Self-adaptive rectification jacking pipe intermediate jacking station system and construction control method thereof

Abstract

The invention discloses a self-adaptive rectification jacking pipe intermediate jacking station system and a construction control method thereof. The jacking pipe intermediate jacking station system comprises an intermediate jacking station cylinder, a propelling execution mechanism, a sensing monitoring module and a control module. The intermediate jacking station cylinder is formed by connecting a front shell and a rear shell through a sliding sealing structure. The propulsion actuating mechanism is mounted between the front shell and the rear shell and consists of a plurality of hydraulic jacks which are distributed circumferentially; and the control module is configured with a thrust distribution algorithm and is in communication connection with the propulsion execution mechanism and the sensing monitoring module. The output pressure of the hydraulic jacks in different directions is independently adjusted through the control module according to real-time data fed back by the sensing monitoring module, and automatic deviation correction and thrust compensation of the system are achieved; the problems that in the prior art, thrust distribution is not uniform, and deviation rectification control lags behind are effectively solved, and the track precision and safety of pipe jacking construction are remarkably improved.

Description

Technical Field

[0001] This application relates to the technical field, specifically to an adaptive correction system for pipe jacking relay stations and its construction control method. Background Technology

[0002] Pipe jacking is a trenchless underground pipeline laying technology. In long-distance pipe jacking, relay stations are key equipment for relay jacking. Existing relay station technology mainly uses a hardware combination of "hydraulic pump station + ordinary jacks," achieving jacking through manual operation or simple group control (such as dividing into four groups: upper, lower, left, and right). This existing technical solution mainly has the following technical problems in actual construction:

[0003] (1) Lagging and low precision of correction control: Existing technologies mostly adopt the "post-correction" mode, that is, manual intervention is only carried out after a significant deviation in the pipe section axis is detected by measurement. This passive approach often results in the pipeline trajectory exhibiting a "snake-like" sway. Moreover, due to the lack of precise algorithm support, it is difficult for manual calculation of the required correction torque, which easily leads to "overcorrection" or "undercorrection".

[0004] (2) Uneven thrust distribution leads to pipe section damage or attitude instability: In complex geological conditions, the frictional resistance distribution around the pipeline is uneven (e.g., soft upper and hard lower strata). Existing technology usually supplies the same hydraulic oil pressure to all jacks, or only makes rough zoning. This leads to the side with low frictional resistance advancing too fast and the side with high frictional resistance advancing too slowly when the geology is uneven, thus generating unexpected additional torque, aggravating the attitude deflection of the pipeline, and in severe cases, even causing deformation of the intermediate shell or collapse of the pipe section port due to excessive local stress;

[0005] (3) Lack of thrust optimization based on geological feedback: The current jacking control is "blind", and the operator cannot know the real-time friction coefficient under the current geological environment. This leads to the system being unable to adjust the thrust strategy in time when encountering geological changes, which not only results in low construction efficiency, but also easily causes engineering accidents due to forced jacking.

[0006] In summary, existing technologies lack an intelligent relay system capable of real-time attitude sensing, proactive calculation based on geological feedback, and precise allocation of thrust in all directions. Summary of the Invention

[0007] To address the technical problems in the prior art, this application provides an adaptive correction pipe jacking relay system and its construction control method, which solves the technical problems of low correction accuracy, uneven thrust distribution, and inability to adapt to geological changes caused by the lack of active sensing and independent thrust distribution algorithms in the prior art.

[0008] The adaptive correction pipe jacking relay system and its construction control method provided in this application adopt the following technical solution:

[0009] An adaptive correction system for pipe jacking relay stations and its construction control method, comprising:

[0010] The relay cylinder includes a front shell and a rear shell, which are connected by a sliding sealing structure.

[0011] The propulsion actuator is installed between the front housing and the rear housing and consists of several hydraulic jacks arranged in a circular pattern.

[0012] Sensor monitoring modules are used to collect construction status data in real time; and

[0013] The control module is communicatively connected to the propulsion actuator and the sensing and monitoring module. The control module is equipped with a thrust distribution algorithm, which can independently adjust the output pressure of hydraulic jacks in different directions based on the data fed back by the sensing and monitoring module, so as to realize active correction and thrust compensation of the pipe jacking relay system.

[0014] In some embodiments, the hydraulic jacks in the propulsion actuator are divided into at least four independent control zones;

[0015] Each control zone is equipped with an independent electro-hydraulic proportional valve, and the control module adjusts the thrust of the corresponding zone by controlling the opening of the electro-hydraulic proportional valve;

[0016] The sliding sealing structure includes an inflatable airbag sealing ring, which is connected to an independent pressure regulating pump.

[0017] In some embodiments, the sensing and monitoring module includes:

[0018] Pressure sensors distributed on each hydraulic jack are used to collect real-time thrust values. ;

[0019] Displacement sensors distributed at the connection between the front and rear housings are used to collect the stroke extension / retraction amount. ;

[0020] A dual-axis tilt sensor mounted on the front housing is used to acquire the current pitch angle. and roll angle ;

[0021] A pore water pressure sensor mounted on the front housing is used to collect water and soil pressure data from the external environment. .

[0022] This application also provides a construction control method for an adaptive correction pipe jacking relay system, applicable to the aforementioned adaptive correction pipe jacking relay system, and includes the following steps:

[0023] S1: System initialization, setting the target axis trajectory and allowable deviation threshold;

[0024] S2: During the jacking process, the sensor monitoring module collects the attitude data and force data of the jacking relay system at the current time t in real time;

[0025] S3: The control center uses a dynamic friction inversion model to calculate the pipe wall friction resistance under the current geological environment;

[0026] S4: The control center calculates the target thrust of each control zone based on the attitude deviation using the correction torque allocation algorithm;

[0027] S5: Output control commands to the propulsion actuator to perform differentiated jacking;

[0028] S6: Repeat steps S2-S5 until the jacking of the pipe section is completed.

[0029] In some embodiments, the calculation method of the dynamic friction inversion model in step S3 includes:

[0030] Let the total thrust at the current time t be... The instantaneous advancing speed of the pipe jacking relay system is The equivalent viscous friction coefficient of the current pipe-soil contact surface is calculated using the following formula. :

[0031]

[0032] Where m is the preset mass constant of the pushed pipe segment; For acceleration, data from displacement sensors Obtained by taking the second derivative with respect to time; The normal stress at the interface between the pipe and the soil; The outer surface area of ​​the pipe section;

[0033] The output equivalent viscous friction coefficient This will be used as the input parameter for step S4.

[0034] In some embodiments, in step S4, the corrective torque allocation algorithm first calculates the required total corrective torque vector. The calculation formula is: in: The deviation vector is formed by the target axis coordinates and the current attitude data. ) was calculated; This is the proportional gain coefficient. The differential gain coefficient; For the output of step S3 The calculated resistance torque caused by uneven friction is used as a feedforward compensation term.

[0035] In some embodiments, after calculating the total corrective torque vector Then, it is decomposed into the first... Target thrust of each control zone The decomposition logic satisfies the following data flow constraints:

[0036] Input: Magnitude of the total corrective torque vector and its direction angle and basic jacking force Process: Based on the first Geometric center angle of each control zone Calculate the allocation weight of this partition. :

[0037] Output: The The final command thrust of each control zone :

[0038] in This is the conversion coefficient between torque and force, and it must satisfy the constraint conditions. If the maximum thrust is exceeded Then for all Perform normalization reduction.

[0039] In some embodiments, the sliding sealing structure of the pipe jacking relay system is an inflatable airbag sealing ring. The construction control method of the adaptive correction pipe jacking relay system further includes an active sealing pressure adjustment step, which is executed in parallel with step S5: the control center reads the data from the pore water pressure sensor in real time. The internal inflation pressure of the airbag sealing ring is controlled according to the following logic. :

[0040] in: The pressure transmission coefficient has a range of values. ; This is the preset safety redundancy pressure value; For dynamic compensation items, where The advancing speed of the pipe jacking relay system, The dynamic pressure coefficient is related to the viscoelasticity of the sealing material; this step is used to automatically increase the sealing clamping force during high-speed propulsion and reduce the clamping force when propulsion stops to extend the seal life.

[0041] In some embodiments, the thrust allocation algorithm further includes an actuator fault reconfiguration mechanism:

[0042] When the first The actual pressure of each control zone If the pressure remains consistently below the commanded level and the deviation exceeds the threshold, the control partition is deemed to have failed, and its weight is reduced. Set to 0;

[0043] This triggers a torque redistribution calculation, utilizing the adjacent first... and The partition assumes the torque component of the failed partition, and the corrected target thrust of the adjacent partition. The calculation formula is:

[0044]

[0045] in, The target thrust for the k-th control zone, The load transfer factor is set such that the resultant torque vector generated by the thrust of each zone after redistribution is equal to the original total corrective torque vector. Collinear.

[0046] In some embodiments, the first The No. 1 pipe jacking relay system is a subordinate node, and the No. 1 in front of it is a... The main node is the No. 1 pipe jacking relay system or the machine head. The propulsion speed command for the No. 1 jacking pipe relay system Dynamically generated based on a cascaded synchronization algorithm: in: This refers to the real-time advancement speed of the next higher-level node. The preset target extension stroke of the pipe jacking relay system; For the first The current actual travel length of the No. 1 pipe jacking relay system; This is the travel synchronization gain coefficient.

[0047] In summary, this application includes at least one of the following beneficial technical effects:

[0048] 1. By dividing the hydraulic jacks into independent control zones and equipping them with electro-hydraulic proportional valves, and combining this with a thrust distribution algorithm based on cosine weights, the traditional relay station, which could only perform simple group switching, has been transformed. This technology enables the system to calculate the target thrust distributed according to a cosine law based on the corrective torque vector, achieving a smooth transition of thrust from each jack. This not only accurately generates the corrective torque in the required direction but also effectively avoids the risk of concrete collapse at the pipe section end face due to sudden changes in local thrust or overload through a normalization reduction mechanism, thus improving construction safety.

[0049] 2. A dynamic friction inversion model and a correction control strategy including feedforward compensation terms are introduced. By collecting thrust, acceleration, and environmental water and soil pressure in real time, the system can invert and calculate the current equivalent viscous friction coefficient of the pipe and soil, and predict the resistance torque caused by geological inhomogeneity. This ability to "sense geology" enables the control system to apply reverse compensation torque before or at the initial stage of deviation, effectively overcoming the lag of traditional manual correction, reducing the "snake-like" swaying of the pipeline axis, and improving trajectory control accuracy.

[0050] 3. An inflatable airbag sealing ring and its active pressure regulation method are adopted. By establishing control logic that includes environmental pressure following and speed dynamic compensation, the system can dynamically adjust the internal pressure of the airbag according to the external pore water pressure and real-time propulsion speed. This technology ensures that the airbag can provide sufficient sealing pressure to prevent mud and water backflow under high-speed propulsion or high water pressure environments, while automatically reducing the pressure to reduce friction loss under conditions of stopped propulsion or low pressure. This effectively solves the contradiction between seal wear and leakage, and extends the equipment maintenance cycle. Attached Figure Description

[0051] Figure 1 This is a schematic diagram of the structure of an adaptive correction pipe jacking relay system provided in one embodiment of this application;

[0052] Explanation of reference numerals in the attached drawings: 1. Front housing; 2. Rear housing; 3. Sliding sealing structure; 4. Hydraulic jack; 5. Pressure sensor; 6. Displacement sensor; 7. Dual-axis tilt sensor; 8. Pore water pressure sensor. Detailed Implementation

[0053] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the following embodiments are for illustrative purposes only and are not intended to limit the scope of the invention.

[0054] Example 1

[0055] Please refer to Figure 1This embodiment provides an adaptive correction system for a pipe jacking relay station. This system is mainly composed of four organically combined parts: a mechanical structure, a hydraulic drive system, a sensing system, and an intelligent control system. In terms of mechanical structure, the main structure of the pipe jacking relay station includes a relay station cylinder, which is divided into a front shell 1 and a rear shell 2. The front shell 1 and the rear shell 2 are connected by a sliding sealing structure 3, allowing for axial relative displacement and slight angular deflection between them, thus adapting to the expansion and correction requirements during the jacking process. To address the problem of traditional rubber seals failing under variable loads, the sliding sealing structure 3 employs an inflatable airbag sealing ring. This airbag sealing ring is connected to an independent pressure regulating pump, which can dynamically adjust the inflation pressure inside the airbag according to commands, achieving active sealing.

[0056] At the drive and execution level, the propulsion actuator is installed between the front housing 1 and the rear housing 2, and consists of several circumferentially distributed hydraulic jacks 4. These jacks are responsible for transmitting the thrust of the rear pipe section to the front pipe section. Unlike existing technologies where all jacks share a single hydraulic line or are simply grouped vertically, the propulsion actuator in this embodiment employs a refined zone control strategy. Specifically, the hydraulic jacks 4 are divided into at least four independent control zones (e.g., upper, lower, left, and right quadrants, or more subdivided sectors), and each control zone is equipped with an independent electro-hydraulic proportional valve. The control module can continuously and linearly adjust the flow rate and pressure of the hydraulic oil in the corresponding zone by controlling the opening of the electro-hydraulic proportional valve. This hardware architecture is the basis for achieving active correction, enabling the system to apply non-uniform thrust in the circumferential direction, thereby generating a correction torque in any direction.

[0057] To achieve intelligent closed-loop control, the system is equipped with a comprehensive sensing and monitoring module. This module includes various types of sensors: firstly, pressure sensors 5 distributed on each hydraulic jack 4 are used to collect real-time thrust values. First, to monitor the actual output of each zone; second, displacement sensors 6, located at the connection between the front housing 1 and the rear housing 2, are used to accurately collect the stroke extension and contraction. It is used not only to prevent the relay travel from exceeding the limit, but also to calculate the propulsion speed and acceleration; furthermore, the dual-axis tilt sensor 7 mounted on the front housing 1 is the core of attitude sensing, used to collect the current pitch angle in real time. and roll angle It can capture extremely minute attitude changes of the pipe section; finally, the pore water pressure sensor 8 installed on the front housing 1 is in direct contact with the external strata to collect water and soil pressure data from the external environment. This provides environmental data for friction analysis and sealing pressure regulation. The control module communicates with the aforementioned propulsion actuator and sensor monitoring module. It is equipped with a thrust distribution algorithm, which can independently adjust the output pressure of the hydraulic jacks 4 in different positions based on the data fed back by the sensor monitoring module, thereby realizing active correction and thrust compensation of the pipe jacking relay system.

[0058] Example 2

[0059] This embodiment further details the construction control method of the aforementioned adaptive correction pipe jacking relay system, particularly its core dynamic friction inversion and correction torque calculation process. This control method achieves automation from perception to execution through a rigorous set of logical steps (S1 to S6) executed cyclically.

[0060] During system operation, the control center first performs initialization, setting the target axis trajectory and allowable deviation threshold. It then enters a real-time cyclic monitoring phase, collecting system attitude and force data at the current time t through the sensor monitoring module. Based on this, the control center uses a dynamic friction inversion model to calculate the pipe wall friction resistance under the current geological environment. This is a crucial "geological sensing" step, and its calculation logic is as follows: Let the total thrust at the current time t be... The instantaneous advancing speed of the pipe jacking relay system is The equivalent viscous friction coefficient of the current pipe-soil contact surface is calculated using physical dynamics formulas. The formula is:

[0061]

[0062] The numerator represents the net thrust used to overcome friction, which is the total thrust minus the mass used to drive the pipe section. Generate acceleration The inertial force; the denominator is the normal pressure source of friction, i.e., the normal stress at the pipe-soil contact surface. With the outer surface area of ​​the pipe section The product of these factors. Through this inversion model, the system can determine in real time whether the current formation is "soft" or "hard," and output the equivalent viscous friction coefficient. As an important input parameter for subsequent correction calculations.

[0063] After obtaining the formation friction characteristics and current attitude deviation, the control center will use a corrective torque allocation algorithm to calculate the target thrust for each control zone. This algorithm first calculates the required total corrective torque vector. Its calculation formula adopts an improved PID control strategy combined with a feedforward compensation mechanism:

[0064] ,

[0065] In the formula, The target axis coordinates and current attitude data ( The deviation vector calculated; This is the proportional gain coefficient, used to correct the current static error; This is the differential gain coefficient, used to perform reverse control in advance based on the rate of change of the deviation, effectively suppressing the lag and overshoot phenomena in traditional deviation correction. Crucially, the formula introduces... As a feedforward compensation term, this term is based on the friction coefficient output from the previous step. The calculated drag torque caused by uneven friction. This means that if the system detects that the friction on the left side of the strata is greater than that on the right side, the algorithm will automatically generate a compensating torque to counteract the natural deflection trend caused by this geological unevenness, thereby greatly improving the stability and accuracy of the correction.

[0066] After calculating the total corrective torque vector and its direction angle Then, the system needs to decompose it into the first... Target thrust of each control zone To avoid damage to the pipe section end face due to uneven stress caused by sudden changes in thrust between adjacent sections, this embodiment employs a smooth distribution logic based on a cosine function.

[0067] The specific data flow constraints are as follows: (Based on the magnitude of the total corrective torque vector) Direction angle and basic jacking force For input, the system is based on the first Geometric center angle of each control zone Calculate the allocation weight of this partition. The calculation formula is: The physical meaning of this weight value is that the closer the partition is to the target direction of correction, the greater its weight; conversely, the farther away it is, the smaller or even negative its weight. Ultimately, the... The final command thrust of each control zone The calculation is as follows: .in This is the torque-to-force conversion coefficient. This distribution method ensures that the thrust of each jack presents a smooth cosine wave distribution on the circumference, and the resultant torque direction of each zone precisely points to the required correction direction. Furthermore, to protect equipment safety, the system has a maximum thrust limit. If a certain partition is calculated If this limit is exceeded, the algorithm will normalize and reduce the thrust of all partitions, prioritizing ensuring that the equipment is not overloaded, and secondly ensuring the correctness of the correction direction.

[0068] Furthermore, this thrust distribution algorithm also includes an actuator failure reconfiguration mechanism to enhance system robustness. In harsh construction environments, jacks or valve assemblies may fail. When the first... The actual pressure of each control zone If the pressure remains consistently below the commanded level and the deviation exceeds the threshold, the system will determine that the control partition has failed and will adjust its weight. Forced to 0. Subsequently, the system immediately triggers torque redistribution calculation, utilizing the adjacent [number] [unit]. and The partition assumes the torque component of the failed partition. The corrected target thrust of the adjacent partition. The calculation formula is:

[0069]

[0070] in, The load transfer coefficient is a value that is precisely set so that the resultant moment vector of the thrust generated by each zone after redistribution is equal to the original total corrective moment vector. They remain collinear. This mechanism allows the relay station to maintain effective correction capabilities even when some jacks fail, greatly reducing the risk of downtime due to equipment failure.

[0071] Example 3

[0072] This embodiment describes the technical details of the system in terms of sealing control and multi-level coordination. For the aforementioned inflatable airbag sealing ring, the construction control method includes an active sealing pressure adjustment step that runs parallel to the jacking step. The control center reads data from the pore water pressure sensor 8 in real time. And control the internal inflation pressure of the airbag sealing ring according to the logic formula. The formula is:

[0073]

[0074] In the formula, The pressure transmission coefficient (range 1.05 to 1.2) ensures that the airbag pressure is always slightly higher than the ambient water pressure, preventing mud and water backflow. This is a preset safety redundancy pressure value; and For dynamic compensation items, where To accelerate, This is the dynamic pressure coefficient related to the viscoelasticity of the sealing material. This control logic enables the system to automatically increase the sealing clamping force to cope with dynamic disturbances during high-speed propulsion, and automatically reduce the clamping force to reduce wear when propulsion stops, thereby significantly extending the service life of the seal.

[0075] For long-distance pipe jacking construction, cascading operations between multiple relays are often involved. This system employs a cascading synchronization algorithm for this purpose. (The last part, "Setting the first...", appears to be an incomplete sentence or fragment.) The No. 1 pipe jacking relay system is a subordinate node, and the No. 1 in front of it is a... The main node is the relay station system or the tunnel boring machine head. The propulsion speed command for the No. 1 jacking pipe relay system It is dynamically generated, and the formula is:

[0076]

[0077] in, This represents the real-time advancement speed of the previous level node, demonstrating the speed-following characteristic; The preset target extension stroke is usually set to the middle value of the inter-relay stroke; This represents the current actual travel length. This is the stroke synchronization gain coefficient. The algorithm is equivalent to establishing a "virtual spring" connection between each relay, controlling each relay in the entire pipeline to always approach the preset target extension stroke, effectively preventing engineering accidents such as pipe section cracking or relay stroke being locked (blocked or pulled out) due to speed mismatch between nodes.

[0078] In summary, this embodiment achieves fully intelligent control of the pipe jacking relay system by combining hardware-based partitioned independent driving and multi-dimensional perception with software-based dynamic friction inversion, vector thrust allocation, and fault-tolerant algorithms. This solves technical problems such as delayed correction, uneven stress, and sealing failure in traditional construction.

[0079] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Any other corresponding changes and modifications made based on the technical concept of this application should be included within the scope of protection of this application.

Claims

1. An adaptive correction system for pipe jacking relay stations, characterized in that, include: The intermediate cylinder includes a front shell (1) and a rear shell (2), which are connected by a sliding sealing structure (3); The propulsion actuator is installed between the front housing (1) and the rear housing (2) and consists of several hydraulic jacks (4) arranged in a circular pattern. Sensing and monitoring modules are used to collect construction status data in real time; as well as The control module is connected in communication with the propulsion actuator and the sensing and monitoring module. The control module is equipped with a thrust distribution algorithm, which can independently adjust the output pressure of the hydraulic jacks (4) in different directions according to the data fed back by the sensing and monitoring module, so as to realize the active correction and thrust compensation of the pipe jacking relay system.

2. The adaptive correction system for pipe jacking relay stations according to claim 1, characterized in that, The hydraulic jacks (4) in the propulsion actuator are divided into at least four independent control zones; Each control zone is equipped with an independent electro-hydraulic proportional valve, and the control module adjusts the thrust of the corresponding zone by controlling the opening of the electro-hydraulic proportional valve; The sliding sealing structure (3) includes an inflatable airbag sealing ring connected to an independent pressure regulating pump.

3. The adaptive correction system for pipe jacking relay stations according to claim 1, characterized in that, The sensing and monitoring module includes: Pressure sensors (5) are distributed on each hydraulic jack (4) to collect real-time thrust values. ; Displacement sensors (6) distributed at the connection between the front housing (1) and the rear housing (2) are used to collect the stroke extension amount. ; A dual-axis tilt sensor (7) mounted on the front housing (1) is used to acquire the current pitch angle. and roll angle ; A pore water pressure sensor (8) mounted on the front housing (1) is used to collect water and soil pressure data from the external environment. .

4. A construction control method for an adaptive correction pipe jacking relay system, characterized in that, The adaptive correction system for pipe jacking relays as described in any one of claims 1-3 is applicable and includes the following steps: S1: System initialization, setting the target axis trajectory and allowable deviation threshold; S2: During the jacking process, the sensor monitoring module collects the attitude data and force data of the jacking relay system at the current time t in real time; S3: The control center uses a dynamic friction inversion model to calculate the pipe wall friction resistance under the current geological environment; S4: The control center calculates the target thrust of each control zone based on the attitude deviation using the correction torque allocation algorithm; S5: Output control commands to the propulsion actuator to perform differentiated jacking; S6: Repeat steps S2-S5 until the jacking of the pipe section is completed.

5. The construction control method for the adaptive correction pipe jacking relay system according to claim 4, characterized in that, In step S3, the calculation method of the dynamic friction inversion model includes: Let the total thrust at the current time t be... The instantaneous advancing speed of the pipe jacking relay system is The equivalent viscous friction coefficient of the current pipe-soil contact surface is calculated using the following formula. : Where m is the preset mass constant of the pushed pipe segment; For acceleration, data from displacement sensor (6) Obtained by taking the second derivative with respect to time; The normal stress at the interface between the pipe and the soil; The outer surface area of ​​the pipe section; The output equivalent viscous friction coefficient This will be used as the input parameter for step S4.

6. The construction control method for the adaptive correction pipe jacking relay system according to claim 5, characterized in that, In step S4, the corrective torque allocation algorithm first calculates the required total corrective torque vector. The calculation formula is: in: The deviation vector is formed by the target axis coordinates and the current attitude data. ) was calculated; This is the proportional gain coefficient. The differential gain coefficient; For the output of step S3 The calculated resistance torque caused by uneven friction is used as a feedforward compensation term.

7. The construction control method for the adaptive correction pipe jacking relay system according to claim 6, characterized in that, After calculating the total corrective torque vector Then, it is decomposed into the first... Target thrust of each control zone The decomposition logic satisfies the following data flow constraints: Input: Magnitude of the total corrective torque vector and its direction angle and basic jacking force Process: Based on the first Geometric center angle of each control zone Calculate the allocation weight of this partition. : Output: The The final command thrust of each control zone : in This is the conversion coefficient between torque and force, and it must satisfy the constraint conditions. ; If it exceeds the maximum thrust Then for all Perform normalization reduction.

8. The construction control method for the adaptive correction pipe jacking relay system according to claim 4, characterized in that, The sliding sealing structure (3) of the pipe jacking relay system is an inflatable airbag sealing ring. The construction control method of the adaptive correction pipe jacking relay system also includes an active sealing pressure adjustment step, which is executed in parallel with step S5: the control center reads the data from the pore water pressure sensor (8) in real time. The internal inflation pressure of the airbag sealing ring is controlled according to the following logic. : in: The pressure transmission coefficient has a range of values. ; This is the preset safety redundancy pressure value; For dynamic compensation items, where The advancing speed of the pipe jacking relay system, The dynamic pressure coefficient is related to the viscoelasticity of the sealing material; this step is used to automatically increase the sealing clamping force during high-speed propulsion and reduce the clamping force when propulsion stops to extend the seal life.

9. The construction control method for the adaptive correction pipe jacking relay system according to claim 7, characterized in that, The thrust allocation algorithm also includes an actuator fault reconfiguration mechanism: When the first The actual pressure of each control zone If the pressure remains consistently below the commanded level and the deviation exceeds the threshold, the control partition is deemed to have failed, and its weight is reduced. Set to 0; This triggers a torque redistribution calculation, utilizing the adjacent first... and The partition assumes the torque component of the failed partition, and the corrected target thrust of the adjacent partition. The calculation formula is: in, The target thrust for the k-th control zone, The load transfer factor is set such that the resultant torque vector generated by the thrust of each zone after redistribution is equal to the original total corrective torque vector. Collinear.

10. The construction control method for the adaptive correction pipe jacking relay system according to claim 4, characterized in that, Setting the first The No. 1 pipe jacking relay system is a subordinate node, and the No. 1 in front of it is a... The main node is the No. 1 pipe jacking relay system or the machine head. The propulsion speed command for the No. 1 jacking pipe relay system Dynamically generated based on a cascaded synchronization algorithm: in: This refers to the real-time advancement speed of the next higher-level node. The preset target extension stroke of the pipe jacking relay system; For the first The current actual travel length of the No. 1 pipe jacking relay system; This is the travel synchronization gain coefficient.

Images