TBM Support Step-Changing Hydraulic System Design Optimization Methods and Devices, Storage Medium

Abstract

This invention discloses a design optimization method, device, and storage medium for a TBM support and step-changing hydraulic system. By calculating the compliance of the TBM support and step-changing hydraulic system in real time and dynamically adjusting the parameters of hydraulic components, the hydraulic system adaptively adjusts its compliance according to load changes during the switching of different support and step-changing working conditions. This invention can effectively suppress pressure and flow shocks caused by sudden load changes, improve the dynamic response performance and stability of the hydraulic system, reduce oscillation and fatigue wear of hydraulic components, and improve the overall reliability of the system. In addition, through real-time compliance optimization control, this invention helps to improve the coordination and accuracy of support and step-changing actions, thereby extending the service life of the hydraulic system and key components and enhancing the safety and efficiency of the construction process.

Description

Technical Field

[0001] This invention belongs to the technical field of full-face tunnel boring machines (TBMs), specifically relating to a design optimization method and device for a TBM support step-changing hydraulic system, and a storage medium. Background Technology

[0002] A full-face tunnel boring machine (TBM) is a large-scale tunnel construction equipment integrating mechanical, electrical, hydraulic, and automatic control technologies. It is widely used in continuous tunneling construction for underground transportation, energy, and municipal engineering projects, offering significantly higher efficiency and safety compared to traditional drill-and-blast methods. A TBM consists of a cutterhead system, propulsion system, support and step-changing system, muck removal system, and support system. The support and step-changing system, as the core subsystem for power transmission, plays a crucial role in adjusting the shield's attitude, stabilizing the working face, and facilitating the step-changing process, thus ensuring both tunneling efficiency and construction stability. The hydraulic system within the support and step-changing system, with its high power density, high response speed, and precise control capabilities, is widely used as the main drive mechanism for this system.

[0003] In the support-step-changing system, hydraulic components, especially hydraulic valves, hydraulic cylinders, and hydraulic pipelines, together form the execution framework for support and step-changing actions. Hydraulic valves regulate system pressure and flow to control the speed and force output of the support shoe cylinder, support cylinder, and step-changing actuators, thereby ensuring the coordinated matching of the surrounding rock support force, support shoe positioning force, and step-changing action force. Hydraulic cylinders, as the main power output actuators, apply necessary support force to the surrounding rock through multi-cylinder collaborative work, maintaining the stable posture of the TBM and the excavation section. During the support-step-changing process, they complete actions such as support shoe extension, support force adjustment, and support shoe retraction to meet the TBM's requirements for support and step-changing operations during the tunneling cycle. Hydraulic pipelines connect the oil source, control components, and actuators, ensuring reliable and timely transmission of pressurized oil to all functional units of the system, achieving overall fluid power transmission and precise action control of each hydraulic actuator.

[0004] During the transition of a TBM from straight-line tunneling to initial turning and attitude recovery, the interaction between the cutterhead and the surrounding rock changes significantly, causing abrupt changes and impacts in the propulsion, support, and attitude adjustment loads. These load impacts not only cause instantaneous stress concentration in the mechanical structure, increasing the risk of fatigue damage to the propulsion and support components, but also generate significant transient fluctuations in pressure and flow within the hydraulic system, leading to adverse phenomena such as hydraulic valve spool oscillation and actuator response lag. These dynamic load impacts have a significant impact on the dynamic response characteristics and stability of the hydraulic system; improper handling will reduce the overall reliability of the equipment and may induce construction failures.

[0005] However, existing TBM hydraulic system designs are primarily based on component selection and pressure / flow matching analysis under static operating conditions, with insufficient consideration given to the dynamic response and compliance changes of the hydraulic system caused by sudden load changes. In traditional solutions, the configuration and control strategies of components such as hydraulic valves and safety valves often employ fixed parameter settings, making it difficult to effectively suppress transient fluctuations in pressure and flow caused by load impacts. This results in reduced system stability and control accuracy during transitions between different operating conditions. Furthermore, existing technologies lack real-time adjustment and adaptive optimization strategies for hydraulic systems under sudden load conditions, failing to fully meet the long-term stable operation requirements of TBMs under complex dynamic load environments. Summary of the Invention

[0006] To address the problems existing in the prior art, this invention provides a design optimization method and device for a TBM support step-changing hydraulic system, as well as a storage medium, to solve the problem of insufficient dynamic response capability of the hydraulic device in the existing full-face tunnel boring machine (TBM) support step-changing system under sudden load changes.

[0007] To achieve the above objectives, the present invention provides the following solution: A method for designing and optimizing a TBM support step-changing hydraulic system includes: Step S1: Construct a compliance model of the TBM support step-changing hydraulic system; wherein, the hydraulic components of the TBM support step-changing hydraulic system include: proportional relief valve, safety valve, proportional speed control valve, hydraulic cylinder, and pipeline; Step S2: Based on the compliance model of the TBM support and step-changing hydraulic system, the compliance of the TBM support and step-changing hydraulic system is calculated in real time and the hydraulic component parameters are dynamically adjusted so that the hydraulic system can adaptively adjust its compliance according to the load changes during the switching of different support and step-changing working conditions; wherein, the compliance includes: instantaneous compliance and average compliance.

[0008] Preferably, in step S2, the compliance is matched to the current operating conditions of the TBM, wherein the instantaneous compliance is greater than 50 and the average compliance is greater than 0.3.

[0009] The present invention also provides a design optimization device for a TBM support step-changing hydraulic system, comprising: The first processing module is used to construct a compliance model of the TBM support step-changing hydraulic system; wherein, the hydraulic components of the TBM support step-changing hydraulic system include: a proportional relief valve, a safety valve, a proportional speed control valve, a hydraulic cylinder, and pipelines. The first processing module is used to calculate the compliance of the TBM support and step-changing hydraulic system in real time and dynamically adjust the parameters of hydraulic components based on the compliance model of the TBM support and step-changing hydraulic system, so that the hydraulic system can adaptively adjust its compliance according to the load changes during the switching of different support and step-changing working conditions; wherein, the compliance includes: instantaneous compliance and average compliance.

[0010] Preferably, the first processing module is used to match the compliance to the current operating conditions of the TBM, wherein the instantaneous compliance is greater than 50 and the average compliance is greater than 0.3.

[0011] The present invention also provides a storage medium storing a computer program, which executes a design optimization method for a TBM support step-changing hydraulic system when running.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention can respond to load changes in real time and adjust the compliance of the TBM support and step-changing hydraulic system. By dynamically adjusting the component parameters in the TBM support and step-changing hydraulic system, it achieves coordinated control of the TBM support and step-changing hydraulic system at different operating stages, thereby achieving the following objectives: 1. Improve the ability of the TBM support step-changing hydraulic system to suppress pressure and flow shocks caused by sudden load changes, and improve the dynamic stability of the system; 2. Real-time adjustment and self-adaptation of the parameters of the TBM support and step-changing hydraulic system, so that the system maintains optimized compliant response during the switching of different support and step-changing working conditions; 3. Improve the overall control coordination and reliability of the TBM support step-changing hydraulic system, and extend the service life of hydraulic components and systems; Through the above technical solutions, the present invention can realize real-time identification and dynamic adjustment of the compliance of the TBM support and step-changing hydraulic system, enabling the hydraulic system to adapt to load changes during the switching process of different working stages, effectively suppressing pressure and flow shocks, improving the dynamic response performance and control stability of the system, enhancing the shock resistance of hydraulic components and the overall system, improving the coordination and reliability of support and step-changing actions, thereby extending the system life and improving construction safety and efficiency. Attached Figure Description

[0013] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a flowchart illustrating the design optimization method for the TBM support step-changing hydraulic system according to an embodiment of the present invention. Figure 2 This is a schematic diagram of a TBM turning and steering. Figure 3 The structure of the TBM supporting the step-changing system; Figure 4 This is a control block diagram to support the step-changing hydraulic system. Detailed Implementation

[0015] 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 skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0017] Example 1 like Figure 1 As shown, the present invention provides a design optimization method for a TBM support step-changing hydraulic system, comprising: Step S1: Construct a compliance model of the TBM support step-changing hydraulic system; wherein, the hydraulic components of the TBM support step-changing hydraulic system include: proportional relief valve, safety valve, proportional speed control valve, and hydraulic cylinder pipeline. Step S2: Based on the compliance model of the TBM support and step-changing hydraulic system, the compliance of the TBM support and step-changing hydraulic system is calculated in real time and the hydraulic component parameters are dynamically adjusted so that the hydraulic system can adaptively adjust its compliance according to the load changes during the switching of different support and step-changing working conditions; wherein, the compliance includes: instantaneous compliance and average compliance.

[0018] As one embodiment of the present invention, step S1 includes: Step S11: Determining the tunneling construction status Determine the geological conditions and construction status of the TBM to obtain the corresponding rock friction coefficient and TBM turning radius parameters.

[0019] Step S12: TBM Pose and Load Calculation Substituting the turning radius into the TBM pose equation, we obtain the pose transformation equation between the cutterhead and the shield during TBM construction. A schematic diagram of TBM turning and reorientation is shown below. Figure 2 As shown. The pose equations of the cutterhead and the shield body satisfy: (1) in, R The turning radius; F This refers to the cutterhead penetration depth. n The rotational speed of the cutter head; v 0 represents propulsion speed; t For tunneling time; u , w These represent the TBM in the coordinate system. uw Displacement in the direction; Δl The magnitude of the displacement of the center point of the cutter head, Δ θ This represents the deflection degree of the cutter head.

[0020] The structure of the TBM-supported step-changing system is as follows: Figure 3 As shown. Wherein, the coordinate system... O '- uvw Represents the coordinate system of the tool turret center, coordinate system O - xyz It represents the frame coordinate system and is located at the midpoint of the line connecting the centers of the ball joints at the ends of the two supporting cylinders. A 11 A 21 This represents the side of the hydraulic cylinder that is closer to the cutter head. A 12 A 22 This indicates that the propulsion cylinder is located near the support shoe end. C Let be the geometric center of the moving guide rail on the saddle. D It is the geometric center of the horizontal axis of the cross pin. B 11 B 21 This represents the upper end of the torque cylinder on one side. B 12 B 22 This indicates that the propulsion cylinder is located at the lower end.

[0021] Using the vector method, the kinematic constraint equations of the TBM support step-changing system can be obtained as follows: (2) in, r 1. r 2. r 3 represents the movable hinge point of the propulsion cylinder, the movable hinge point of the torque cylinder, and the origin of the TBM cutterhead coordinate system, respectively. O’ Relative to coordinate system O - xyz coordinates a i1 , b i1 The movable hinge points of the propulsion cylinder and torque cylinder are respectively located in the coordinate system. O '- uvw The position vector below, a i2 , b i2 The fixed hinge points of the propulsion cylinder and torque cylinder are respectively located in the coordinate system. O - xyz The position vector below, d , d’ Point D in the coordinate systemO '- uvw and coordinate system O - xyz The position vector below; R 1. R 2. R 3 represents the movable hinge point of the propulsion cylinder, the movable hinge point of the torque cylinder, and the origin of the TBM cutterhead coordinate system, respectively. O’ From the coordinate system O - xyz To coordinate system O '- uvw The rotation matrix; l ai , l bi These represent the lengths of the propulsion cylinder and the torque cylinder, respectively. s ai , s bi These represent the unit vectors of the propulsion cylinder and the torque cylinder, respectively.

[0022] By substituting the rock friction coefficient and orientation transformation equation into the TBM load balance equation, the load change of the TBM during construction can be obtained.

[0023] During the operation of a TBM, the load balance equation for its thrust and torque is as follows: (3) in, coordinate system O - xyz Unit vectors along each axis; coordinate system O '- uvw Unit vectors for each axis; f L , τ L The thrust and torque acting on the cutter head; f drag For the frictional resistance of the shield; m p , m b、 m s For the mass of the cutterhead, main beam, and saddle; g It is the acceleration due to gravity; c b , c s The center coordinates of the main beam and the saddle; f a,i For the first i The thrust of each propulsion cylinder f b,i For the first iThe thrust of a torque cylinder; f d,x , f d,z For cross pins in D Point edge x and z The reaction force of the axis; μ f The static friction coefficient of the rock; R The radius of the shield; where, f drag It can be described as: (4) in, μ s The coefficient of friction between the surrounding rock and the shield. p 0 represents the shield contact pressure; ρ The contact angle of the surrounding rock shield; D The width of the shield body; l si This refers to the shield length.

[0024] Step S13: Calculate the maximum load surge of the system. Based on the changes in rock strata and the tunneling path during TBM construction, the maximum load change that will occur in the TBM support step-changing hydraulic system during operation is obtained by substituting its posture equation (1), equation (2) and load balance equation (3).

[0025] Step S14: Calculate the compliance of the hydraulic system Hydraulic system compliance refers to the system's ability to cope with sudden load changes. It is characterized by the generalized volume change resulting from a unit pressure change in a given hydraulic system under sudden load changes. It is a dynamic index comprehensively reflecting the flexibility of the hydraulic system and is represented by letters. According to the definition, compliance can be expressed as: (5) in, V For generalized volume; Δ V Δ is the change in generalized volume. p Change for pressure; p set As the reference pressure; t c To adapt to the times; For compliance; Δ t Represented by Δ t The system's adaptability over a given time period.

[0026] TBMs commonly use a proportional speed control valve + proportional relief valve control mode to control the support step-changing system. The hydraulic components of this system include: proportional relief valve, safety valve, proportional speed control valve, and hydraulic cylinder piping. Therefore, when performing compliance calculations, it is necessary to isolate each hydraulic component in the system, input the workload and component parameters into the component's own mathematical model and pressure-flow balance equation to obtain the changes in flow and pressure. Finally, the system compliance is calculated by combining the pressure and flow of all components. The following are the mathematical models of typical components and their pressure-flow relationship.

[0027] Proportional relief valve modeling: The pressure-flow equation through the proportional relief valve orifice is: (6) Where, Δ q 2 represents the flow rate through the proportional valve; C d For flow coefficient; d 1 represents the diameter of the overflow valve core; y Δ represents the initial displacement of the valve core. y For valve core displacement; Δ p L For load pressure changes; sinβ For the cone valve core opening angle; ρ This refers to the density of the hydraulic oil.

[0028] The force balance equation for the proportional relief valve spool is: (7) in, m 2 represents the valve core mass; k 3 represents the stiffness of the spring on the left side of the valve core; k 4 represents the spring stiffness on the right side of the valve core; Δ y 1 represents the displacement of the proportional electromagnet armature; A 2 represents the flow area of ​​the proportional relief valve; D 2 represents the viscous damping coefficient of the electromagnet.

[0029] The force balance equation for the proportional solenoid valve core is: (8) in, m The mass of the proportional electromagnet armature; k i2 This is the proportionality coefficient of the electromagnet; k y Δ is the proportional electromagnet current displacement gain; i 2 represents the change in current magnitude.

[0030] When the input current of the proportional relief valve remains constant, the dynamic transfer function of the output flow rate change with load pressure change can be expressed as: (9) in, K q3 The flow gain of the proportional relief valve; K c3 The flow-pressure coefficient of the proportional relief valve; K q3 , K c3 satisfy K q3 Δ y - K c3 Δ p L =Δ q 2.

[0031] Safety valve modeling: The force balance equation for the safety valve spool is: (10) Where, Δ x 3 represents the valve core displacement; m 3 represents the valve core mass; A 3 represents the flow area of ​​the safety valve; D 3 represents the damping coefficient between the valve core and sleeve of the safety valve; k 5 indicates the stiffness of the main spring of the safety valve.

[0032] The valve core pressure-flow equation for the safety valve is: (11) Where, Δ q 3 represents the flow rate through the safety valve; x 3 represents the initial displacement of the valve core; d 2 represents the diameter of the safety valve core.

[0033] Therefore, the dynamic transfer function of the safety valve output flow rate change on the valve orifice pressure change can be obtained as follows: (12) in, K q4 For the flow gain of the safety valve, m 2 / s; K c4 This refers to the flow-pressure coefficient of the safety valve. K c4 , K q4 satisfy K q3 Δx 3- K c3 Δ p L =Δ q 3.

[0034] Modeling a proportional speed control valve: The proportional speed control valve consists of a differential pressure reducing valve and a proportional throttle valve. By changing the input current signal, the opening size of the throttle valve can be changed, thereby achieving stepless speed regulation of the hydraulic cylinder.

[0035] The force balance equation of the throttle valve core is: (13) in, k i1 Δ is the proportional electromagnet coefficient; x 2 represents the displacement of the throttle valve core; m 1 represents the mass of the throttle valve core. k 2 represents the spring stiffness of the throttle valve; Δ i 1 represents the change in current; D 1 represents the damping of the throttle valve core.

[0036] The pressure-flow equation for a throttle valve is: (14) Where, Δ q 1 represents the flow rate flowing into the proportional speed control valve; x 2 represents the initial displacement of the throttle valve spool; Δ x 2 represents the displacement change of the throttle valve spool; Δ p 2 represents the pressure change at the interface of the differential pressure reducing valve and the throttle valve.

[0037] The force balance equation of the valve core of the differential pressure reducing valve is: (15) Where, Δ x 1 represents the valve core displacement of the differential pressure reducing valve; k 1 represents the spring stiffness of the differential pressure reducing valve; A 1 represents the core area of ​​the differential pressure reducing valve.

[0038] The flow continuity equation for a differential pressure reducing valve is: (16) Where, Δ p 1 represents the inlet pressure of the speed control valve; x 1 represents the initial displacement of the valve core of the differential pressure reducing valve; d’ 3 represents the valve core diameter of the differential pressure reducing valve.

[0039] When the input signal to the proportional speed control valve remains constant, the relationship between the output flow rate of the proportional speed control valve and the change in inlet pressure can be obtained as follows: (17) in, K q1 For the flow gain of the proportional speed control valve, m 2 / s; K c1 , K c2 These are the flow and pressure coefficients of the constant differential pressure reducing valve section and the proportional throttle valve section, respectively. K q1 , K c1 , K c2 satisfy K q1 Δ x 1- K c1 K c2 Δ p 1=Δ q 1.

[0040] Pipeline modeling: Piping alters the reference volume of the hydraulic system, affecting its response speed and also impacting the compliance of the support system. The total pressure loss equation for the piping is: (18) Where, Δ p μ The pressure difference across the pipeline; λ This is the friction coefficient of the pipeline; ζ This is the local drag coefficient; l This refers to the length of the pipe. d The diameter of the pipe; v This refers to the oil flow rate in the pipeline.

[0041] The Hagen-Poiseuille equation for the pipeline is: (19) in, q 1 represents the flow rate through the pipe; μ The viscosity of the oil; l R is the pipe radius; R is the pipe inlet radius; r is the pipe radius.

[0042] Hydraulic cylinder modeling: Assuming the pressure is uniform throughout the working chamber of the hydraulic cylinder; the oil temperature and bulk modulus can be considered constant; and leakage within the hydraulic cylinder is laminar flow. In this case, the flow continuity equation for the hydraulic cylinder can be expressed as: (20) in, V 0 represents the volume of the closed cavity of the hydraulic cylinder; c tp This is the internal leakage coefficient of the hydraulic cylinder; A This refers to the area of ​​the rodless chamber of the hydraulic cylinder. E The bulk modulus of hydraulic oil; Δ x For piston rod displacement; Δ q L This represents the change in flow rate within the hydraulic cylinder.

[0043] Neglecting nonlinear loads such as Coulomb friction, the force balance equations for the hydraulic cylinder and the load can be obtained: (twenty one) in, k For load spring stiffness; M The converted total mass of all moving parts, including the piston and piston rod; B v Δ is the viscous damping coefficient of the piston and load; F This refers to the external load force acting on the piston rod.

[0044] Compliance calculation of TBM-supported step-change hydraulic system: Based on the definition of compliance, and by solving the above equations simultaneously, we can obtain the following expression for the compliance of the TBM support step-changing hydraulic system, taking the speed control valve mode as an example: (twenty two) Where, Δ q 1. Δ q 2. Δ q 3 represents the flow rate entering the proportional speed control valve, proportional relief valve, and safety valve, respectively; V To support the reference volume of the step-changing hydraulic system; c t This represents the total leakage coefficient of the hydraulic system.

[0045] Step S15: Optimization of compliance indicators Steps S11-S14 determine the compliance of the hydraulic system under maximum load abrupt change conditions. Determining the compliance domain of the hydraulic system confirms whether it meets design requirements. The determination of the compliance domain is based on practical engineering experience and includes both instantaneous and average compliance indices. Instantaneous compliance refers to the maximum compliance value of the hydraulic system under a sudden load change, while average compliance refers to the average compliance value over the period from the onset of the sudden load change until the system stabilizes. If the instantaneous compliance is greater than 50 and the average compliance is greater than 0.3, the compliance domain is considered satisfied. Otherwise, the hydraulic system needs to be redesigned.

[0046] In one embodiment of the present invention, in step S2, during the operation of the TBM, passive abrupt loads are generated due to geological characteristics. During small-radius turns, the TBM needs to switch its shield posture, transitioning from the straight-line tunneling stage to the initial adjustment stage, then to the main turning stage, and finally to the turn-off stage. Because the TBM's posture changes during these stages, the support step-changing system is also subjected to abrupt loads, affecting the dynamic characteristics of the hydraulic system. At this time, by real-time detection of system compliance, the parameters of the hydraulic components can be fine-tuned to change the overall compliance of the hydraulic system, achieving better TBM posture switching.

[0047] The control block diagram of the TBM support step-changing hydraulic system is as follows: Figure 4 As shown. Δ F This refers to the sudden loads generated by the support shoe during TBM operation due to attitude changes or changes in rock strata characteristics. This control block diagram allows for real-time calculation of the compliance of the support step-changing hydraulic system. When sudden loads occur, the valve core displacements of the safety valve and speed control valve are adjusted to regulate the hydraulic system's compliance and achieve stable operation.

[0048] Based on the TBM pose transformation equation and load balance equation from equations (1) to (4), the load conditions of the propulsion cylinder and torque cylinder of the TBM under different rock formations and different postures can be obtained, and thus the load change Δ can be obtained. F The pressure-flow variation relationship of different hydraulic components in the control block diagram, and the hydraulic cylinder force balance equations are shown in formulas (9), (12), (17), (19), and (21). Δ F By inputting the control block diagram of the support step-changing hydraulic system, the real-time compliance of the hydraulic system can be obtained. Then, the parameters of the hydraulic components can be adjusted to make the compliance match the current working condition of the TBM, that is, the instantaneous compliance is greater than 50 and the average compliance is greater than 0.3.

[0049] This invention has the following innovative features: 1. Design of a real-time computing model based on compliance: A compliance mathematical model of the TBM support step-changing hydraulic system is constructed. By collecting load and attitude signals in real time, the compliance characteristics of the system are calculated, and the compliance index is dynamically evaluated, providing a theoretical basis for the design and control of the hydraulic system.

[0050] 2. Dynamic adjustment strategy for compliant hydraulic components: A dynamic adjustment method based on real-time compliant feedback is proposed. By adjusting the parameters of hydraulic components, the hydraulic system can adapt to sudden load changes during the switching between support and step-changing stages, thereby improving the system's shock resistance and response performance.

[0051] 3. Adaptability target setting and switching rules under multi-stage operating conditions: For different working conditions such as straight tunneling, starting to turn, turning process, and posture recovery, corresponding target compliance thresholds and switching logic are set to realize phased optimization control of hydraulic system parameters and improve the overall dynamic performance of the system under multiple working conditions.

[0052] 4. Adaptive optimization design method for hydraulic system component selection and control parameter configuration: Based on the compliance analysis results, hydraulic components are selected and control parameters are optimized to improve the overall compliance performance of the system, thereby enhancing the reliability, stability, and service life of the support step-changing system.

[0053] This invention calculates the compliance of the TBM support and step-changing hydraulic system in real time and dynamically adjusts the parameters of hydraulic components, enabling the hydraulic system to adaptively adjust its compliance according to load changes during the switching of different support and step-changing working conditions. Compared with existing technologies, this invention can effectively suppress pressure and flow shocks caused by sudden load changes, improve the dynamic response performance and stability of the hydraulic system, reduce oscillation and fatigue wear of hydraulic components, and improve the overall reliability of the system. Furthermore, through real-time compliance optimization control, this invention helps to improve the coordination and precision of support and step-changing actions, thereby extending the service life of the hydraulic system and key components and enhancing the safety and efficiency of the construction process.

[0054] Example 2 The present invention also provides a design optimization device for a TBM support step-changing hydraulic system, comprising: The first processing module is used to construct a compliance model of the TBM support step-changing hydraulic system; wherein, the hydraulic components of the TBM support step-changing hydraulic system include: a proportional relief valve, a safety valve, a proportional speed control valve, a hydraulic cylinder, and pipelines. The first processing module is used to calculate the compliance of the TBM support and step-changing hydraulic system in real time and dynamically adjust the parameters of hydraulic components based on the compliance model of the TBM support and step-changing hydraulic system, so that the hydraulic system can adaptively adjust its compliance according to the load changes during the switching of different support and step-changing working conditions; wherein, the compliance includes: instantaneous compliance and average compliance.

[0055] As one embodiment of the present invention, the first processing module is used to make the compliance match the current operating condition of the TBM, wherein the instantaneous compliance is greater than 50 and the average compliance is greater than 0.3.

[0056] Example 3 The present invention also provides a storage medium storing a computer program, which executes a design optimization method for a TBM support step-changing hydraulic system when running.

[0057] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made to the technical solutions of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A method for designing and optimizing a TBM support step-changing hydraulic system, characterized in that, include: Step S1: Construct a compliance model of the TBM support step-changing hydraulic system; wherein, the hydraulic components of the TBM support step-changing hydraulic system include: proportional relief valve, safety valve, proportional speed control valve, hydraulic cylinder, and pipeline; Step S2: Based on the compliance model of the TBM support and step-changing hydraulic system, the compliance of the TBM support and step-changing hydraulic system is calculated in real time and the hydraulic component parameters are dynamically adjusted so that the hydraulic system can adaptively adjust its compliance according to the load changes during the switching of different support and step-changing working conditions; wherein, the compliance includes: instantaneous compliance and average compliance.

2. The design optimization method for the TBM support step-changing hydraulic system as described in claim 1, characterized in that, In step S2, the compliance is matched to the current operating conditions of the TBM, wherein the instantaneous compliance is greater than 50 and the average compliance is greater than 0.

3.

3. A design optimization device for a TBM support step-changing hydraulic system, characterized in that, include: The first processing module is used to construct a compliance model of the TBM support step-changing hydraulic system; wherein, the hydraulic components of the TBM support step-changing hydraulic system include: a proportional relief valve, a safety valve, a proportional speed control valve, a hydraulic cylinder, and pipelines. The first processing module is used to calculate the compliance of the TBM support and step-changing hydraulic system in real time and dynamically adjust the parameters of hydraulic components based on the compliance model of the TBM support and step-changing hydraulic system, so that the hydraulic system can adaptively adjust its compliance according to the load changes during the switching of different support and step-changing working conditions; wherein, the compliance includes: instantaneous compliance and average compliance.

4. The TBM support step-changing hydraulic system design optimization device as described in claim 3, characterized in that, The first processing module is used to match the compliance to the current operating conditions of the TBM, wherein the instantaneous compliance is greater than 50 and the average compliance is greater than 0.

3.

5. A storage medium, characterized in that, The storage medium stores a computer program, which executes the TBM support step-changing hydraulic system design optimization method as described in any one of claims 1-2 when the computer program is run.

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