threshold value, and feeding back the execution intervention instruction. The present application realizes the differentiation of natural geological resistance and abnormal eccentric jamming, and avoids mechanical false alarms and structural damage.

Description

Technical Field

[0001] This invention relates to the field of data acquisition and monitoring control technology. More specifically, this invention relates to a control method, device, and medium for monitoring the working status of mechanical equipment. Background Technology

[0002] In tunnel excavation projects involving loose deposits and complex, sensitive geological conditions, pipe jacking machines and tunnel boring machines are the core mechanical equipment.

[0003] Traditional methods for controlling the working status of mechanical equipment often rely on setting fixed alarm limits for individual physical indicators. Specifically, traditional technology first sets the cutter head torque threshold and total thrust threshold before the equipment starts. During normal operation, the system collects the current cutter head torque data and total thrust data in real time through sensors, and calculates the arithmetic mean of these indicators within a set time segment. Then, the instantaneous collected value at the current moment is directly compared with the preset alarm limits. If the cutter head torque data exceeds the set cutter head torque threshold, or the total thrust data exceeds the total thrust threshold, the controller will issue an alarm signal and execute a shutdown command.

[0004] However, the above methods have technical limitations when dealing with uneven and complex geological conditions such as loose deposits: loose strata are prone to local collapses or alternating soft and hard surfaces, causing a sudden physical change in the force on the cutterhead. Such resistance fluctuations caused by natural geological evolution are normal construction behavior. Traditional control logic monitors absolute amplitude in isolation and lacks the ability to deeply distinguish the coupling of torsional and thrust energy and the spatial eccentric force state of the propulsion system. It cannot distinguish between the sudden increase in natural resistance caused by geological changes and the abnormal mechanical jamming caused by the local wrapping of mud cake on the cutterhead or the eccentric wear of the main bearing. This mechanism not only frequently triggers false alarms in complex strata, seriously delaying the construction progress, but also misses the alarm when the mechanical equipment undergoes hidden eccentric degradation because the initial instantaneous force does not reach the rough alarm threshold, ultimately leading to engineering accidents such as cutterhead structural tearing or main bearing failure. Summary of the Invention

[0005] To address the technical problem that the existing technology cannot distinguish between normal geological resistance and abnormal eccentric jamming, leading to false alarms or equipment damage, the present invention provides solutions in the following aspects.

[0006] In a first aspect, the present invention provides a control method for monitoring the working status of mechanical equipment, comprising: synchronously acquiring cutterhead torque data, total thrust data, cutterhead rotation speed data, tunneling speed data, and propulsion cylinder array pressure data of the mechanical equipment; obtaining the thrust center of gravity offset based on the propulsion cylinder array pressure data; calculating the product of the cutterhead torque data and the cutterhead rotation speed data to obtain the rotational power, and calculating the product of the total thrust data and the tunneling speed data to obtain the linear propulsion power; calculating the ratio of the rotational power to the linear propulsion power, and combining the ratio of the thrust center of gravity offset to the physical radius of the cutterhead as a spatial eccentricity compensation coefficient. The ratio of the rotational power to the linear propulsion power is modulated to obtain the eccentric torsional thrust impedance; based on the difference between the eccentric torsional thrust impedance and the average value of the eccentric torsional thrust impedance within a preset sliding time window, and combined with the time exponential distribution law, the working state fluctuation energy is obtained; based on the deviation between the average tunneling speed within the sliding time window and the rated maximum tunneling speed of the mechanical equipment, a relative deviation mapping mechanism is obtained; based on the relative deviation mapping mechanism, the working state fluctuation energy is nonlinearly modulated to calculate the equipment degradation index; the equipment degradation index is numerically compared with the safety critical threshold, and based on the comparison result, a matching shutdown or correction intervention command is executed.

[0007] This invention constructs a deep-seated eccentric torsional thrust impedance by synchronously acquiring multi-source operating parameters of mechanical equipment and extracting the thrust centroid offset in physical space. This impedance is based on the combined work of cutterhead rotation, linear propulsion, and spatial eccentricity, thus eliminating interference from natural geological fluctuations. Furthermore, by extracting the average impedance of the eccentric torsional thrust impedance within a sliding time window and introducing a time-exponential distribution law, the invention obtains the energy fluctuations in the working state, capturing transient impacts caused by mechanical deterioration. Finally, by combining the deviation between the average tunneling speed and the rated maximum tunneling speed, the invention implements nonlinear modulation to output the equipment degradation index and generates protection commands based on a safety critical threshold. This derivation process not only achieves coupled calculation of energy dissipation characteristics and eccentric degradation characteristics but also effectively amplifies the concealed physical degradation signal through dynamic penalty modulation. This solves the technical problem of frequent false alarms and even mechanical structure fractures caused by the inability of traditional isolated monitoring mechanisms to distinguish between normal natural resistance and abnormal eccentric jamming.

[0008] Preferably, obtaining the thrust center of mass offset based on the pressure data of the propulsion cylinder array includes: converting the pressure data of the propulsion cylinder array into single-cylinder thrust data by combining the effective working area of ​​the piston of the propulsion cylinder, and accumulating the single-cylinder thrust data of all propulsion cylinders to obtain the total thrust data; multiplying the single-cylinder thrust data of each propulsion cylinder with its corresponding lateral coordinate and accumulating the results, then dividing by the total thrust data to obtain the actual lateral coordinate of the thrust center of mass; multiplying the single-cylinder thrust data of each propulsion cylinder with its corresponding longitudinal coordinate and accumulating the results, then dividing by the total thrust data to obtain the actual ordinate coordinate of the thrust center of mass; calculating the square root of the sum of the squares of the actual lateral coordinate and the actual ordinate coordinate to obtain the thrust center of mass offset.

[0009] This invention combines physical spatial coordinates to convert the pressure data of the propulsion cylinder array into single-cylinder thrust data, and uses weighted average logic to derive the actual abscissa and ordinate of the thrust centroid. Finally, it aggregates and calculates the thrust centroid offset. This derivation mechanism successfully aggregates the multi-point non-uniformly distributed thrust behind the equipment into a geometric parameter that reflects the overall cutting posture deviation intensity, quantifying the spatial eccentric force state of the propulsion system from the source, and solving the problem of lack of perception of the eccentric wear and degradation of the main bearing in traditional monitoring.

[0010] Preferably, the eccentric torsional resistance satisfies the following expression: In the formula, For the first The eccentric torsional impedance corresponding to each sampling point; For the first The cutter head torque data corresponding to each sampling point; For the first The cutter head rotation speed data corresponding to each sampling point; For the first Total thrust data corresponding to each sampling point; For the first The tunneling speed data corresponding to each sampling point; For the first The thrust centroid offset corresponding to each sampling point; The physical radius of the cutter head of the mechanical equipment; This is the function for finding the maximum value.

[0011] This invention calculates the product of cutterhead torque data and cutterhead rotation speed data as the numerator of rotational power, and simultaneously calculates the product of total thrust data and tunneling speed data as the denominator of linear propulsion power. It introduces the ratio of thrust centroid offset to the physical radius of the cutterhead as an eccentricity compensation coefficient. This calculation logic, through the bidirectional fusion of power ratio cross-validation and spatial eccentricity compensation, dynamically extracts the true energy distribution ratio of the equipment, effectively filtering out scalar fluctuations caused solely by ground hardening and resolving the problem of resistance misjudgment due to natural geological evolution.

[0012] Preferably, the energy fluctuation of the operating state satisfies the following expression: In the formula, Energy fluctuations during operation; The total number of sampling points included in the sliding time window; The sampling point number; For the first The eccentric torsional impedance corresponding to each sampling point; The average impedance; It is a natural constant.

[0013] This invention captures the oscillation amplitude by using the square difference between the eccentric torsional impedance and the average impedance, and uses a time-monotonically increasing exponential function to give extremely high weight to recent square difference terms and low weight to long-term historical data, thereby accumulating and calculating the energy of working state fluctuations. This calculation process objectively restores the natural outbreak and decay evolution law of abnormal physical characteristics, so that the latest tiny jamming impact is instantaneously amplified, overcoming the monitoring bottleneck of traditional arithmetic mean filtering that masks early high-frequency hidden degradation signals.

[0014] Preferably, the equipment degradation index satisfies the following expression: In the formula, Equipment degradation index; It is the natural logarithm function; It is a natural constant; Energy fluctuations during operation; This is the rated maximum tunneling speed; This represents the average tunneling speed.

[0015] This invention performs a smooth logarithmic mapping on the energy fluctuations in the working state and constructs an exponential product term with the ratio of the average tunneling speed deviating from the rated maximum tunneling speed as the parameter. This ensures that when the equipment is trapped in a harsh crawling condition with extremely low speed and high resistance, the exponential product term drastically amplifies the weak energy fluctuations and outputs a huge equipment degradation index. This compensates for the problem of miscalculation of mechanical destructive force under high-speed light load and low-speed heavy load conditions and avoids the underreporting of hidden disasters under extreme working conditions.

[0016] Preferably, the equipment degradation index is compared with a safety critical threshold, and a matching shutdown or corrective intervention command is executed based on the comparison result. This includes: comparing the currently calculated equipment degradation index with the safety critical threshold pre-configured in memory; when the equipment degradation index is less than or equal to the safety critical threshold, determining that the mechanical equipment is in a normal break-in digging state, maintaining the current drive parameters and continuing to advance.

[0017] Preferably, the process of comparing the equipment degradation index with the safety critical threshold and executing a matching shutdown or corrective intervention command based on the comparison result further includes: when the equipment degradation index is greater than the safety critical threshold, determining that the mechanical equipment is experiencing severe jamming or is on the verge of physical structural damage; and immediately issuing a comprehensive protection action command to the electrical proportional valve and frequency converter via the industrial fieldbus.

[0018] Preferably, the protective action includes: synchronously reducing the back pressure setting value corresponding to the pressure data of all the propulsion cylinder arrays to alleviate the axial load; starting the high-pressure mud pump in the center area of ​​the cutterhead to inject lubricating medium; and adjusting the array eccentricity correction pressure of the opposing propulsion cylinders in the opposite direction according to the direction of the thrust centroid offset to restore the mechanical force balance until the equipment degradation index calculated in the subsequent time window falls below the safety critical threshold.

[0019] In a second aspect, the present invention also provides a computer electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the control method for monitoring the working state of mechanical equipment as described above.

[0020] In a third aspect, the present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the control method for monitoring the working state of mechanical equipment as described above.

[0021] The beneficial effects of this invention are as follows:

[0022] This invention constructs a deep-seated eccentric torsional thrust impedance by synchronously acquiring multi-source operating parameters of mechanical equipment and extracting the thrust centroid offset in physical space. This impedance is based on the combined work of cutterhead rotation, linear propulsion, and spatial eccentricity, thus eliminating interference from natural geological fluctuations. Furthermore, by extracting the average impedance of the eccentric torsional thrust impedance within a sliding time window and introducing a time-exponential distribution law, the invention obtains the energy fluctuations in the working state, capturing transient impacts caused by mechanical deterioration. Finally, by combining the deviation between the average tunneling speed and the rated maximum tunneling speed, the invention implements nonlinear modulation to output the equipment degradation index and generates protection commands based on a safety critical threshold. This derivation process not only achieves coupled calculation of energy dissipation characteristics and eccentric degradation characteristics but also effectively amplifies the concealed physical degradation signal through dynamic penalty modulation. This solves the technical problem of frequent false alarms and even mechanical structure fractures caused by the inability of traditional isolated monitoring mechanisms to distinguish between normal natural resistance and abnormal eccentric jamming. Attached Figure Description

[0023] Figure 1This is a flowchart illustrating a control method for monitoring the working status of mechanical equipment according to the present invention;

[0024] Figure 2 This is a schematic diagram illustrating the time-series monitoring waveforms of the cutterhead torque data and total thrust data of the mechanical equipment;

[0025] Figure 3 This is a schematic diagram illustrating the time-series monitoring waveforms of the tunneling speed data and the thrust center of gravity offset of the mechanical equipment;

[0026] Figure 4 This is a schematic diagram illustrating the status diagnosis results of traditional control methods for monitoring the working status of mechanical equipment when facing complex geological conditions.

[0027] Figure 5 This is a schematic diagram illustrating the status diagnosis results of the control method for monitoring the working status of mechanical equipment according to the present invention when facing complex geological conditions. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0030] This invention discloses a control method for monitoring the working status of mechanical equipment, referring to... Figure 1 This includes steps S1-S4:

[0031] S1: Synchronously collect data on the cutterhead torque, total thrust, cutterhead rotation speed, tunneling speed, and propulsion cylinder array pressure of the mechanical equipment, calculate the thrust center of gravity offset, and construct an eccentric torsional thrust impedance that includes the thrust center of gravity offset.

[0032] It should be noted that during the excavation of loose deposits, single thrust or torque indicators are easily affected by ground collapse and fluctuate drastically. This fluctuation leads to frequent misjudgments when traditional methods analyze scalar amplitudes in isolation. At the same time, traditional methods ignore the fatally aggravating effect of propulsion posture deviation on the wear of mechanical main bearings. Therefore, this invention integrates the spatial eccentricity characteristics of the propulsion cylinder array with dynamic energy parameters, transforming multidimensional discrete variables into unified parameters that reflect the actual energy dissipation of mechanical equipment under eccentric conditions. This effectively eliminates the unidirectional interference caused by natural geological evolution and lays a data foundation for extracting hidden mechanical degradation characteristics.

[0033] Specifically, torque sensors, motor encoders, and displacement sensors deployed on the main drive shaft of the mechanical equipment are used to synchronously collect the current cutter head torque data at a fixed sampling frequency. Cutter head speed data and tunneling speed data Simultaneously, the pressure data of the propulsion cylinder array is obtained from the pressure transmitters deployed on the propulsion system. This pressure data is then converted into single-cylinder thrust data by combining it with the effective working area of ​​the pistons in the propulsion cylinders. Finally, the single-cylinder thrust data of all propulsion cylinders are summed to obtain the total thrust data. The system allocates a first-in-first-out circular buffer in the programmable logic controller's memory to construct a sliding time window. Newly acquired data sequences are sequentially stored into this sliding time window, and the total number of sampling points included in the sliding time window is set. .

[0034] The total number of sampling points This is a data span parameter set to control the width of the time domain analysis; it is a dimensionless count value. If this value is set too small, the amount of data contained within the time window will be insufficient, causing the system to be unable to extract complete mechanical dynamic cycle patterns. If it is set too large, the time window will span too long a geological evolution stage, causing recent transient anomaly features to be masked by a large amount of historical data. Therefore, its value range is set to 50 to 200. In this embodiment, it is set to 100 to ensure that short-term mechanical impact features are fully preserved while filtering out high-frequency random physical noise. In other embodiments, the implementer can fine-tune it according to the controller's calculation frequency.

[0035] Figure 2 This is a schematic diagram of the time-series monitoring waveforms of the cutterhead torque data and total thrust data of the mechanical equipment; combined with different excavation geological stages, Figure 2 The data shows the evolution trends of the curves corresponding to the cutterhead torque data and the total thrust data at the corresponding sampling point numbers: In the normal soft soil excavation stage and the normal hard rock excavation stage, the curves corresponding to the cutterhead torque data and the total thrust data both show regular physical fluctuation patterns; especially in the normal hard rock excavation stage, due to the physical influence of the simple increase in geological hardness, the absolute values ​​of the cutterhead torque data and the total thrust data both showed a significant increase in the same direction.

[0036] Furthermore, the single-cylinder thrust data of each propulsion cylinder at the current moment is extracted. Combined with the known mechanical structure drawings of the equipment, the physical spatial coordinates of each propulsion cylinder on the circumference distribution behind the cutterhead are obtained. The Euclidean distance of the overall thrust application point relative to the geometric center of the cutterhead is calculated and used as the thrust centroid offset. The specific calculation process is as follows: taking the geometric center of the cutterhead as the origin of the coordinate system, firstly, multiply the single-cylinder thrust data of each propulsion cylinder by its corresponding lateral coordinate and sum them up, then divide by the total thrust data. Obtain the actual abscissa of the thrust centroid; simultaneously, multiply the single-cylinder thrust data of each propulsion cylinder by its corresponding longitudinal coordinate, sum them up, and then divide by the total thrust data. Obtain the actual ordinate of the thrust center of mass; finally, calculate the square root of the sum of the squares of the actual abscissa and the actual ordinate to obtain the thrust center of mass offset. .

[0037] Figure 3 This is a time-series monitoring waveform diagram of the tunneling speed data and the thrust center of gravity offset of the mechanical equipment. It shows the curve corresponding to the tunneling speed data, which reflects the macroscopic operating state of the equipment, and the curve corresponding to the thrust center of gravity offset, which reflects the spatial stress state of the propulsion system. During the normal excavation stage, the thrust center of gravity offset remains at a low baseline level, and the curve corresponding to the tunneling speed data fluctuates smoothly. When the mechanical equipment enters the extreme eccentric jamming stage, the curve corresponding to the thrust center of gravity offset undergoes a sharp upward change, while the curve corresponding to the tunneling speed data shows a severe downward trend and approaches zero, objectively reflecting the severe shutdown edge condition faced by the equipment.

[0038] Furthermore, for each sampling point number within the sliding time window Based on the relationship between the mechanical work ratio and spatial eccentricity compensation, the eccentric torsional thrust impedance is calculated. Satisfies the expression:

[0039]

[0040] In the formula, For the first The eccentric torsional impedance corresponding to each sampling point is a dimensionless parameter. For the first The torque data of the cutter head corresponding to each sampling point is expressed in Newton-meters. For the first The cutting head rotation speed data corresponding to each sampling point is measured in radians per second. For the first The total thrust data corresponding to each sampling point is expressed in Newtons. For the first The tunneling speed data corresponding to each sampling point is measured in meters per second. For the first The thrust centroid offset corresponding to each sampling point is expressed in meters. The physical radius of the cutter head of the mechanical equipment is expressed in meters. This is a reference constant, with units of Newton-meters per second; This is the function for finding the maximum value.

[0041] This calculation relationship, by calculating the ratio of rotational work power to linear propulsion work power, truly reflects the energy distribution ratio of the mechanical equipment foundation; when the cutterhead torque data... Or cutter head speed data As the value increases, the rotational work power of the numerator term rises, driving the eccentric torsional resistance. It shows a linear increasing trend; when the total thrust data Or tunneling speed data When the value increases, the linear propulsion power of the denominator term rises, driving the eccentric torsional resistance. It shows an inversely proportional decreasing trend; at the same time, a thrust center of mass offset is introduced. With respect to the physical radius of the cutter head The ratio of [value] to [value] serves as a dimensionless spatial eccentricity compensation coefficient. When loose strata cause severe deviations in the cutting posture of the equipment, the thrust centroid offset [value] is [value]. The resistance increases significantly, thereby driving the eccentric torsional thrust. A significant upward mutation was produced; the calculation formula successfully isolated the natural fluctuation of the absolute values ​​of the numerator and denominator in the same direction caused by the simple overall hardening of the geology.

[0042] It should be noted that the present invention constructs an eccentric torsional thrust impedance by bidirectional physical fusion of spatial eccentricity and torsional thrust power. This parameter enables the distinction between normal geological resistance and mechanical asymmetric abnormal wear, overcoming the technical defect of traditional methods that are easily affected by sudden changes in absolute amplitude.

[0043] S2: Extract the eccentric torsional impedance of all sampling points within the sliding time window, calculate the average impedance, and construct the working state fluctuation energy using an exponential time weighting function.

[0044] It should be noted that, since the physical manifestation of mechanical equipment in the early stages of failure evolution is usually high-frequency small oscillations rather than significant deviations from the mean, the traditional arithmetic average algorithm will seriously mask the abrupt abnormal signals closest to the current moment when treating all historical data within the time window equally. Therefore, this invention introduces an asymmetric time distribution mechanism to amplify the abnormal impedance deviations that have occurred recently, thereby capturing the transient early impact signs of mechanical condition deterioration.

[0045] Specifically, all sampling points within the sliding time window are traversed, all eccentric torsional thrust impedances are extracted, and the sum of all eccentric torsional thrust impedances is divided by the total number of sampling points. The arithmetic mean within the sliding time window is calculated and used as the average impedance. It is used to assess the degree of energy discrete evolution within the current sliding time window.

[0046] Specifically, based on the difference between the eccentric torsional impedance and the average impedance at each sampling point, and combined with the time exponential distribution law, the energy fluctuation of the working state is calculated. Satisfies the expression:

[0047]

[0048] In the formula, Energy fluctuations during operation; This represents the total number of sampling points included in the sliding time window; The sampling point numbers are arranged in ascending order from front to back according to the chronological sequence. For the first The eccentric torsional impedance corresponding to each sampling point; The average impedance; It is a natural constant.

[0049] The calculation relationship first captures the impedance oscillation amplitude of the mechanical equipment within a local time period through the squared difference term, when the eccentric torsional impedance... Deviation from average impedance The larger the absolute difference, the larger the corresponding squared difference term, and the higher the accumulated basis energy; then, a nonlinear time weighting is applied to the dimensionless squared difference using a monotonically increasing exponential function; as the sampling point number increases... As the value of the exponential function increases, meaning it's closer to the current moment, the dimensionless power in the exponential function gradually approaches zero, causing the entire exponential weighted term to smoothly increase and approach its maximum value of 1, thus assigning the highest weight to recent deviations. Conversely, when the sampling point number... Smaller values ​​represent historical data from a long period of time. The dimensionless power in the exponential function increases negatively, causing the exponential weighting term to decay smoothly and giving historical data a lower weight. This objectively restores the natural decay and evolution of historical physical characteristics, allowing the latest abnormal oscillations to quickly accumulate into a high-energy response, thus improving the numerical sensitivity to sudden jamming.

[0050] It should be noted that by constructing an energy calculation model that includes an exponential time weight term, this invention gives higher physical confidence to recent fluctuations. This enables the system to show abnormal characteristics much earlier than the traditional mean filtering algorithm when facing rapidly degrading scenarios such as tool breakage or instantaneous jamming of foreign objects.

[0051] S3: Combining the rated maximum tunneling speed of the mechanical equipment with the average tunneling speed within the sliding time window, a relative deviation mapping mechanism is used to nonlinearly modulate the energy fluctuation of the working state to calculate the equipment degradation index.

[0052] It should be noted that, since the same amplitude of wave energy has drastically different physical destructive forces at different operating speeds, traditional algorithms have difficulty identifying the serious jamming crisis represented by weak fluctuations in extremely low-speed crawling states. Therefore, this invention introduces a speed modulation mechanism that reflects the overall operating state to dynamically penalize and compensate for microscopic wave energy, ensuring that the final diagnostic indicators can truly reflect the current structural damage risk of the equipment.

[0053] Specifically, the tunneling speed data corresponding to all sampling points within the sliding time window is extracted, and all tunneling speed data are summed and divided by the total number of sampling points. The average tunneling speed is calculated; the maximum safe advance speed set on the machine's nameplate is read and used as the rated maximum tunneling speed. .

[0054] Specifically, based on the degree of deviation between the average tunneling speed and the rated maximum tunneling speed, the equipment degradation index is calculated by nonlinearly modulating the energy fluctuations in the working state. Satisfies the expression:

[0055]

[0056] In the formula, Equipment degradation index; It is the natural logarithm function; It is a natural constant; Energy fluctuations during operation; The rated maximum tunneling speed is measured in meters per second. The average tunneling speed is measured in meters per second.

[0057] The calculation relationship is first expressed as a logarithmic function for the energy fluctuations in the working state. Perform smooth mapping, with energy fluctuations as the working state changes. The increase of , the logarithmic term shows a slow monotonically increasing trend, effectively preventing the unlimited overflow of system values ​​caused by extreme transient pulses; at the same time, a dimensionless exponential product term with the relative velocity deviation rate as the main component is constructed, when the average tunneling speed As the product term decreases and approaches zero, the exponential portion of the product term increases significantly, and the corresponding exponential term reaches its peak, thereby driving the equipment degradation index. It produces a strong upward amplification effect; when the average tunneling speed Increase and approach the rated maximum tunneling speed When the exponent of the product term decreases, the corresponding exponent term smoothly decreases and tends to 1; this objectively reflects the destructive physical stress concentration phenomenon under low speed and high resistance conditions, and avoids the problem of no solution for division by zero under extreme conditions in conventional division penalty terms.

[0058] It should be noted that by introducing macroscopic travel speed as a penalty constraint mechanism into the microscopic fluctuation energy assessment, this invention effectively avoids the loopholes of fault misjudgment under high-speed light load and low-speed heavy load conditions, and enables the finally generated equipment degradation index to have physical generalization ability across different geological conditions.

[0059] S4: Based on the comparison between the equipment degradation index and the preset safety critical threshold, determine the current operating status of the mechanical equipment and provide feedback to execute the corresponding shutdown or corrective intervention command.

[0060] It should be noted that, since obtaining deep feature indicators without clear decision-making boundaries will not guide the terminal actuator to generate actual safety protection actions, leading to the continuous deterioration of physical damage, this invention cuts off the continuous evolution path of severe mechanical damage by setting strict comparison and adjudication logic and a highly real-time closed-loop feedback mechanism, and ultimately achieves effective physical protection for mechanical equipment in complex environments.

[0061] Specifically, the control system reads the currently calculated equipment degradation index in real time. and compare it with a pre-configured safety threshold in memory. Perform numerical comparison.

[0062] The safety threshold This is a diagnostic parameter set to delineate the boundary between normal excavation fluctuations and dangerous mechanical jamming. It is a dimensionless parameter. If this value is set too small, the system will overreact to even minor normal ground subsidence, leading to frequent interruption commands and severely hindering construction progress. If this value is set too large, the system will ignore severe eccentric jamming that has already formed, causing the machinery to operate under extremely high mechanical loads, resulting in irreversible main bearing failure. Therefore, its value range is set to 3 to 5 times the average level of the equipment degradation index under no-load operation. In this embodiment, it is set to 4 times the average level to ensure that a robust safety protection line is built while maximizing the continuity of construction. In other embodiments, the implementers can fine-tune this multiple according to the tolerance for the failure underreporting rate.

[0063] Specifically, when the equipment degradation index Less than or equal to the safety critical threshold When the system determines that the mechanical equipment is in a normal break-in digging state, it maintains the current drive parameters and continues to advance; when the equipment degradation index... Greater than the safety threshold When the system determines that the mechanical equipment is severely jammed or on the verge of physical structural damage, it immediately issues a comprehensive protection action command to the electrical proportional valve and frequency converter via the industrial fieldbus. The specific protection actions include simultaneously reducing the back pressure setting value of all propulsion cylinders to alleviate axial load, starting the high-pressure mud pump in the center area of ​​the cutterhead to inject lubricating medium, and adjusting the array eccentric correction pressure of the opposite propulsion cylinders in the opposite direction according to the aforementioned thrust centroid offset direction to restore mechanical force balance, until the equipment degradation index calculated in the subsequent time window falls below the safety critical threshold.

[0064] It should be noted that this invention, through explicit threshold comparison logic and multi-dimensional protection command issuance mechanism, transforms the deep physical features extracted from the front end into control actions to prevent hardware damage, thus closing the entire control process from dynamic state monitoring to intervention in dangerous anomalies.

[0065] For example, Figure 4 This diagram illustrates the status diagnosis results of traditional control methods for monitoring the working status of mechanical equipment when facing complex geological conditions. It shows the curve corresponding to the arithmetic mean of the cutterhead torque data extracted based on traditional fixed threshold logic, as well as the baseline corresponding to the set cutterhead torque threshold. When the mechanical equipment enters the normal hard rock excavation stage, the absolute resistance increases due to the hardening of the geological conditions alone. The curve corresponding to the arithmetic mean of the cutterhead torque data significantly exceeds the baseline corresponding to the set cutterhead torque threshold, thus triggering a serious false alarm. In the actual extreme eccentric jamming stage, due to the local asymmetric characteristics of the resistance, the curve corresponding to the arithmetic mean falls back below the threshold baseline, resulting in the failure to detect fatal mechanical physical damage.

[0066] For example, Figure 5 This diagram illustrates the state diagnosis results of the control method for monitoring the working status of mechanical equipment according to the present invention when facing complex geological conditions. It shows the curve corresponding to the equipment degradation index after eccentric torsional impedance fusion, exponential time nonlinear weighting, and relative velocity deviation modulation, as well as the baseline corresponding to the safety critical threshold set by the present invention. In the normal hard rock excavation stage, because the mathematical calculation relationship of the present invention successfully reflects the absolute numerical fluctuation phenomenon caused by the variation of geological hardness, the curve corresponding to the equipment degradation index remains stable below the baseline corresponding to the safety critical threshold, avoiding false alarms from the system. In the extreme eccentric jamming stage, the curve corresponding to the equipment degradation index is rapidly driven by the rapid accumulation of recent local deviation energy and the extremely low speed penalty multiplier, generating a steep exponential burst and strongly breaking through the baseline corresponding to the safety critical threshold, realizing the capture and intervention of real hidden mechanical faults.

[0067] This invention also discloses a computer electronic device, including a memory and a processor. The memory stores a computer program, and when the processor executes the instructions of the computer program, it implements the steps of the control method for monitoring the working status of mechanical equipment as described above.

[0068] This invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the control method for monitoring the working state of mechanical equipment as described above.

Claims

1. A control method for monitoring the working status of mechanical equipment, characterized in that, include: Simultaneously collect data on the cutterhead torque, total thrust, cutterhead rotation speed, tunneling speed, and propulsion cylinder array pressure of the mechanical equipment; The thrust centroid offset is obtained based on the pressure data of the propulsion cylinder array. The rotational power is obtained by multiplying the cutterhead torque data and the cutterhead rotation speed data, and the linear propulsion power is obtained by multiplying the total thrust data and the tunneling speed data. The ratio of the rotational power to the linear propulsion power is calculated, and combined with the ratio of the thrust center offset to the cutterhead physical radius as a spatial eccentricity compensation coefficient, the ratio of the rotational power to the linear propulsion power is modulated to obtain the eccentric torsional thrust impedance. Based on the difference between the eccentric torsional thrust impedance and the average value of the eccentric torsional thrust impedance within the preset sliding time window, the working state fluctuation energy is obtained by combining the time exponential distribution law. A relative deviation mapping mechanism is obtained based on the degree of deviation between the average tunneling speed within the sliding time window and the rated maximum tunneling speed of the mechanical equipment. Based on the relative deviation mapping mechanism, the equipment degradation index is calculated by nonlinearly modulating the working state fluctuation energy. The equipment degradation index is compared with the safety critical threshold, and a matching shutdown or corrective intervention command is executed based on the comparison result.

2. The control method for monitoring the working status of mechanical equipment according to claim 1, characterized in that, The thrust centroid offset is obtained based on the pressure data of the propulsion cylinder array, including: The pressure data of the propulsion cylinder array is converted into single-cylinder thrust data by combining the effective working area of ​​the piston of the propulsion cylinder, and the single-cylinder thrust data of all propulsion cylinders are accumulated to obtain the total thrust data; Multiply the single-cylinder thrust data of each propulsion cylinder by its corresponding lateral coordinate and sum them up, then divide by the total thrust data to obtain the actual lateral coordinate of the thrust centroid. Multiply the single-cylinder thrust data of each propulsion cylinder by its corresponding longitudinal coordinate and sum them up, then divide by the total thrust data to obtain the actual longitudinal coordinate of the thrust centroid. Calculate the square root of the sum of the squares of the actual x-coordinate and the actual y-coordinate to obtain the thrust centroid offset.

3. The control method for monitoring the working status of mechanical equipment according to claim 1, characterized in that, The eccentric torsional impedance satisfies the following expression: ； In the formula, For the first The eccentric torsional impedance corresponding to each sampling point; For the first The cutter head torque data corresponding to each sampling point; For the first The cutter head rotation speed data corresponding to each sampling point; For the first Total thrust data corresponding to each sampling point; For the first The tunneling speed data corresponding to each sampling point; For the first The thrust centroid offset corresponding to each sampling point; The physical radius of the cutter head of the mechanical equipment; This is the function for finding the maximum value.

4. The control method for monitoring the working status of mechanical equipment according to claim 1, characterized in that, The energy fluctuation of the working state satisfies the following expression: ； In the formula, Energy fluctuations during operation; The total number of sampling points included in the sliding time window; The sampling point number; For the first The eccentric torsional impedance corresponding to each sampling point; The average impedance; It is a natural constant.

5. The control method for monitoring the working status of mechanical equipment according to claim 1, characterized in that, The equipment degradation index satisfies the following expression: ； In the formula, Equipment degradation index; It is the natural logarithm function; It is a natural constant; Energy fluctuations during operation; This is the rated maximum tunneling speed; This represents the average tunneling speed.

6. The control method for monitoring the working status of mechanical equipment according to claim 1, characterized in that, The equipment degradation index is numerically compared with a safety critical threshold, and based on the comparison result, a matching shutdown or corrective intervention command is executed, including: The currently calculated device degradation index is compared with the pre-configured safety threshold in memory. When the equipment degradation index is less than or equal to the safety critical threshold, the mechanical equipment is determined to be in a normal break-in digging state, and the current drive parameters are maintained and the digging continues.

7. The control method for monitoring the working status of mechanical equipment according to claim 6, characterized in that, The process of comparing the equipment degradation index with a safety critical threshold, and executing a matching shutdown or corrective intervention command based on the comparison result, further includes: When the equipment degradation index exceeds the safety critical threshold, it is determined that the mechanical equipment is severely jammed or on the verge of physical structural damage; immediately, a comprehensive protection action command is issued to the electrical proportional valve and frequency converter via the industrial fieldbus.

8. The control method for monitoring the working status of mechanical equipment according to claim 7, characterized in that, The protective actions include: Simultaneously reduce the back pressure setpoint corresponding to the pressure data of all the propulsion cylinder arrays to alleviate the axial load; Start the high-pressure mud pump in the center area of ​​the cutterhead to inject lubricating medium; Based on the direction of the thrust center of gravity offset, the array eccentricity correction pressure of the opposing side propulsion cylinders is adjusted in the opposite direction to restore the mechanical force balance until the equipment degradation index calculated in the subsequent time window falls below the safety critical threshold.

9. A computer electronic device, characterized in that, The device includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the control method for monitoring the working status of mechanical equipment according to any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of a control method for monitoring the working state of mechanical equipment according to any one of claims 1-8.

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