Multi-partition oil cylinder pressure intelligent cooperative control method for shield tunneling

Abstract

The invention relates to the technical field of shield construction, and discloses a multi-partition oil cylinder pressure intelligent cooperative control method for shield tunneling, which comprises the following steps: collecting tunneling data, and calculating a real-time stroke deviation; fitting to obtain an oil cylinder stroke control surface based on the real-time stroke deviation, and extracting characteristic parameters of the oil cylinder stroke control surface; according to the extracted characteristic parameters, carrying out mapping conversion by adopting a PID control algorithm to obtain characteristic parameters of a pressure control surface and pressure proportionality coefficients of all partitions; and a control instruction is generated based on the pressure proportionality coefficient and the current tunneling state, and an optimal shield tunneling strategy is obtained. By combining a PID control algorithm with a space control surface of a multi-partition oil cylinder, shield tunneling data are mapped in real time, the problem that oil cylinder pressure control depends on artificial experience is effectively solved, coordinated control over pressure setting of all partition oil cylinders is achieved, segment crushing or shield tunneling machine faults are reduced, and shield tunneling efficiency and construction quality are greatly improved.

Description

Technical Field

[0001] This invention relates to the field of tunnel boring machine (TBM) construction technology, and more specifically, to a method for coordinated control of multi-zone propulsion cylinder pressure in TBM tunneling. Background Technology

[0002] In recent years, tunnel boring machine (TBM) construction has been widely used in urban underground engineering due to its high efficiency and safety. However, the problem of segment floatation is particularly prominent when TBMs are excavating in large-diameter or water-rich strata, seriously affecting the excavation accuracy along the tunnel axis and the safety of TBM excavation. Current technologies typically suppress segment floatation by adjusting the grouting parameters at the tail of the TBM, but this cannot solve the coordination and control problem of the TBM propulsion system itself.

[0003] The propulsion system of a tunnel boring machine consists of multiple parallel hydraulic cylinders in different zones. Traditional control methods rely on manual experience to set the pressure ratio of each zone's cylinders, which has the following obvious drawbacks: (1) For complex propulsion systems with 6 or more zones, it is difficult to coordinate the pressure distribution of multiple zones manually, which can easily lead to local pressure concentration, causing local crushing of tunnel segments or loss of control of the shield attitude. (2) Existing PID control algorithms based on a single index cannot meet the needs of multi-zone collaborative control. They often cause mechanical failures due to uneven pressure distribution, thus reducing construction efficiency. (3) Geological conditions are highly variable during construction, and human experience is difficult to optimize and adjust in real time, which seriously affects the tunneling accuracy and construction quality.

[0004] In summary, although intelligent control algorithms have been attempted in tunnel boring machine (TBM) construction, most remain at the theoretical research stage. On the one hand, machine learning optimization algorithms suffer from high computational complexity and poor real-time performance, making it difficult to meet the high-frequency control requirements of the tunneling process. On the other hand, existing intelligent control models are mostly "black box" structures, lacking interpretability and difficult to debug on-site. Crucially, existing technologies have yet to find an effective solution to the coordinated control problem of multi-zone hydraulic cylinder propulsion pressure, leading to persistent issues such as unstable shield attitude control and uneven segment stress during TBM construction. Therefore, a real-time, stable, interpretable method capable of intelligent coordinated control of multi-zone hydraulic cylinder pressure is urgently needed. Summary of the Invention

[0005] To overcome the aforementioned shortcomings of the prior art, this invention provides a multi-zone hydraulic cylinder pressure intelligent collaborative control method for shield tunneling, which solves the problem that the control of multi-zone hydraulic cylinder pressure during shield tunneling relies heavily on manual experience, cannot be controlled in real time, and has poor control coordination, resulting in the shield attitude being easily out of control and seriously affecting the quality of shield tunneling construction.

[0006] To achieve the above objectives, embodiments of the present invention provide a multi-zone hydraulic cylinder pressure intelligent collaborative control method for shield tunneling, comprising: Collect raw data on the hydraulic cylinder excavation in each zone and calculate the real-time stroke deviation of the hydraulic cylinder; Based on the real-time stroke deviation, the hydraulic cylinder stroke control surface is obtained by fitting and its characteristic parameters are extracted; Based on the extracted feature parameters, a PID control algorithm is used for mapping and transformation to obtain the feature parameters of the pressure control surface and the pressure proportional coefficient of each zone; Based on the pressure ratio coefficient and the current tunneling status, control commands are generated to obtain the optimal shield tunneling strategy.

[0007] In a preferred embodiment, before calculating the real-time stroke deviation of the hydraulic cylinder, the method further includes: A spatial coordinate system is established based on the attitude of the tunnel boring machine and the spatial positional relationship of the hydraulic cylinders in each section; The spatial coordinate system is defined with the geometric center of the starting section of the tunnel boring machine's propulsion cylinder as its origin, and the tunneling direction as its coordinate system. axis.

[0008] In a preferred embodiment, the collected raw data includes: cylinder stroke planning values, actual stroke values ​​of each cylinder, and inherent geometric parameters of the tunnel boring machine propulsion system; Among them, the inherent geometric parameters of the shield propulsion system are the center angles of the hydraulic cylinders in each section; The real-time stroke deviation of the hydraulic cylinder is the difference between the planned stroke value of the hydraulic cylinder and the actual stroke value of each hydraulic cylinder.

[0009] In a preferred embodiment, the extracted characteristic parameters of the cylinder stroke control surface include: the azimuth angle and the tilt angle of the cylinder stroke control surface.

[0010] In a preferred embodiment, the step of mapping and transforming the extracted feature parameters using a PID control algorithm to obtain the pressure control surface feature parameters and the pressure proportional coefficients of each zone includes: Since the direction of the hydraulic cylinder stroke propulsion demand is the same as the direction of the applied pressure, the azimuth angle of the stroke control surface is directly mapped into the azimuth angle of the pressure control surface via PID; Establish PID control equations to dynamically map the stroke control surface tilt angle into the pressure control surface tilt angle; Based on the azimuth and tilt angle of the pressure control surface, the hydraulic cylinder pressure control surface is established, the normal vector of the pressure control surface is obtained, and the pressure distribution equation is established. The pressure proportional coefficient of each zone hydraulic cylinder is then obtained by solving the equation.

[0011] In a preferred embodiment, the PID control equation includes: a proportional term with a proportional gain, an integral term with an integral gain, and a derivative term with a derivative gain. The proportional, integral, and differential terms all include dip angle error; the dip angle error is obtained based on the current geological conditions and construction stage.

[0012] In a preferred embodiment, when dynamically mapping the stroke control surface inclination angle to the pressure control surface inclination angle, an adaptive parameter adjustment mechanism is set; the adaptive parameter adjustment mechanism includes: The standard deviation of the cylinder stroke deviation in each zone is calculated in real time to determine the homogeneity of the current shield tunneling strata and to dynamically adjust the proportional gain and integral gain. Based on the shield tunnel attitude deviation, the differential gain is dynamically adjusted; The parameters characterizing the shield's attitude deviation include the real-time monitored changes in pitch angle and azimuth angle.

[0013] In a preferred embodiment, control commands are generated based on the pressure proportionality coefficient and the current tunneling status, including: Calculate the base pressure of the hydraulic cylinder based on the total thrust requirement of the tunnel boring machine; Based on the aforementioned base pressure, and according to the normalized pressure ratio coefficient, the initial pressure setting value for each zone cylinder is calculated. Based on the initial pressure setpoint, a hierarchical decision-making mechanism is introduced to obtain the final pressure setpoint; The final pressure setpoint is limited, control commands are generated, and fault alarm and maintenance mechanisms are set. When calculating the initial pressure setting value of each zone cylinder, a safety factor is introduced based on the segment bearing capacity.

[0014] In a preferred embodiment, the hierarchical decision-making mechanism includes a multi-layered security constraint mechanism and a partitioned pressure fault-tolerant control mechanism; The multi-layered safety limiting mechanism includes: absolute pressure limit constraints for each zone, pressure distribution uniformity constraints, and pressure change smoothness constraints. The partitioned pressure fault-tolerant control mechanism includes: Real-time online monitoring of cylinder pressure data in each zone; identification and isolation of faulty or abnormal zones. Based on the pressure interpolation of adjacent partitions, obtain the pressure replacement value to replace the pressure value of the faulty partition; With the goal of maintaining a stable shield posture, the proportional gain is automatically adjusted, and based on the initial pressure setting value and the pressure substitution value, the final pressure setting value is generated according to the tunneling status of each section.

[0015] In a preferred embodiment, obtaining the optimal tunnel boring strategy includes: Control commands are issued periodically, and a multi-dimensional monitoring and evaluation system is established. An adaptive control strategy based on monitoring indicators is introduced to automatically switch the shield tunneling working mode and optimize control parameters online; Record control parameters and monitoring indicators during the tunnel boring process, automatically analyze and adjust tunneling propulsion parameters, and obtain the optimal tunnel boring strategy; The multi-dimensional monitoring and evaluation system includes real-time monitoring of travel tracking error, shield attitude deviation, pressure uniformity, and tunneling energy consumption. The control parameter used for online optimization is the proportional gain; The recorded control parameters include: final pressure setpoint, pressure proportional coefficient, proportional gain, integral gain, and derivative gain.

[0016] The beneficial effects of this invention are: By introducing a PID control algorithm and combining it with the spatial control surface of multi-zone hydraulic cylinders, and by acquiring real-time shield tunneling data to fit the stroke control surface, the PID control algorithm is used for real-time mapping and transformation to obtain the real-time pressure control surface based on the current shield tunneling status and the pressure control commands executed by each zone hydraulic cylinder. This effectively solves the problem that the pressure control of each zone hydraulic cylinder relies heavily on manual experience and cannot simultaneously and efficiently handle the coordination of multiple factors. At the same time, based on the real-time acquired tunneling data, dynamic mapping and transformation realize the real-time adjustment of the shield attitude and coordinate the pressure settings of each zone hydraulic cylinder, reducing segment crushing or shield machine failures, and greatly improving shield tunneling efficiency and construction quality. Attached Figure Description

[0017] Figure 1 This is a control block diagram for the shield tunneling attitude. Figure 2 This is a schematic diagram of the shield tunnel attitude control process; Figure 3 A flowchart illustrating a multi-zone hydraulic cylinder pressure intelligent collaborative control method for shield tunneling. Figure 4 This is a flowchart of a multi-zone hydraulic cylinder pressure intelligent collaborative control algorithm for shield tunneling. Detailed Implementation

[0018] 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 embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figure 1 and Figure 2In the tunnel boring machine (TBM) system, the main components include an intelligent prediction model for segment floating, a trajectory planning reinforcement learning model, a zoned pressure PID control model, and a segment assembly point optimization model. These correspond to the four stages of TBM attitude control: tunnel design curve correction, TBM trajectory planning, TBM tunneling, and TBM segment assembly decision-making. Each module operates independently yet is tightly coupled through key data flows, collectively supporting intelligent decision-making and control in TBM construction. Specifically: The segment floating intelligent prediction model dynamically corrects the tunnel design axis based on geological conditions and historical tunneling data; the trajectory planning reinforcement learning model, based on the corrected tunnel design curve, uses reinforcement learning or optimization algorithms to plan the shield spatial attitude and cylinder stroke sequence for several future tunneling rings, and outputs the stroke planning value of each zone's cylinders; the zone pressure PID control model, based on the cylinder stroke planning value of each zone, collaboratively transforms the cylinder stroke requirements of multiple zones into the cylinder pressure of each zone; the segment assembly point optimization model, when the cylinder stroke meets the assembly conditions, comprehensively considers factors such as shield tail gap, cylinder stroke difference, and staggered assembly requirements, and selects the optimal assembly point based on the current shield and segment attitudes through optimization algorithms to optimize the assembly quality.

[0020] Among these, intelligent prediction models for segment floating, shield trajectory planning models, and segment assembly point optimization models are already publicly available in existing technologies. However, during the tunneling phase, the control of traditional shield propulsion systems heavily relies on manual experience, particularly in the coordinated pressure control of multi-zone propulsion cylinders. The shield propulsion system consists of multiple hydraulic zones, forming a multi-cylinder parallel hydraulic structure. Traditional manual control or single-variable PID control struggles to achieve spatially coordinated pressure distribution across the multi-zone propulsion cylinders. If the propulsion cylinder pressure settings do not meet the requirements of coordinated control, it can easily lead to segment crushing or mechanical failure, reducing tunneling efficiency and construction quality.

[0021] Please see Figure 3 and Figure 4 To address the challenge of intelligent collaborative control of hydraulic cylinder pressure across multiple zones, this invention proposes a method for intelligent collaborative control of hydraulic cylinder pressure in tunnel boring machines (TBMs). The method includes: collecting raw data on the hydraulic cylinder travel of each zone and calculating the real-time travel deviation; based on the real-time travel deviation, fitting a hydraulic cylinder travel control surface and extracting its characteristic parameters; using a PID control algorithm to map and transform the extracted characteristic parameters to obtain the pressure control surface characteristic parameters and the pressure proportionality coefficient of each zone; and generating control commands based on the pressure proportionality coefficient and the current tunneling state to obtain the optimal TBM tunneling strategy.

[0022] During tunnel boring machine (TBM) excavation, the TBM's PLC system (programmable logic controller system) and sensors pre-installed on the hydraulic cylinders collect real-time data on the tunneling progress, including the output of the TBM planning module and the actual excavation stroke data of the hydraulic cylinders. Based on this data, the real-time stroke deviation of each hydraulic cylinder is calculated. Then, by combining the calculated real-time stroke deviation values ​​with the inherent structural parameters of the TBM's propulsion system, a stroke control surface for the hydraulic cylinders is constructed to visually reflect the real-time shield posture of the TBM's propulsion system. Key characteristic parameters of the cylinder stroke control surface are extracted. Finally, a PID controller is used to control the cylinder stroke surface. The extracted key feature parameters are mapped and converted into corresponding feature parameters of the cylinder pressure control surface, thereby obtaining the cylinder pressure control surface feature parameters and constructing the cylinder pressure control surface. At the same time, the pressure ratio coefficient of each zone cylinder is calculated based on the cylinder pressure control surface. Finally, based on the obtained pressure ratio coefficient of each zone cylinder and the current tunneling status of the tunnel boring machine, a pressure control command that can be recognized by the tunnel boring machine hydraulic system is generated. The hydraulic system executes the control command to control each zone cylinder to achieve the current tunneling work. By adjusting the tunneling control command of each zone cylinder in real time according to the real-time tunneling status of the tunnel boring machine, the optimal tunneling strategy can be obtained.

[0023] The above intelligent collaborative control method considers that the tunnel boring machine's propulsion system is a multi-cylinder parallel mechanism, requiring coordinated control among the cylinders in multiple zones. Since the pressure distribution of each zone's cylinders is uniform, the pressure magnitudes of each zone's cylinders can be fitted to a spatial control surface based on their spatial distribution. Therefore, a PID control algorithm is introduced, leveraging its low cost and high stability characteristics of reinforcement learning. This algorithm, combined with the spatial control surface, solves the problem that PID control algorithms are typically only applicable to single-factor control and cannot be directly applied to multi-zone pressure collaborative control. By real-time acquisition of tunnel boring machine data, a stroke control surface is fitted, and a PID control algorithm is used for real-time mapping and transformation to obtain a real-time pressure control surface based on the current tunnel boring machine state. This yields the pressure control commands executed by each zone's cylinders, effectively solving the problem that pressure control of each zone's cylinders relies on manual experience and cannot simultaneously and efficiently handle multi-factor coordination. Based on the real-time acquired tunneling data, dynamic mapping and transformation enable real-time adjustment of the tunnel boring machine's attitude, coordinating the pressure settings of each zone's cylinders, reducing segment crushing or mechanical failures, and greatly improving tunnel boring efficiency and construction quality.

[0024] To more clearly illustrate the intelligent collaborative control method for multi-zone hydraulic cylinder pressure in tunnel boring machines, and to fully disclose the specific implementation methods of this application, the following detailed description is provided: S1. Collect the raw data of the hydraulic cylinder excavation in each zone and calculate the real-time stroke deviation of the hydraulic cylinder; To accurately describe the attitude of the tunnel boring machine (TBM) and the spatial relationship of each propulsion cylinder, and to accurately calculate the real-time stroke deviation of each zone cylinder, a unified spatial coordinate system is established. Based on the established spatial coordinate system, the real-time collected raw data of the TBM tunneling is recorded. In this way, the real-time stroke deviation of each cylinder zone is calculated, and the inherent structural parameters of the TBM propulsion system are obtained, providing accurate data support for constructing the stroke control surface of the cylinder.

[0025] S11. Based on the attitude of the tunnel boring machine and the spatial positional relationship of the hydraulic cylinders in each section, establish a spatial coordinate system; A three-dimensional right-handed rectangular coordinate system based on the tunnel boring machine body is established as follows: Origin of coordinate system : Set as the geometric center of the tunnel boring machine's cross section, that is, the center of the cross section of the tunnel boring machine's cutterhead or tail.

[0026] Axis: Along the central axis of the tunnel boring machine, the direction pointing to the direction of tunneling is positive; it is used to describe the longitudinal extension of the tunnel and the propulsion direction of the hydraulic cylinders.

[0027] Axis: Along the horizontal transverse direction, located within the cross-section of the tunnel boring machine, perpendicular to... The axis, pointing horizontally to the left in the direction of excavation, is positive; it is used to describe the yaw control of the tunnel boring machine.

[0028] Axis: Vertically aligned, located within the cross-section of the tunnel boring machine, perpendicular to... The axis, vertically upward, is positive; it is used to describe the pitch control of the tunnel boring machine.

[0029] This spatial coordinate system takes the geometric center of the starting section of the tunnel boring machine's propulsion cylinder as its origin and the tunnel boring direction as its coordinate system. Axis. Since the hydraulic cylinders of the propulsion system are evenly distributed along the circumference, establishing this spatial coordinate system can map the positions of the circumferentially distributed hydraulic cylinders to... - The plane is then used to calculate the difference in stroke propulsion of the hydraulic cylinder in the propulsion direction, laying the foundation for establishing a fitted stroke control surface in the future.

[0030] S12. Real-time acquisition of multi-source tunneling data of hydraulic cylinders in each zone to obtain real-time stroke deviation and inherent structural parameters of the shield propulsion system; By collecting and acquiring multi-source raw data required for cylinder control, the real-time stroke deviation of each cylinder zone is calculated, and the inherent structural parameters of the tunnel boring machine propulsion system are obtained, laying the foundation for the subsequent construction of the cylinder stroke control surface.

[0031] S121. Real-time acquisition of multi-source data: The collected raw data includes: planned cylinder stroke values, actual stroke values ​​of each cylinder, and inherent geometric parameters of the tunnel boring machine propulsion system. Specifically: The PLC control system of the tunnel boring machine synchronously collects the cylinder stroke planning values ​​output by the tunnel trajectory planning module in real time. Actual stroke values ​​of each hydraulic cylinder And the inherent geometric structural parameters of the tunnel boring machine propulsion system, including the angular coordinates of the partitions. .

[0032] S1211, Collect the cylinder stroke planning values ​​output by the shield tunneling trajectory planning module. :

[0033] In the formula, For the first Hydraulic cylinder stroke planning values ​​for different cylinder zones; To determine the total number of hydraulic cylinder zones in the propulsion system, such as 6 zones, 12 zones, 16 zones, etc.; This is the transpose of a matrix, representing a column vector.

[0034] S1212. Using displacement sensors, such as magnetostrictive displacement sensors, installed on each hydraulic cylinder on-site, the actual extension length of each cylinder, i.e., the actual stroke value of the cylinder, is collected in real time. :

[0035] In the formula, For the first Real-time measurement of the cylinder stroke in each cylinder zone.

[0036] S1213. The inherent geometric parameters of the tunnel boring machine (TBM) propulsion system are the center angles of the hydraulic cylinders in each section, which are pre-stored in a database. Since the hydraulic cylinders of the propulsion system are arranged in a ring along the circumference of the shield shell, each cylinder section corresponds to a center angle. Therefore, by collecting the circumferential angle coordinates of the center points of each cylinder section, the inherent structural parameters of the TBM propulsion system, i.e., the section angle coordinates, are obtained. :

[0037] In the formula, For the first The angular coordinates of the center point of each cylinder section on the circumference are usually expressed as follows: The axis is 0 degrees, and the counterclockwise direction is positive.

[0038] S122. Calculate the difference in cylinder stroke propulsion based on the collected multi-source data; To obtain the required action amount of each hydraulic cylinder, i.e., the control error, the difference is calculated on the collected data. That is, the real-time stroke deviation of the hydraulic cylinder is the difference between the planned stroke value and the actual stroke value of each hydraulic cylinder, thereby obtaining the hydraulic cylinder stroke propulsion difference vector. for:

[0039] In the formula, For the first The stroke required to advance each hydraulic cylinder section, i.e., the error signal.

[0040] when When the actual stroke of the cylinder in that section is less than the planned stroke, the cylinder in that section should be extended to increase the thrust; and when When the actual stroke of the cylinder in that section is greater than the planned stroke, the cylinder in that section should be controlled to contract, maintain pressure, or reduce pressure to prevent the tunnel boring machine from over-adjusting its posture or jamming.

[0041] S2. Based on the real-time stroke deviation, the hydraulic cylinder stroke control surface is obtained by fitting and its characteristic parameters are extracted; S21. Based on the obtained real-time stroke deviation of the hydraulic cylinder, construct the hydraulic cylinder stroke control surface; Based on the stroke requirements of each zone cylinder obtained in step S1, they are transformed into a continuous spatial plane model through mathematical fitting. This spatial plane model can intuitively reflect the intended posture of the tunnel boring machine propulsion system.

[0042] S211. Establish a spatial point matrix : Based on the calculated cylinder stroke propulsion difference vector and the angular coordinates of each cylinder zone , build a Three-dimensional spatial point matrix for:

[0043] In the formula, the first column This represents the stroke of each hydraulic cylinder in its respective section. A positive value indicates that the cylinder in that section needs to extend for propulsion, while a negative value indicates retraction. This stroke serves as the axial coordinate of the tunnel boring machine. The axis coordinates constitute the height information of the control surface; the second column... The spatial projection coordinates of each hydraulic cylinder in the horizontal direction are... The projection components along the axial direction are used to determine the force distribution in the left and right directions; third column. The spatial projection coordinates of each hydraulic cylinder in the vertical direction are... The projection component along the axial direction is used to determine the force distribution in the vertical direction.

[0044] By constructing this three-dimensional spatial point matrix, the original one-dimensional thrust or stroke control problem can be transformed into a three-dimensional spatial geometry problem, reflecting the spatial distribution of the stroke requirements of each cylinder.

[0045] S212. Fit the plane equation of the hydraulic cylinder stroke control surface; Assumption The stroke requirements of each hydraulic cylinder are distributed in a planar manner in space. Based on geometric relationships, the plane equation can be discretized into a matrix multiplication process as follows:

[0046] In the formula, For the construction A three-dimensional spatial point matrix; Let be the normal vector of the hydraulic cylinder stroke control surface to be solved, where Corresponding itinerary The axis component represents the baseline gradient of travel demand; Corresponding level The axis component represents the corrective force in the left and right directions; Corresponding vertical The axis component represents the corrective force in the vertical direction; for A vector of all 1s is used to unify the constant terms of a system of linear equations.

[0047] Due to the number of hydraulic cylinders The value is usually much greater than 3, so the solution is to find the normal vector. At this point, the system of equations is overdetermined. To obtain the optimal solution, the least squares method is used. :

[0048] This formula obtains the best-fit plane that best represents the stroke demand trend of all cylinders by solving for the least squares sum of errors.

[0049] S22. Extract the characteristic parameters of the hydraulic cylinder stroke control surface; Solve for the normal vector Then, two key control characteristic parameters of the cylinder stroke control surface are extracted through geometric transformation: the azimuth angle of the cylinder stroke control surface. and tilt angle .

[0050] S221, Azimuth angle of cylinder stroke control surface It is the normal vector. exist The projection direction on the plane (i.e., the cross-section of the shield) is used to indicate the specific direction in which a greater stroke is required, that is, the specific direction in which greater pressure needs to be applied.

[0051] Azimuth angle of hydraulic cylinder stroke control surface for:

[0052] In the formula, ,when or When, pointing The positive axis direction indicates that the main propulsion demand is on the right side of the horizontal axis; when When, pointing The positive axis direction indicates that the main propulsion demand is in the vertical direction. When this is the case, it indicates that the main driving demand is on the left side of the horizontal plane; When, it indicates that the main driving demand is vertically downward.

[0053] S222, Inclination angle of hydraulic cylinder stroke control surface It is the normal vector. With the travel axis (i.e.) The angle between the axes reflects the degree of unevenness in the distribution of travel demand, i.e., the magnitude of the gradient. The larger the value, the more travel distance is required for certain partitions.

[0054] Hydraulic cylinder stroke control surface tilt angle for:

[0055] In the formula, ,when When the value is 0, it indicates a perfectly uniform distribution; the larger the value, the more uneven the distribution. When, it means , Approaching 0, the normal vector is parallel to the travel distance. The stroke requirements of each hydraulic cylinder zone are uniform, that is... The components are approximately equal; when When, it means Relatively small or , The normal vector is relatively large and biased towards the cross section. At this time, the stroke requirements are distributed very unevenly on the circumference, and the system needs to perform large-scale attitude correction.

[0056] By controlling the azimuth angle of the cylinder stroke control surface With tilt angle The mathematical derivation enables the dimensionality reduction and abstraction of complex hydraulic cylinder stroke data into two physical quantities. Among them, azimuth angle It determines the specific direction and angle of the hydraulic cylinder's stroke. This determines the concentration of the cylinder stroke demand, that is, by controlling both direction and force together, a clear, low-dimensional control objective is provided for the subsequent intervention of the PID controller.

[0057] In summary, by extracting the azimuth angle, a characteristic parameter of the hydraulic cylinder stroke control surface, and tilt angle Obtain the cylinder stroke control surface parameters .

[0058] S3. Based on the extracted feature parameters, obtain the feature parameters of the pressure control surface and the pressure ratio coefficient of each zone; To address the black-box problem in traditional control, the aforementioned explicit geometric-mechanical mapping relationship allows the travel difference planned at the upper level to be transformed into the pressure ratio executed at the lower level. In other words, the PID control algorithm transforms the geometric travel surface into the pressure surface of the physical force control parameters, and an adaptive mechanism is introduced to cope with complex geological changes.

[0059] S31. Define the mapping and transformation relationship of the PID control algorithm; The mapping and transformation from the stroke control surface to the pressure control surface is achieved through a PID controller as follows; Since the direction of the hydraulic cylinder stroke propulsion demand is the same as the direction of the applied pressure, the azimuth angle of the stroke control surface is directly mapped into the azimuth angle of the pressure control surface via PID; Since the direction of the hydraulic cylinder's stroke propulsion and the direction of the required applied pressure are spatially aligned, the azimuth angle of the stroke control surface... After being mapped and converted by the PID controller, it can be directly used as the azimuth angle of the pressure control surface, that is: .

[0060] Specifically: the azimuth angle of the stroke control surface. This directly determines the direction in which the tunnel boring machine needs to correct its course. For example, if the upper travel requirement is large, the upper pressure needs to be increased. Therefore, after processing by the PID controller, the azimuth angle of the pressure control surface is determined. Directly inherit the azimuth angle of the stroke control surface Azimuth angle of the pressure control surface It can be used to guide how the hydraulic system distributes pressure in the circumferential direction, that is, to guide the hydraulic system in... How to distribute the center of gravity of pressure on a plane.

[0061] S32. Establish PID control equations and dynamically map the stroke control surface tilt angle into the pressure control surface tilt angle; The concentration of cylinder stroke requirements is controlled by a PID controller. Dynamic mapping is transformed into the gradient of pressure distribution. This refers to the pressure proportionality coefficient. (Through...) Dynamic mapping and transformation converts geometric deviations into mechanical outputs, effectively preventing local cylinder overload or underload.

[0062] S321. Establish the PID control equation; To achieve the above dynamic mapping transformation, a PID control model is established with tilt angle error as input and pressure distribution parameters as output, as follows:

[0063] In the formula, As a proportional term, it quickly responds to the current tilt angle deviation; the larger the deviation, the greater the adjustment of the applied pressure gradient. The integral term is used to eliminate steady-state error and improve control accuracy. Considering the friction of the hydraulic system and the viscosity of the soil, there may be residual deviations if proportional control is used alone. The integral term can ensure that the final stroke error is zero. As a differential term, it is used to predict the trend of error change, provide advance correction, increase system damping, and suppress overshoot; This represents the input tilt angle error.

[0064] Among them, the proportional term When the hardness of the stratum changes drastically, the proportional gain should be appropriately reduced. To prevent sudden pressure changes from causing oscillations in the tunnel boring machine's attitude; integral term , For the integral gain, when a persistently large error is detected or the system is at its limit, the integral accumulation stops, and the amplitude of the integral term is limited. This effectively prevents overshoot, i.e., prevents integral saturation, and achieves anti-saturation processing; the differential term... , As the differential gain, considering the potential noise in the sensor signal, a low-pass filter is introduced into the differential term to only respond to slowly changing attitude deviations, filter out high-frequency interference, and reduce the impact of noise.

[0065] In addition, the input tilt angle error for:

[0066] In the formula, This represents the actual tilt angle of the control surface at the current moment. The target dip angle is a non-fixed constant that is dynamically generated based on real-time geological conditions and construction stages.

[0067] Target angle The specific setting principles are as follows: When the soil layer is soft, because soft soil is easily deformed, it is necessary to maintain a relatively uniform pressure distribution to avoid the cut surface from collapsing. Therefore, a setting is made. Smaller, such as It requires uniform pressure distribution; When the formation is hard rock, considering that hard rock requires concentrated thrust to break the rock, therefore, the following settings are used: Larger, such as It allows for a certain degree of pressure concentration; However, during the turning section, The guide torque is dynamically adjusted based on the curve radius of the turning section to provide sufficient guiding torque.

[0068] S322, Adaptive parameter adjustment mechanism: To increase the uncertainty during the tunneling process, PID control parameters , and These are not fixed, but are adjusted in real time based on online monitoring indicators to cope with the spatiotemporal changes in geological conditions and the dynamic needs of attitude control during the tunneling process.

[0069] S3221. Calculate the standard deviation of the cylinder stroke deviation in each zone in real time, determine the homogeneity of the current shield tunneling strata, and dynamically adjust the proportional gain. With integral gain ; Real-time calculation of the standard deviation of the cylinder stroke difference in each zone It is used as a quantitative indicator to reflect the homogeneity of the formation.

[0070] when A sudden increase in the value indicates uneven formation hardness; some hydraulic cylinders in certain zones are experiencing stroke obstruction due to encountering hard points, while others are in softer formations and are propelling too rapidly. In this situation, the control system should automatically adjust the proportional gain. The value was lowered to 0.6-0.8 times the baseline to prevent excessive cylinder pressure at hard points from causing mechanical damage or localized segment crushing; simultaneously, the integral gain was adjusted. Adjusting the thrust to 1.1-1.3 times the baseline value ensures sufficient cumulative thrust in areas with weak geological formations, preventing shield tunneling head collapse or deviation from the axis due to insufficient local resistance. Conversely, when... The value returning to the normal range indicates that the formation is becoming more homogeneous, which will affect the proportional gain. With integral gain Gradually restore to the baseline value.

[0071] S3222. Based on the shield tunnel attitude deviation, dynamically adjust the differential gain. ; Shield tunneling attitude deviation reflects the shield's attitude stability, which manifests as changes in the shield's pitch and azimuth angles during tunneling. Real-time monitoring of shield attitude deviation, specifically the change in the shield's pitch angle, is crucial. With azimuth change The rate of change. When high-frequency, low-amplitude oscillations are detected in the pitch and azimuth angles of the shield tunnel attitude deviation, it is determined that the damping of the control system is insufficient. The control system automatically increases the differential gain. By enhancing the predictive role of the error change rate, the system damping coefficient is improved, the frequent fluctuations of the cylinder pressure are suppressed, and the shield attitude returns to a smooth transition.

[0072] S33. Based on the azimuth and tilt angle of the pressure control surface, establish the cylinder pressure control surface, obtain the normal vector of the pressure control surface, establish the pressure distribution equation, and solve to obtain the pressure ratio coefficient of each zone cylinder. After the above adaptive PID control calculation, the core characteristic parameter of the pressure control surface is obtained: azimuth angle. With tilt angle That is, the output pressure control surface parameters .

[0073] Among them, azimuth angle Used to determine the circumferential direction of the pressure peak on the shield cross-section, ensuring that the thrust direction is consistent with the planned trajectory requirements; Inclination angle Used to determine the magnitude of the pressure gradient along the circumference, enabling differentiated and coordinated pressure output from each zone of the hydraulic cylinder.

[0074] S331. Based on the pressure control surface parameters, establish the cylinder pressure control surface and obtain the pressure control surface normal vector; Based on the output pressure control surface parameters Establish the hydraulic cylinder pressure control surface and calculate the normal vector of the hydraulic cylinder pressure control surface. .

[0075] Based on the pressure control surface characteristic parameters output by the PID controller The normal vector of the pressure control surface in three-dimensional space is calculated as follows:

[0076] In the formula, This indicates that the pressure distribution is along the shield axis (i.e., The gradient rate of change of the axis reflects the severity of the pressure differences between the regions; The larger, The larger the value, the steeper the pressure gradient. Its representation is the normal vector. In the horizontal direction (i.e.) The projection of the axis. Determines the left and right offset direction of the center of gravity on the horizontal plane; Its representation is the normal vector. In the vertical direction (i.e.) The projection of the axis. It determines the vertical offset direction of the pressure center of gravity in the vertical plane.

[0077] S332. Construct the pressure distribution equation and solve for the pressure proportionality coefficient of each zone cylinder; S3321, Assuming the pressure proportional coefficient of each cylinder zone. If the spatial location satisfies a planar distribution relationship, then the following matrix equation can be established:

[0078] in:

[0079] In the formula, This is the normal vector of the pressure control surface; The average pressure ratio is typically set to 1.0, representing uniform propulsion ( When ), the pressure coefficient of all cylinders; 1 is A vector of all 1s; F is the pressure coefficient space matrix; For the first Pressure ratio coefficient for each cylinder zone.

[0080] S3322, Solving for the pressure proportionality coefficient : By expanding and rearranging the terms of the above plane equation, we can solve for the th... Pressure proportional coefficient of each cylinder zone for:

[0081] In the formula, when hour, ,at this time In a uniform propulsion mode, according to L'Hôpital's rule or the concept of limits, the pressure distribution is uniform, i.e. All cylinders output the same pressure; when At that time, the pressure distribution exhibits a gradient change, and the pressure proportionality coefficient... The molecule calculates the offset of the partition position relative to the pressure center of gravity; azimuth angle This determines the initial direction and inclination angle of the gradient. This determines the slope of the gradient.

[0082] S3323, Pressure proportionality coefficient Normalization is performed: To ensure the total thrust of the tunnel boring machine during differentiated pressure distribution. To maintain a constant pressure and avoid excessive total thrust that could break through the soil due to increased local pressure, or insufficient total thrust due to decreased local pressure, the calculated pressure ratio coefficient needs to be normalized as follows:

[0083] By calculating the pressure ratio coefficients of all cylinder zones arithmetic mean and each Dividing by this average value yields the normalized pressure proportionality coefficient. That is, the precise pressure correction coefficient for each hydraulic cylinder zone. After normalization, it can be ensured that the corrected total thrust is consistent with the original planned total thrust, only changing the pressure distribution pattern. The normalized pressure correction coefficient... This laid the foundation for the subsequent generation of specific hydraulic commands.

[0084] S4. Based on the pressure ratio coefficient and the current tunneling status, generate control commands to obtain the optimal shield tunneling strategy; To obtain the specific pressure setpoints for each zone's hydraulic cylinders and ensure a constant total thrust while achieving differentiated pressure outputs, thereby enabling precise and stable control of the tunnel boring machine's attitude, the specific steps are: S41. Calculate the basic pressure of the hydraulic cylinder based on the total thrust requirement of the tunnel boring machine; The pressure proportional coefficient obtained after normalization based on the PID control algorithm is converted into a specific pressure command that can be executed by the actual hydraulic system. Multiple safety protection mechanisms are introduced to establish a complete safety protection and closed-loop feedback mechanism to prevent equipment damage or construction accidents and ensure construction safety and control accuracy.

[0085] Calculate the base pressure when all cylinders share the total thrust. for:

[0086] In the formula, The total thrust requirement is determined by the tunneling resistance and can be calculated in real time using the tunneling resistance model of the tunnel boring machine. It needs to overcome the frontal resistance of the soil and the skin friction of the shield. n is the total number of hydraulic cylinders or the number of hydraulic cylinder zones involved in the operation. This refers to the effective working area of ​​a single hydraulic cylinder.

[0087] This benchmark pressure This represents the average pressure level required to maintain the current tunneling rate.

[0088] S42. Based on the base pressure and according to the normalized pressure ratio coefficient, calculate the initial pressure setting value of each zone cylinder. The pressure proportionality coefficient obtained by normalization Applied to the above basic pressure When calculating the initial pressure setpoint for each zone's hydraulic cylinders, a safety factor is introduced based on the segment's bearing capacity. The initial pressure setpoint for each zone is calculated as follows:

[0089] In the formula, For the first Initial pressure settings for each partition; To account for the structural strength of the tunnel segments, a safety factor is dynamically set based on the concrete strength of the segments, the sealing performance of the joints, and the stress state of the ground. This is used to reserve a safety margin to prevent the segments from breaking or being misaligned.

[0090] S43. Based on the initial pressure setpoint, a hierarchical decision-making mechanism is introduced to obtain the final pressure setpoint; The hierarchical decision-making mechanism includes a multi-layered security constraint mechanism and a partitioned pressure fault-tolerant control mechanism.

[0091] S431. Set up a multi-layered security restriction mechanism; To prevent pressure settings in each partition In the event of extreme values, a three-layer safety limiting mechanism, namely an interlocking protection mechanism, is implemented by sequentially setting absolute limiting, relative limiting, and rate limiting.

[0092] S4311, setting absolute amplitude limiting constraints to protect hardware; The upper and lower limits of stress on a single partition are limited as follows:

[0093] In the formula, Set as rated pressure 30% of This ensures that the hydraulic cylinder always has minimal support force to prevent it from retracting too quickly. Set as rated pressure 90% of Retain a 10% safety margin to prevent hydraulic oil from overheating or seals from being damaged.

[0094] By limiting the absolute pressure of individual zones, hydraulic system overload or idling can be effectively prevented.

[0095] S4312. Set relative amplitude limits, that is, establish pressure distribution uniformity constraints as follows:

[0096] In the formula, The threshold for the ratio of the maximum to the minimum value is set to [value]. This is the maximum pressure ratio limit. If this threshold is exceeded, the pressure distribution is deemed too concentrated, and the pressure values ​​of all zones will be compressed proportionally to maintain the distribution pattern but reduce the amplitude. If the relative amplitude exceeds the limit, all zones will be compressed proportionally. .

[0097] By limiting the ratio of the maximum to the minimum pressure in each zone, segment rupture caused by localized stress concentration can be effectively prevented.

[0098] S4313. Set a rate limit, that is, establish a pressure change smoothness constraint as follows:

[0099] In the formula, The maximum pressure change rate threshold is set to [value]. If the rate of pressure change exceeds the limit, a ramp function is used for a smooth transition instead of a step change.

[0100] By setting a limit on the rate of change of the pressure setpoint, hydraulic shock can be effectively prevented.

[0101] S432. Set up a partitioned pressure fault-tolerant control mechanism; By monitoring the pressure of the hydraulic cylinders in each zone online in real time, faults in each zone are promptly identified, faulty zones are marked as faulty, and these zones are isolated from other normal zones. Then, based on the pressure values ​​of adjacent zones, a spatial interpolation algorithm is used to generate alternative pressure values ​​for the faulty zones. With the shield tunneling attitude stability as the primary objective, the proportional gain is automatically adjusted. At the same time, it issues fault alarms and maintenance prompts, and sets up recovery and reset mechanisms to ensure a smooth transition and normal recovery of the tunnel boring machine's intelligent control.

[0102] S4321. Online real-time monitoring of cylinder pressure data in each zone, identifying and isolating faulty or abnormal zones; During tunnel boring machine (TBM) excavation, the data status of the hydraulic cylinder pressure sensors in each section is monitored in real time, including the data change rate, measurement range, and communication continuity. A sensor in that section is considered faulty if any of the following abnormal characteristics are detected: the data remains constant for multiple consecutive control cycles, the data exceeds the sensor's preset upper and lower range limits, or communication is interrupted or data packet verification fails.

[0103] The faulty partition is then marked as an "abnormal state" and logically isolated from the main control loop. This means that the abnormal partition no longer participates in PID error calculation and adaptive parameter adjustment, thus preventing fault data from polluting the control system.

[0104] S4322. Obtain a pressure replacement value for the faulty partition based on pressure interpolation of adjacent partitions. To ensure uninterrupted propulsion and spatial continuity of the pressure control surface, a spatial interpolation algorithm is used to generate alternative pressure values ​​for the abnormal zone. Specifically, this involves using the real-time pressure setpoints of the two normal zones that are circumferentially adjacent to the abnormal zone. and The following linear interpolation calculation is performed to obtain the pressure substitution value for this partition. :

[0105] For boundary partitions, a ring topology logic is used to ensure the continuity of the interpolation. The calculated pressure substitution values... It is effective only within the current control cycle and is used to maintain the spatial continuity of the pressure control surface.

[0106] S4323. With the goal of stabilizing the shield's posture, the proportional gain is automatically adjusted, and based on the initial pressure setpoint and pressure substitution value, the final pressure setpoint is generated according to the tunneling status of each section. To prevent overall control instability due to missing local data, the gain is automatically adjusted, and corrective actions are temporarily suspended to improve the stability of the tunnel boring machine. For example, the proportional gain is automatically adjusted. Reduce the value to 0.5-0.7 times the baseline value and switch to "smooth control mode". Its primary goal is to stabilize the attitude and temporarily suspend violent correction actions until the abnormality is resolved.

[0107] After obtaining the initial pressure settings for each zone. and / or pressure substitute value Then, the final pressure setpoint is generated based on the tunneling status of each section. for:

[0108] In the formula, The first one calculated from the pressure control surface Theoretical stress values ​​for each partition; The pressure substitute value is calculated by linear interpolation based on the real-time pressure setpoint of adjacent partitions; As a safety margin, when abnormal partitions are consecutive and interpolation is not possible, a preset safety pressure is used, such as 0.8 times the base pressure. To ensure that things do not get out of control.

[0109] S44. Limit the obtained final pressure setpoint, generate control commands, and set up fault alarm and maintenance mechanisms. S441, Final pressure setpoint Amplitude limiting is performed, which satisfies... It also limits the rate of change of pressure in each zone to prevent sudden pressure changes, thereby generating control commands that can be sent to the hydraulic system and are recognizable by the hydraulic system.

[0110] S442. Set up fault alarm and maintenance mechanisms; S4421. When an abnormal fault is detected, an audible and visual alarm is automatically triggered, and the location of the fault zone is highlighted on the human-machine interface. At the same time, the fault code, occurrence time and duration are recorded to form a maintenance log, prompting on-site operators and maintenance personnel to carry out timely repairs.

[0111] S4422. When the faulty sensor resumes normal communication and the data stabilizes for several consecutive cycles, the abnormal partition mark will be automatically removed, the control gain will be gradually restored to the normal level, and a smooth transition to the regular collaborative control mode will be achieved, realizing seamless switching.

[0112] By setting up a hierarchical decision-making mechanism for the final pressure setpoint and limiting the final pressure setpoint, control commands that the hydraulic system can execute are generated. At the same time, a fault alarm and maintenance mechanism is set up to ensure that reasonable pressure control commands can still be output to the hydraulic system in the event of a fault, so as to control the shield tunneling work of each zone cylinder, maintain the continuity and safety of shield advancement, and effectively improve the robustness and engineering adaptability of shield intelligent control.

[0113] S45. Based on dynamically issued control commands, establish a multi-dimensional monitoring and evaluation system, set up a multi-mode adaptive switching and parameter online optimization mechanism, and record shield tunneling data in real time to optimize and obtain the optimal shield tunneling strategy. S451. Issue execution control commands periodically and establish a multi-dimensional monitoring and evaluation system; To address the issue of the black-box structure in existing intelligent control models, which leads to poor interpretability of fault occurrences, the generated final pressure setpoint is... The signals are converted into control command signals that the hydraulic system can recognize and are issued and executed at fixed intervals as follows: Analog output: Converts the pressure setpoint into a 4-20mA standard current signal to directly control the opening of the electro-hydraulic proportional relief valve or servo valve, thereby achieving precise adjustment of the cylinder pressure.

[0114] Digital output: For intelligent hydraulic valve groups that support digital communication, pressure command messages are encapsulated and sent via CAN bus, supporting more complex valve group control logic.

[0115] Control cycle setting: Control cycle The cycle is fixed at 100ms. This cycle was determined through engineering calibration to meet both the real-time requirements of pressure adjustment during tunnel boring and the computational load capacity of the control system, ensuring stable system operation.

[0116] To evaluate the effectiveness of control measures, a multi-dimensional monitoring and evaluation system is established to calculate and display the following core monitoring indicators in real time: S4511, Travel Tracking Error :

[0117] In the formula, For the first The stroke difference of the partitioned hydraulic cylinders.

[0118] Travel tracking error The indicator reflects the average deviation between the current actual journey and the planned journey, and is the core parameter for evaluating the accuracy of trajectory tracking.

[0119] S4512, Attitude deviation; Real-time monitoring of the deviation between the tunnel boring machine's current attitude and the design axis, including pitch angle deviation. Yaw angle deviation and roll angle deviation .

[0120] This set of attitude deviation indicators can directly reflect the effectiveness of shield attitude control.

[0121] S4513, Pressure Uniformity :

[0122] The indicator is dimensionless, so that its value ranges from [0,1]. The closer its value is to 1, the more uniform the pressure distribution in each zone and the more balanced the stress on the segments. A decrease in its value indicates an increased risk of pressure concentration.

[0123] S4514, Energy Consumption Indicators :

[0124] In the formula, For the first The extension speed of the partitioned hydraulic cylinder.

[0125] Energy consumption indicators Used to assess the energy efficiency ratio of current tunneling conditions, providing data support for energy-saving optimization.

[0126] S452. Introduce an adaptive control strategy based on monitoring indicators to automatically switch shield tunneling working modes and optimize control parameters online; A multi-mode control adaptive switching and online parameter optimization mechanism is set up, specifically: S4521. Based on the current tunnel boring machine (TBM) excavation status, the system adaptively switches between normal mode, conservative mode, and safe mode. Specifically: Normal mode: Full PID control, fast response speed, suitable for conventional tunneling sections with stable strata and small attitude deviation.

[0127] Conservative mode: When the rate of change of travel tracking error is detected. When a sudden increase indicates a drastic change in the formation, the system automatically adjusts the proportional gain. The input signal is reduced to 0.5-0.7 times the baseline value, and the filtering coefficient is increased. This mode sacrifices response speed for system stability, preventing control instability due to sudden geological changes.

[0128] Safety Mode: When the abnormal zoning handling mechanism in step S54 is triggered, or the posture deviation exceeds the preset safety threshold, the current pressure distribution mode will be automatically frozen, maintaining the pressure ratio of each zone unchanged, and prompting manual intervention on the human-machine interface. In this mode, control is partially transferred to the operator to ensure construction safety under extreme conditions.

[0129] S4522. Based on the statistical characteristics of real-time monitored tunneling data, key parameters are periodically fine-tuned to adapt to the slow changes in shield tunneling construction; wherein, the control parameter optimized online is the proportional gain. For example: based on the statistical characteristics of monitoring data, the proportional gain is adjusted every 10 minutes. A fine-tuning was performed to accommodate slowly changing geological conditions. The scaling gain was updated as follows:

[0130] In the formula, This shows the trend of the travel tracking error over the past 10 minutes. If the error shows a continuous increasing trend, that is... If it is positive, then increase the proportional gain appropriately. To enhance the corrective effect; conversely, to maintain or slightly reduce it.

[0131] By setting an online parameter optimization mechanism, the coordinated control of cylinder pressure in each zone can have self-learning capabilities, better adapting to the control characteristics of different formations.

[0132] S453. Record control parameters and monitoring indicators during the tunnel boring machine (TBM) excavation process, automatically analyze and adjust excavation parameters to obtain the optimal TBM excavation strategy. Specifically: Data logging: All control parameters and monitoring indicators are stored in the local database in real time and simultaneously uploaded to the cloud data center; the control parameters include the final pressure values ​​of each partition. Pressure proportionality coefficient and PID gain coefficient , , etc.; the monitoring indicators include trip tracking error. Pressure uniformity Posture deviation, etc.

[0133] Data Analysis: Automatically generates analysis results for the current tunneling loop, such as generating a "thrust-stroke-attitude" correlation analysis curve to intuitively display the dynamic relationship between various parameters and help operators understand the formation response characteristics.

[0134] Data Application: Based on the above analysis results, optimization suggestions are provided for the setting of propulsion parameters in the next stage, including: total thrust. Predictive adjustment, target tilt angle Recommended values ​​and suggestions for geological mutation early warning and parameter pre-adjustment.

[0135] By constructing a complete closed-loop control circuit from control command execution to effect evaluation and parameter optimization, the multi-zone collaborative control of the tunnel boring machine (TBM) has the ability to respond in real time, adapt to changes, and continuously learn and optimize. At the same time, by establishing a complete TBM tunneling data recording and analysis mechanism, the "black box" structure in traditional intelligent control is avoided, and the visualized coordinated control of the TBM tunneling attitude is realized, which significantly improves the intelligence level and engineering applicability of the collaborative control.

[0136] The above formulas are all dimensionless calculations. The formulas are derived from software simulations based on a large amount of collected data to obtain the most recent real-world results. The preset parameters in the formulas are set by those skilled in the art according to the actual situation.

[0137] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, in the form of a computer program product.

[0138] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0139] In addition, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module.

[0140] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0141] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for intelligent collaborative control of multi-zone hydraulic cylinder pressure in shield tunneling, characterized in that, include: Collect raw data on the hydraulic cylinder excavation in each zone and calculate the real-time stroke deviation of the hydraulic cylinder; Based on the real-time stroke deviation, the hydraulic cylinder stroke control surface is fitted and extracted. Its characteristic parameters; Based on the extracted feature parameters, a PID control algorithm is used for mapping and transformation to obtain the feature parameters of the pressure control surface and the pressure proportional coefficient of each zone; Based on the pressure ratio coefficient and the current tunneling status, control commands are generated to obtain the optimal shield tunneling strategy.

2. The intelligent collaborative control method for multi-zone hydraulic cylinder pressure in shield tunneling according to claim 1, characterized in that, Before calculating the real-time stroke deviation of the hydraulic cylinder, the following steps are also included: A spatial coordinate system is established based on the attitude of the tunnel boring machine and the spatial positional relationship of the hydraulic cylinders in each section; The spatial coordinate system is defined with the geometric center of the starting section of the tunnel boring machine's propulsion cylinder as its origin, and the tunneling direction as its coordinate system. axis.

3. The intelligent collaborative control method for multi-zone hydraulic cylinder pressure in shield tunneling according to claim 1, characterized in that, The collected raw data includes: cylinder stroke planning values, actual stroke values ​​of each cylinder, and inherent geometric parameters of the tunnel boring machine propulsion system; Among them, the inherent geometric parameters of the shield propulsion system are the center angles of the hydraulic cylinders in each section; The real-time stroke deviation of the hydraulic cylinder is the difference between the planned stroke value of the hydraulic cylinder and the actual stroke value of each hydraulic cylinder.

4. The intelligent collaborative control method for multi-zone hydraulic cylinder pressure in shield tunneling according to claim 1, characterized in that, The extracted characteristic parameters of the hydraulic cylinder stroke control surface include: the azimuth angle and the tilt angle of the hydraulic cylinder stroke control surface.

5. The intelligent collaborative control method for multi-zone hydraulic cylinder pressure in shield tunneling according to claim 1 or 4, characterized in that, Based on the extracted feature parameters, a PID control algorithm is used for mapping and transformation to obtain the pressure control surface feature parameters and the pressure proportional coefficients of each zone, including: Since the direction of the hydraulic cylinder stroke propulsion demand is the same as the direction of the applied pressure, the azimuth angle of the stroke control surface is directly mapped into the azimuth angle of the pressure control surface via PID; Establish PID control equations to dynamically map the stroke control surface tilt angle into the pressure control surface tilt angle; Based on the azimuth and tilt angle of the pressure control surface, the hydraulic cylinder pressure control surface is established, the normal vector of the pressure control surface is obtained, and the pressure distribution equation is established. The pressure proportional coefficient of each zone hydraulic cylinder is then obtained by solving the equation.

6. The intelligent collaborative control method for multi-zone hydraulic cylinder pressure in shield tunneling according to claim 5, characterized in that, The PID control equation includes: a proportional term with proportional gain, an integral term with integral gain, and a derivative term with derivative gain. The proportional, integral, and differential terms all include dip angle error; the dip angle error is obtained based on the current geological conditions and construction stage.

7. The intelligent collaborative control method for multi-zone hydraulic cylinder pressure in shield tunneling according to claim 6, characterized in that, When dynamically mapping the stroke control surface inclination angle to the pressure control surface inclination angle, an adaptive parameter adjustment mechanism is set; the adaptive parameter adjustment mechanism includes: The standard deviation of the cylinder stroke deviation in each zone is calculated in real time to determine the homogeneity of the current shield tunneling strata and to dynamically adjust the proportional gain and integral gain. Based on the shield tunnel attitude deviation, the differential gain is dynamically adjusted; The parameters characterizing the shield's attitude deviation include the real-time monitored changes in pitch angle and azimuth angle.

8. The intelligent collaborative control method for multi-zone hydraulic cylinder pressure in shield tunneling according to claim 1, characterized in that, Based on the pressure proportionality coefficient and the current tunneling status, control commands are generated, including: Calculate the base pressure of the hydraulic cylinder based on the total thrust requirement of the tunnel boring machine; Based on the aforementioned base pressure, and according to the normalized pressure ratio coefficient, the initial pressure setting value for each zone cylinder is calculated. Based on the initial pressure setpoint, a hierarchical decision-making mechanism is introduced to obtain the final pressure setpoint; The final pressure setpoint is limited, control commands are generated, and fault alarm and maintenance mechanisms are set. When calculating the initial pressure setting value of each zone cylinder, a safety factor is introduced based on the segment bearing capacity.

9. The intelligent collaborative control method for multi-zone hydraulic cylinder pressure in shield tunneling according to claim 8, characterized in that, The hierarchical decision-making mechanism includes a multi-layered security constraint mechanism and a partitioned pressure fault-tolerant control mechanism. The multi-layered safety limiting mechanism includes: absolute pressure limit constraints for each zone, pressure distribution uniformity constraints, and pressure change smoothness constraints. The partitioned pressure fault-tolerant control mechanism includes: Real-time online monitoring of cylinder pressure data in each zone; identification and isolation of faulty or abnormal zones. Based on the pressure interpolation of adjacent partitions, obtain the pressure replacement value to replace the pressure value of the faulty partition; With the goal of maintaining a stable shield posture, the proportional gain is automatically adjusted, and based on the initial pressure setting value and the pressure substitution value, the final pressure setting value is generated according to the tunneling status of each section.

10. The intelligent collaborative control method for multi-zone hydraulic cylinder pressure in shield tunneling according to any one of claims 1, 8, and 9, characterized in that, The optimal shield tunneling strategy includes: Control commands are issued periodically, and a multi-dimensional monitoring and evaluation system is established. An adaptive control strategy based on monitoring indicators is introduced to automatically switch the shield tunneling working mode and optimize control parameters online; Record control parameters and monitoring indicators during the tunnel boring process, automatically analyze and adjust tunneling propulsion parameters, and obtain the optimal tunnel boring strategy; The multi-dimensional monitoring and evaluation system includes real-time monitoring of travel tracking error, shield attitude deviation, pressure uniformity, and tunneling energy consumption. The control parameter used for online optimization is the proportional gain; The recorded control parameters include: final pressure setpoint, pressure proportional coefficient, proportional gain, integral gain, and derivative gain.

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