Self-balancing control system and method for slurry shield

Abstract

The invention relates to the technical field of shield tunneling machine control, in particular to a self-balancing control system and method for a slurry shield, and the method comprises the following steps: in the tunneling process of a shield tunneling machine, obtaining the pressure of a working bin and the liquid level of an air cushion bin in real time; entering the pressure control mode according to the received instruction for selecting the pressure control mode; entering the liquid level control mode according to the received instruction for selecting the liquid level control mode; in the pressure control mode, the pressure of the working bin is maintained near the pressure target value of the muddy water bin; and in the liquid level control mode, the deviation, obtained in real time, of the air cushion bin liquid level and the air cushion bin liquid level target value is judged, and according to the deviation obtained through judgment, the rotating speed of the sludge discharging pump is adjusted so that the liquid level of the air cushion bin can tend to the air cushion bin liquid level target value. According to the invention, cooperative control of pressure and liquid level is realized, so that the slurry shield keeps stable pressure and moderate liquid level in the tunneling process, and the automation characteristic improves the control precision, the response speed and the safety of the system.

Description

Technical Field

[0001] This invention relates to the technical field of tunnel boring machine control, and specifically to a self-balancing control system and method for slurry tunnel boring machines. Background Technology

[0002] During the tunneling process of slurry shield tunneling, the pumping and sludge removal equipment, as well as the gas balance device for air intake and exhaust, are mainly judged and manually adjusted by human experience. This not only has the problems of slow response and low control accuracy, but also relies heavily on the operator's actual experience and lacks the ability to automatically balance and control. Therefore, there is an urgent need to provide a new solution. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a self-balancing control system and method for slurry shield tunneling, which solves the problems of slow response, low control accuracy and high dependence on actual experience in existing manual and experience-based control.

[0004] The technical solution to achieve the above objectives is: This invention provides a self-balancing control method for slurry shield tunneling machines, comprising the following steps: During the tunnel boring machine's excavation process, the pressure in the working chamber and the liquid level in the air cushion chamber are obtained in real time. Enter pressure control mode based on the received instruction for the selected pressure control mode; Upon receiving the instruction for the selected liquid level control mode, enter the liquid level control mode; In pressure control mode, the real-time working chamber pressure is compared with the target value of the slurry chamber pressure. If the working chamber pressure is greater than the target value of the slurry chamber pressure, the speed of the sludge discharge pump is adjusted to reduce the working chamber pressure; if the working chamber pressure is less than the target value of the slurry chamber pressure, the speed of the sludge delivery pump is adjusted to increase the working chamber pressure. In the liquid level control mode, the deviation between the real-time acquired liquid level of the air cushion chamber and the target liquid level value of the air cushion chamber is judged. Based on the judged deviation, the speed of the sludge pump is adjusted so that the liquid level of the air cushion chamber tends to the target liquid level value of the air cushion chamber.

[0005] A further improvement of the self-balancing control method for slurry shield tunneling in this invention is that when the working chamber pressure is higher than the upper pressure limit, the first ball valve on the pipeline connecting the slurry pump and the slurry discharge pump is opened, and the speed of the slurry discharge pump is increased and the speed of the slurry pump is decreased to reduce the working chamber pressure until the working chamber pressure is lower than the upper pressure limit. When the working chamber pressure is lower than the lower pressure limit, the first ball valve on the pipeline connecting the mud pump and the mud discharge pump is opened, and the speed of the mud discharge pump is reduced and the speed of the mud pump is increased to increase the working chamber pressure until the working chamber pressure is higher than the lower pressure limit.

[0006] A further improvement of the self-balancing control method for slurry shield tunneling in this invention is that when the liquid level in the air cushion chamber is higher than the upper limit or lower than the lower limit, the first ball valve on the pipeline connecting the slurry pump and the slurry discharge pump is opened, and the slurry pump and the slurry discharge pump are smoothly adjusted to prevent abrupt changes in the gas-liquid interface.

[0007] A further improvement of the self-balancing control method for slurry shield tunneling machines of the present invention is that it also includes real-time acquisition of the air cushion chamber pressure. The system determines the difference between the real-time air cushion chamber pressure and the target air cushion chamber pressure. If the air cushion chamber pressure is greater than the target air cushion chamber pressure, the system adjusts the air discharge in the air cushion chamber to reduce the air cushion chamber pressure. If the air cushion chamber pressure is lower than the target pressure value, air will be introduced into the air cushion chamber to increase the pressure.

[0008] A further improvement of the self-balancing control method for slurry shield tunneling machines of the present invention is that it also includes real-time acquisition of the main pipeline pressure of the slurry conveying pipeline. The real-time pressure of the main pipeline will be displayed.

[0009] The present invention also provides a self-balancing control system for slurry shield tunneling machines, comprising: The data acquisition unit is used to collect the working chamber pressure and air cushion chamber liquid level in real time during the tunnel boring machine's excavation process. The mode selection unit is used to receive instructions to select the pressure control mode and to receive instructions to select the liquid level control mode. The processing unit, connected to the acquisition unit and the mode selection unit, is used to enter the pressure control mode according to the received instruction to select the pressure control mode. In the pressure control mode, it is also used to determine the magnitude of the real-time acquired working chamber pressure and the target value of the slurry chamber pressure. If the working chamber pressure is greater than the target value of the slurry chamber pressure, the speed of the sludge discharge pump is adjusted to reduce the working chamber pressure; if the working chamber pressure is less than the target value of the slurry chamber pressure, the speed of the sludge delivery pump is adjusted to increase the working chamber pressure. It is also used to enter the liquid level control mode according to the received instruction to select the liquid level control mode. In the liquid level control mode, it is also used to determine the deviation between the real-time acquired air cushion chamber liquid level and the target value of the air cushion chamber liquid level. Based on the determined deviation, the speed of the sludge discharge pump is adjusted so that the liquid level of the air cushion chamber tends to the target value of the air cushion chamber liquid level.

[0010] A further improvement of the self-balancing control system of the slurry shield tunneling machine of the present invention is that the processing unit is also used to determine whether the pressure of the working chamber is higher than the upper pressure limit and whether it is lower than the lower pressure limit. If it is determined that the working chamber pressure is higher than the upper pressure limit, the first ball valve on the pipeline connecting the mud pump and the mud discharge pump will be opened, and the speed of the mud discharge pump will be increased and the speed of the mud pump will be decreased to reduce the working chamber pressure until the working chamber pressure is lower than the upper pressure limit. If it is determined that the working chamber pressure is lower than the lower pressure limit, the first ball valve on the pipeline connecting the mud pump and the mud discharge pump will be opened, and the speed of the mud discharge pump will be reduced and the speed of the mud pump will be increased to increase the working chamber pressure until the working chamber pressure is higher than the lower pressure limit.

[0011] A further improvement of the self-balancing control system for the slurry shield tunneling machine of the present invention is that the processing unit is also used to determine whether the liquid level in the air cushion chamber is higher than the upper limit of the liquid level and whether it is lower than the lower limit of the liquid level. If it is determined that the liquid level in the air cushion chamber is higher than the upper limit or lower than the lower limit, the first ball valve on the pipeline connecting the mud pump and the mud discharge pump will be opened, and the mud pump and the mud discharge pump will be smoothly adjusted to prevent sudden changes in the gas-liquid interface.

[0012] A further improvement of the self-balancing control system of the slurry shield tunneling machine of the present invention is that the acquisition unit is also used to acquire the pressure of the air cushion chamber. The processing unit is also used to determine the magnitude of the real-time acquired air cushion chamber pressure and the air cushion chamber pressure target value. If the air cushion chamber pressure is greater than the air cushion chamber pressure target value, the air in the air cushion chamber is adjusted to be discharged to reduce the air cushion chamber pressure. If the air cushion chamber pressure is lower than the target pressure value, air will be introduced into the air cushion chamber to increase the pressure.

[0013] A further improvement of the self-balancing control system for the slurry shield tunneling machine of the present invention is that it also includes a display unit connected to the acquisition unit; The acquisition unit is also used to acquire the main pipeline pressure of the mud conveying pipeline in real time; The display unit is used to display the real-time acquired main pipeline pressure.

[0014] The beneficial effects of the self-balancing control system and method for slurry shield tunneling machines of the present invention are as follows: This invention provides automatic pressure balancing and automatic liquid level control for the tunnel boring machine (TBM) excavation process, enabling coordinated control of pressure and liquid level. This allows the slurry TBM to maintain stable pressure and moderate liquid level during excavation, and its automation features improve control accuracy, response speed, and system safety.

[0015] The control system and method of the present invention realize the automatic pressure balance control and gas-liquid coordinated regulation mechanism, realize the fully automated operation of the shield machine slurry conveying system, and effectively improve the stability of slurry balance, tunneling safety and the level of intelligent operation. Attached Figure Description

[0016] Figure 1 This is a system diagram of the self-balancing control system of the slurry shield tunneling machine of the present invention.

[0017] Figure 2 This is a schematic diagram of the control interface in the self-balancing control system and method of the slurry shield tunneling machine of the present invention.

[0018] Figure 3 This is a schematic diagram of the setting sub-interface and parameter setting sub-interface in the self-balancing control system and method of the slurry shield tunneling machine of the present invention. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0020] See Figure 1 This invention provides a self-balancing control system and method for slurry shield tunneling machines, aiming to achieve automated slurry transport control. By integrating key parameters and constructing an intelligent regulation mechanism, it achieves precise maintenance of slurry balance, autonomous optimization of transport efficiency, and proactive prevention and control of operational risks, thereby comprehensively improving system stability, response speed, and intelligence level. The self-balancing control system and method for slurry shield tunneling machines of this invention will be described below with reference to the accompanying drawings.

[0021] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0022] See Figure 1 The diagram below shows the system diagram of the self-balancing control system for the slurry shield tunneling machine of the present invention. Figure 1 The self-balancing control system of the slurry shield tunneling machine of the present invention will be described.

[0023] like Figure 1As shown, the self-balancing control system of the slurry shield tunneling machine of the present invention includes a data acquisition unit 21, a mode selection unit 22, and a processing unit 23. The processing unit 23 is connected to the data acquisition unit 21 and the mode selection unit 22. The data acquisition unit 21 is used to collect the working chamber pressure and the air cushion chamber liquid level in real time during the tunneling process of the shield machine. The mode selection unit 22 is used to receive instructions to select a pressure control mode and instructions to select a liquid level control mode. The processing unit 23 is used to enter the pressure control mode according to the received instructions to select the pressure control mode. In the pressure control mode, it is also used to determine the actual pressure control level. The system monitors the real-time pressure of the working chamber and the target pressure of the slurry chamber. If the working chamber pressure is greater than the target pressure of the slurry chamber, the speed of the sludge pump is adjusted to reduce the working chamber pressure; if the working chamber pressure is less than the target pressure of the slurry chamber, the speed of the sludge pump is adjusted to increase the working chamber pressure. The system also enters the level control mode according to the received command of the selected level control mode. In the level control mode, the system judges the deviation between the real-time acquired air cushion chamber level and the target level of the air cushion chamber. Based on the judged deviation, the speed of the sludge pump is adjusted so that the level of the air cushion chamber tends to the target level of the air cushion chamber.

[0024] Specifically, the control system of this invention provides two control modes for selection. For example, a pressure control mode and a liquid level control mode can be displayed on the screen. When the pressure control mode is selected, the mode selection unit 22 receives the instruction to select the pressure control mode and sends the instruction to the processing unit 23, causing the processing unit 23 to enter the pressure control mode according to the instruction. When the liquid level control mode is selected, the mode selection unit 22 receives the instruction to select the liquid level control mode and sends the instruction to the processing unit 23, causing the processing unit 23 to enter the liquid level control mode according to the instruction. The control system of this invention realizes dual closed-loop control of pressure and liquid level. During the tunnel boring machine excavation process, the operator can manually select the corresponding control mode, thereby allowing the system to enter the corresponding control mode.

[0025] In pressure control mode, processing unit 23 adjusts the speed of the sludge discharge pump and the sludge delivery pump to maintain the pressure in the working chamber near the target pressure value in the sludge-water chamber, ensuring pressure balance and stability. In level control mode, processing unit 23 adjusts the speed of the sludge discharge pump to maintain the liquid level in the air cushion chamber near the target liquid level value in the air cushion chamber, ensuring gas-liquid balance within the air cushion chamber.

[0026] In a specific real-time mode of the present invention, the processing unit 23 is further used to determine whether the pressure of the working chamber is higher than the upper pressure limit and whether it is lower than the lower pressure limit. If it is determined that the working chamber pressure is higher than the upper pressure limit, the first ball valve on the pipeline connecting the mud pump and the mud discharge pump will be opened, and the speed of the mud discharge pump will be increased and the speed of the mud pump will be decreased to reduce the working chamber pressure until the working chamber pressure is lower than the upper pressure limit. If it is determined that the working chamber pressure is lower than the lower pressure limit, the first ball valve on the pipeline connecting the mud pump and the mud discharge pump will be opened, and the speed of the mud discharge pump will be reduced and the speed of the mud pump will be increased to increase the working chamber pressure until the working chamber pressure is higher than the lower pressure limit.

[0027] The upper and lower pressure limits are the critical thresholds for pressure. Exceeding these limits, if not addressed promptly, may lead to unforeseen risks. Therefore, the control system of this invention, when the pressure exceeds the limits (e.g., above the upper limit or below the lower limit), ... Figure 2 As shown, the first ball valve V21 can be opened in time to connect the mud pump P1.1 and the mud discharge pump P2.1 through the connecting pipeline. Then, the speed of the mud pump P1.1 and the mud discharge pump P2.1 can be adjusted to bring the working chamber pressure back to the limit range. Then, the first ball valve V21 can be closed and the original execution mode can be returned, such as the pressure control mode or the liquid level control mode.

[0028] The comparison and judgment of the working chamber pressure with the upper and lower pressure limits by the processing unit 23 is not affected by the current working mode. The judgment is made after the real-time working chamber pressure is obtained. Even if the current mode is liquid level control, it can still monitor the working chamber pressure exceeding the limit.

[0029] In a specific real-time mode of the present invention, the processing unit 23 is further used to determine whether the liquid level in the air cushion chamber is higher than the upper limit of the liquid level and whether it is lower than the lower limit of the liquid level. If it is determined that the liquid level in the air cushion chamber is higher than the upper limit or lower than the lower limit, the first ball valve on the pipeline connecting the mud pump and the mud discharge pump will be opened, and the mud pump and the mud discharge pump will be smoothly adjusted to prevent sudden changes in the gas-liquid interface.

[0030] Processing unit 23 performs real-time judgment on whether the liquid level in the air cushion chamber exceeds the limit, so as to promptly detect abnormal liquid level situations. When the liquid level exceeds the upper and lower limits, it promptly opens the first ball valve V21 to connect the sludge pump P1.1 and the sludge discharge pump P2.1 through the connecting pipeline. Then, it controls the smooth adjustment of sludge pump P1.1 and sludge discharge pump P2.1 to prevent instability caused by sudden changes in the gas-liquid interface. Furthermore, the smooth adjustment of sludge pump P1.1 and sludge discharge pump P2.1 is specifically carried out by continuously and synchronously adjusting the rotation speed of sludge pump P1.1 and sludge discharge pump P2.1, increasing or decreasing synchronously, and the adjustment range is consistent. At the same time, it is also necessary to monitor the main pipeline pressure in real time to minimize the fluctuation of the main pipeline pressure, that is, to keep the main pipeline pressure as constant as possible.

[0031] Furthermore, an alarm is triggered upon detecting an abnormal liquid level to facilitate manual intervention. Upon receiving the alarm, operators investigate the cause of the abnormality and then manually open the main bypass to increase or decrease the sludge inflow / outflow to adjust the liquid level. Typically, exceeding the liquid level limit is caused by large rocks entering the chamber or significant geological changes ahead; such emergencies require manual intervention. Before and during manual intervention, the control system smoothly adjusts the speeds of the sludge pump P1.1 and the sludge discharge pump P2.1 to maintain stable control of the gas-liquid interface, preventing it from exceeding the limit further.

[0032] Once the abnormal liquid level is resolved, the processing unit 23 will close the first ball valve V21 and return to the original execution mode, such as pressure control mode or liquid level control mode.

[0033] Similarly, the comparison and judgment of the air cushion tank liquid level with the upper limit and lower limit of the liquid level by the processing unit 23 is not affected by the current working mode. The judgment is made after the real-time air cushion tank liquid level is obtained. Even if the current mode is pressure control mode, it can still monitor the situation of the air cushion tank liquid level exceeding the limit.

[0034] In one specific embodiment of the present invention, a slurry conveying system is provided on the slurry shield tunnel, such as... Figure 2As shown, the sludge conveying system includes a sludge pump P1.1, a sludge discharge pump P2.1, an inlet pipe connected to the sludge pump P1.1, a sludge discharge pipe connected to the sludge discharge pump P2.1, and a connecting pipe connecting the inlet pipe and the sludge discharge pipe. The other end of the inlet pipe is connected to the working chamber (i.e., the space between the back of the cutterhead and the front partition) through multiple branches. The other end of the sludge discharge pipe is connected to the bottom of the working chamber. Multiple ball valves, including ball valves V1, V2, V7, V8, V9, V10, V11, V12, and V20, are installed on the inlet pipe and its connected branches. Multiple ball valves, including ball valve V17, are also installed on the sludge discharge pipe. A first ball valve V21 is installed on the connecting pipe. The processing unit 23 of this invention is connected to ball valves V1, V2, V7, V8, V9, V10, V11, V12, V20, V17 and the first ball valve V21, and can control the opening and closing of each ball valve. The processing unit 23 can also control the start / stop and rotational speed of the mud pump P1.1 and the mud discharge pump P2.1.

[0035] The processing unit 32 is also used to detect the real-time flow rate by a flow sensor installed at the outlet of the mud pump P1.1, and record it as the mud inlet flow rate; it is also used to detect the real-time flow rate by a flow sensor installed at the outlet of the mud discharge pump P2.1, and record it as the mud discharge flow rate.

[0036] In one specific embodiment of the present invention, the acquisition unit 21 is further used to acquire the air cushion chamber pressure; the processing unit 23 is further used to determine the magnitude of the real-time acquired air cushion chamber pressure and the air cushion chamber pressure target value. If the air cushion chamber pressure is greater than the air cushion chamber pressure target value, the air in the air cushion chamber is adjusted to be discharged to reduce the air cushion chamber pressure. If the air cushion chamber pressure is lower than the target pressure value, air will be introduced into the air cushion chamber to increase the pressure.

[0037] The processing unit 23 is used to maintain the pressure of the air cushion chamber near the target pressure value, ensuring that the pressure inside the air cushion chamber is stable. An exhaust valve and a gas balancing device for air intake, such as an air compressor, are provided at the air cushion chamber. The processing unit 23 adjusts the pressure inside the air cushion chamber by controlling the intake or exhaust.

[0038] In one specific embodiment of the present invention, the control system of the present invention further includes a display unit connected to the acquisition unit; the acquisition unit 21 is also used to acquire the main pipeline pressure of the mud conveying pipeline in real time; the display unit is used to display the real-time acquired main pipeline pressure.

[0039] like Figure 2As shown, the display unit is used to display a control interface on the display screen. A first display area 311 is displayed on this control interface, and function buttons are displayed within this first display area 311. Touching the corresponding function button triggers the corresponding function; for example, touching the setting function will bring up a pop-up window. Figure 3 The interface shown includes a mud and water mode selection area (321). Here, you can select the corresponding mode and choose between automatic and manual mode switching. For the mud pump P1.1 and mud discharge pump P2.1, you can also choose between automatic and manual control. For the automatic mud and water excavation ball valve, you can choose between level control and pressure control modes. In the automatic mud and water parameter setting area (322), you can set the following parameters: P1.1 initial percentage setting, P2.1 initial percentage setting, mud delivery flow target value setting, air cushion chamber level target value setting, air cushion chamber lower limit value setting, air cushion chamber upper limit value setting, level over-limit return bypass time, mud and water chamber pressure target value setting, mud and water chamber pressure upper limit setting, mud and water chamber pressure lower limit setting, pressure over-limit return bypass time, P1.1 proportional constant, P1.1 integral constant, P1.1 derivative constant, P2.1 proportional constant, P2.1 integral constant, P2.1 derivative constant, and working chamber pressure selection.

[0040] The control interface also displays a second display area 312, which lists data such as main pipeline pressure, working chamber top pressure (including left and right sides), working chamber middle pressure (including left and right sides), working chamber bottom pressure, air cushion chamber pressure, and air cushion chamber liquid level (including left and right sides), allowing operators to intuitively see various parameters during the actual tunneling process. The control interface also displays a wiring diagram of the mud pump, mud discharge pump, connecting pipeline, first ball valve, mud inlet pipeline and its ball valves, and mud discharge pipeline and its ball valves. A third display area 313 is located in front of this wiring diagram, displaying liquid level markers vertically. The real-time liquid level of the air cushion chamber is displayed at the corresponding marker scale, allowing operators to intuitively see the actual liquid level value. The control interface also displays a fourth display area 314, showing mud delivery density_pressure difference and mud discharge density_pressure difference. A fifth display area 315 is located below the mud pump P1.1. This fifth display area 315 displays the parameter data of the mud pump P1.1, including inlet pressure, outlet pressure, motor speed, motor current, mud density, and mud flow rate. The parameters in this fifth display area 315 are updated in real time, allowing operators to intuitively understand the operating status of the mud pump. A sixth display area 316 is located above the mud discharge pump P2.1. This sixth display area 316 displays the parameter data of the mud discharge pump P2.1, including inlet pressure, outlet pressure, motor speed, motor current, mud density, and mud flow rate. Similarly, the parameters in this second display area 316 are updated in real time, allowing operators to intuitively understand the operating status of the mud discharge pump. A seventh display area 317 is located between the sixth display area 316 and the fifth display area 315. This area displays the tunnel boring machine's (TBM) advance speed, thrust, and cutterhead torque, allowing operators to understand the TBM's working status through the interface.

[0041] On the control interface, the display unit also displays the opening status of all ball valves and the pump speed in real time, allowing operators to perform manual control based on the display interface.

[0042] This invention enables real-time detection of the working chamber pressure, air cushion chamber pressure, and main pipeline pressure using pressure sensors installed at corresponding locations. The air cushion chamber liquid level is detected in real-time using a liquid level sensor installed within the air cushion chamber.

[0043] The control system of this invention realizes the coordinated control of liquid level and pressure of slurry shield tunneling machine, so that the slurry shield tunneling machine maintains stable pressure and moderate liquid level during tunneling. Its automation characteristics improve control accuracy, response speed and system safety.

[0044] This invention achieves fully automated operation of the tunnel boring machine's slurry conveying system by integrating automatic pressure balance control and gas-liquid coordinated regulation mechanism, effectively improving slurry balance stability, tunneling safety, and operational intelligence.

[0045] Compared to traditional slurry conveying technologies that rely on manual experience and decentralized control, the self-balancing control system of this invention achieves a leapfrog improvement in efficiency. It integrates and dynamically analyzes multi-dimensional parameters such as pressure and flow rate through intelligent algorithms, transforming the previously passive and lagging manual control into proactive and precise closed-loop control. This not only completely eliminates the delays and biases of human judgment, ensuring continuous and stable pressure in the slurry chamber and effectively curbing surface subsidence, but also significantly improves slag removal efficiency and energy utilization through system-level collaborative optimization, while significantly reducing the labor intensity of operators and excessive reliance on individual experience. Ultimately, this system achieves comprehensive advancements in safety, efficiency, and economy, providing a solid guarantee for the efficient and stable tunneling of shield tunnels in complex geological formations.

[0046] This invention also provides a self-balancing control method for slurry shield tunneling machines, comprising the following steps: During the tunnel boring machine's excavation process, the pressure in the working chamber and the liquid level in the air cushion chamber are obtained in real time. Enter pressure control mode based on the received instruction for the selected pressure control mode; Upon receiving the instruction for the selected liquid level control mode, enter the liquid level control mode; In pressure control mode, the real-time working chamber pressure is compared with the target value of the slurry chamber pressure. If the working chamber pressure is greater than the target value of the slurry chamber pressure, the speed of the sludge discharge pump is adjusted to reduce the working chamber pressure; if the working chamber pressure is less than the target value of the slurry chamber pressure, the speed of the sludge delivery pump is adjusted to increase the working chamber pressure. In the liquid level control mode, the deviation between the real-time acquired liquid level of the air cushion chamber and the target liquid level value of the air cushion chamber is judged. Based on the judged deviation, the speed of the sludge pump is adjusted so that the liquid level of the air cushion chamber tends to the target liquid level value of the air cushion chamber.

[0047] In one specific embodiment of the present invention, when the working chamber pressure is higher than the upper pressure limit, the first ball valve on the pipeline connecting the mud pump and the mud discharge pump is opened, and the speed of the mud discharge pump is increased and the speed of the mud pump is decreased to reduce the working chamber pressure until the working chamber pressure is lower than the upper pressure limit. When the working chamber pressure is lower than the lower pressure limit, the first ball valve on the pipeline connecting the mud pump and the mud discharge pump is opened, and the speed of the mud discharge pump is reduced and the speed of the mud pump is increased to increase the working chamber pressure until the working chamber pressure is higher than the lower pressure limit.

[0048] In one specific embodiment of the present invention, when the liquid level in the air cushion chamber is higher than the upper limit or lower than the lower limit, the first ball valve on the pipeline connecting the mud pump and the mud discharge pump is opened, and the mud pump and the mud discharge pump are smoothly adjusted to prevent abrupt changes in the gas-liquid interface.

[0049] In one specific embodiment of the present invention, the pressure of the air cushion chamber is also acquired in real time. The system determines the difference between the real-time air cushion chamber pressure and the target air cushion chamber pressure. If the air cushion chamber pressure is greater than the target air cushion chamber pressure, the system adjusts the air discharge in the air cushion chamber to reduce the air cushion chamber pressure. If the air cushion chamber pressure is lower than the target pressure value, air will be introduced into the air cushion chamber to increase the pressure.

[0050] In one specific embodiment of the present invention, the main pipeline pressure of the mud conveying pipeline is also acquired in real time. The real-time pressure of the main pipeline will be displayed.

[0051] The present invention has been described in detail above with reference to the accompanying drawings and embodiments. Those skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details in the embodiments should not be construed as limiting the present invention, and the scope of protection of the present invention shall be defined by the appended claims.

Claims

1. A self-balancing control method for slurry shield tunneling machines, characterized in that, Includes the following steps: During the tunnel boring machine's excavation process, the pressure in the working chamber and the liquid level in the air cushion chamber are obtained in real time. Enter pressure control mode based on the received instruction for the selected pressure control mode; Upon receiving the instruction for the selected liquid level control mode, enter the liquid level control mode; In pressure control mode, the real-time working chamber pressure is compared with the target value of the slurry chamber pressure. If the working chamber pressure is greater than the target value of the slurry chamber pressure, the speed of the sludge discharge pump is adjusted to reduce the working chamber pressure; if the working chamber pressure is less than the target value of the slurry chamber pressure, the speed of the sludge delivery pump is adjusted to increase the working chamber pressure. In the liquid level control mode, the deviation between the real-time acquired liquid level of the air cushion chamber and the target liquid level value of the air cushion chamber is judged. Based on the judged deviation, the speed of the sludge pump is adjusted so that the liquid level of the air cushion chamber tends to the target liquid level value of the air cushion chamber.

2. The self-balancing control method for slurry shield tunneling as described in claim 1, characterized in that, When the working chamber pressure is higher than the upper pressure limit, the first ball valve on the pipeline connecting the mud pump and the mud discharge pump is opened, and the speed of the mud discharge pump is increased and the speed of the mud pump is decreased to reduce the working chamber pressure until the working chamber pressure is lower than the upper pressure limit. When the working chamber pressure is lower than the lower pressure limit, the first ball valve on the pipeline connecting the mud pump and the mud discharge pump is opened, and the speed of the mud discharge pump is reduced and the speed of the mud pump is increased to increase the working chamber pressure until the working chamber pressure is higher than the lower pressure limit.

3. The self-balancing control method for slurry shield tunneling as described in claim 1, characterized in that, When the liquid level in the air cushion chamber is higher than the upper limit or lower than the lower limit, the first ball valve on the pipeline connecting the mud pump and the mud discharge pump is opened, and the mud pump and the mud discharge pump are smoothly adjusted to prevent sudden changes in the gas-liquid interface.

4. The self-balancing control method for slurry shield tunneling as described in claim 1, characterized in that, It also includes real-time acquisition of air cushion chamber pressure; The system determines the difference between the real-time air cushion chamber pressure and the target air cushion chamber pressure. If the air cushion chamber pressure is greater than the target air cushion chamber pressure, the system adjusts the air discharge in the air cushion chamber to reduce the air cushion chamber pressure. If the air cushion chamber pressure is lower than the target pressure value, air will be introduced into the air cushion chamber to increase the pressure.

5. The self-balancing control method for slurry shield tunneling as described in claim 1, characterized in that, It also includes real-time acquisition of the main pipeline pressure of the mud transport pipeline; The real-time pressure of the main pipeline will be displayed.

6. A self-balancing control system for a slurry shield tunneling machine, characterized in that, include: The data acquisition unit is used to collect the working chamber pressure and air cushion chamber liquid level in real time during the tunnel boring machine's excavation process. The mode selection unit is used to receive instructions to select the pressure control mode and to receive instructions to select the liquid level control mode. The processing unit, connected to the acquisition unit and the mode selection unit, is used to enter the pressure control mode according to the received instruction to select the pressure control mode. In the pressure control mode, it is also used to determine the magnitude of the real-time acquired working chamber pressure and the target value of the slurry chamber pressure. If the working chamber pressure is greater than the target value of the slurry chamber pressure, the speed of the sludge discharge pump is adjusted to reduce the working chamber pressure; if the working chamber pressure is less than the target value of the slurry chamber pressure, the speed of the sludge delivery pump is adjusted to increase the working chamber pressure. It is also used to enter the liquid level control mode according to the received instruction to select the liquid level control mode. In the liquid level control mode, it is also used to determine the deviation between the real-time acquired air cushion chamber liquid level and the target value of the air cushion chamber liquid level. Based on the determined deviation, the speed of the sludge discharge pump is adjusted so that the liquid level of the air cushion chamber tends to the target value of the air cushion chamber liquid level.

7. The self-balancing control system for a slurry shield tunneling machine as described in claim 6, characterized in that, The processing unit also determines whether the pressure in the working chamber is higher than the upper pressure limit and whether it is lower than the lower pressure limit. If it is determined that the working chamber pressure is higher than the upper pressure limit, the first ball valve on the pipeline connecting the mud pump and the mud discharge pump will be opened, and the speed of the mud discharge pump will be increased and the speed of the mud pump will be decreased to reduce the working chamber pressure until the working chamber pressure is lower than the upper pressure limit. If it is determined that the working chamber pressure is lower than the lower pressure limit, the first ball valve on the pipeline connecting the mud pump and the mud discharge pump will be opened, and the speed of the mud discharge pump will be reduced and the speed of the mud pump will be increased to increase the working chamber pressure until the working chamber pressure is higher than the lower pressure limit.

8. The self-balancing control system for a slurry shield tunneling machine as described in claim 6, characterized in that, The processing unit is also used to determine whether the liquid level in the air cushion chamber is higher than the upper limit of the liquid level and lower than the lower limit of the liquid level. If it is determined that the liquid level in the air cushion chamber is higher than the upper limit or lower than the lower limit, the first ball valve on the pipeline connecting the mud pump and the mud discharge pump will be opened, and the mud pump and the mud discharge pump will be smoothly adjusted to prevent sudden changes in the gas-liquid interface.

9. The self-balancing control system for a slurry shield tunneling machine as described in claim 6, characterized in that, The acquisition unit is also used to acquire the pressure of the air cushion chamber; The processing unit is also used to determine the magnitude of the real-time acquired air cushion chamber pressure and the air cushion chamber pressure target value. If the air cushion chamber pressure is greater than the air cushion chamber pressure target value, the air in the air cushion chamber is adjusted to be discharged to reduce the air cushion chamber pressure. If the air cushion chamber pressure is lower than the target pressure value, air will be introduced into the air cushion chamber to increase the pressure.

10. The self-balancing control system for a slurry shield tunneling machine as described in claim 6, characterized in that, It also includes a display unit, which is connected to the acquisition unit; The acquisition unit is also used to acquire the main pipeline pressure of the mud conveying pipeline in real time; The display unit is used to display the real-time acquired main pipeline pressure.

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