A large-gradient inclined shaft tunneling machine stability system with a magneto-rheological active anti-instability vibration suppression

Abstract

This invention relates to the field of attitude stabilization and active vibration control technology for tunneling machines, and discloses a magnetorheological active anti-instability and vibration suppression attitude stabilization system for a steep inclined shaft tunneling machine. The system includes an anti-roll bar assembly, a magnetorheological actuator, an attitude sensing unit, a vibration sensing unit, a drive unit, and a main controller. The main controller performs frequency domain decoupling filtering on the three-dimensional attitude signal and the three-axis vibration acceleration signal, separating the low-frequency reference attitude offset and the high-frequency vibration acceleration characteristic quantity, and calculating the anti-instability foundation support current and the vibration suppression damping compensation current respectively. It then calculates the control weights based on contact pressure data and weightedly fuses the two currents to generate a comprehensive target drive current. The drive unit adjusts the excitation current according to the comprehensive target drive current to change the apparent yield stress of the magnetorheological fluid. This invention reduces control interference in attitude stabilization support and high-frequency vibration reduction, and improves operational stability under complex conditions of steep instability.

Description

Technical Field

[0001] This invention relates to the field of attitude stabilization and active vibration control technology for tunneling machines, specifically a magnetorheological active anti-instability and vibration suppression attitude stabilization system for a steep inclined shaft tunneling machine. Background Technology

[0002] In inclined shaft excavation operations with steep slopes, especially when the slope exceeds 35°, gravity becomes the dominant force, easily leading to head-down or roll-off phenomena in the excavator. To counteract such instability, the equipment needs to rely on rigid supports and rapid-response control strategies to maintain its posture. Simultaneously, the excavator faces sudden load changes and mechanical impacts when cutting through the rock face, generating continuous equipment vibration. To dampen this vibration, the equipment needs to provide flexible damping to absorb impact energy.

[0003] Because anti-instability requires high-stiffness support to lock the attitude, while vibration suppression requires low-stiffness damping to absorb energy, there is an inherent conflict between the two in the physical properties of the actuator and the setting of control parameters. If the control system adopts high-gain parameters and a high-stiffness structure to ensure the response speed of anti-instability, it is easy to amplify the transmission of vibration to the machine body, and the system is prone to misinterpreting vibration signals as instability signals; if the system adopts low-gain parameters and flexible adjustment to ensure the buffering effect, it will weaken the equipment's anti-tipping ability and cause a lag in the instability response.

[0004] Existing inclined shaft tunneling machines (TBMs) with steep slopes mostly employ passive rigid structures such as mechanical stabilization, anti-roll devices, or telescopic supports. These devices rely solely on mechanical contact reaction forces for passive instability prevention, resulting in slow dynamic response and low position control accuracy. Furthermore, purely rigid structures lack vibration suppression capabilities, easily leading to increased equipment failure rates under strong vibration conditions. Additionally, some machines utilize local magnetorheological vibration reduction technology, but this technology is limited to the cutting tool position and does not integrate with the overall instability prevention control system, failing to address the head-down and roll instability issues of the TBM. Overall, existing technologies lack a design scheme for coordinated active control of instability prevention and vibration suppression, failing to effectively decouple rigid supports from flexible vibration reduction, resulting in the equipment's anti-overturning performance and dynamic response speed under steep slope conditions failing to meet actual engineering requirements. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a magnetorheological active instability prevention and vibration suppression stabilization system for steep inclined shaft tunneling machines. This system solves the problem of simultaneous impact vibration and machine body instability caused by eccentric loading, which are common challenges faced by steep inclined shaft tunneling machines during complex rock cutting operations. Existing passive buffer devices or single control logic struggle to simultaneously meet the rigid support requirements for instability prevention and the flexible damping requirements for vibration suppression. This results in the inability to achieve coordinated stiffness and damping control under coupled instability and vibration conditions, impacting operational safety and equipment lifespan.

[0006] To address the above problems, the present invention provides the following technical solution: This invention provides a magnetorheological active anti-instability and vibration suppression attitude stabilization system for a steep inclined shaft tunneling machine, comprising: a sensor group installed on the tunneling machine, including an attitude sensing unit for acquiring real-time position and posture signals, a vibration sensing unit for acquiring real-time vibration signals, and a pressure sensor for acquiring contact pressure signals; Magnetorheological actuator, installed on the tunneling machine; An integrated anti-instability and vibration suppression control module is connected to the sensor group and the magnetorheological actuator, respectively. The integrated anti-instability and vibration suppression control module determines the operating conditions based on real-time pose signals and real-time vibration signals. The rigid anti-instability reference current is calculated based on the real-time pose signal and contact pressure signal, and the flexible vibration suppression reference current is calculated based on the real-time vibration signal. The integrated anti-instability and vibration suppression control module combines the rigid anti-instability reference current and the flexible vibration suppression reference current into a comprehensive excitation current based on the operating conditions. When the operating condition is a combination of instability and vibration, a timing-staggered multiplexing strategy is adopted to drive the magnetorheological actuator, so that the magnetorheological actuator outputs rigid support force and flexible damping force in segments within a single control cycle.

[0007] Furthermore, the anti-instability and vibration suppression integrated control module extracts the attitude deviation between the real-time pose signal and the preset safe attitude parameters, and runs a discrete incremental PID control algorithm based on the attitude deviation. Based on the ratio of the contact pressure signal to the preset limit contact pressure, the basic proportional coefficient in the discrete incremental PID control algorithm is fed forward to obtain the corrected proportional coefficient. It also uses a modified proportional coefficient in the discrete incremental PID control algorithm to output a rigid anti-instability reference current.

[0008] Furthermore, the anti-instability and vibration suppression integrated control module extracts the real-time vibration frequency and real-time vibration amplitude from the real-time vibration signal; The first deviation between the real-time vibration frequency and the preset vibration frequency threshold, and the second deviation between the real-time vibration amplitude and the preset vibration amplitude threshold are used as fuzzy input variables and substituted into the preset fuzzy universe of discourse to perform fuzzy adaptive operation. The real-time vibration attenuation rate is extracted based on the change in vibration amplitude before and after the output flexible damping force collected by the vibration sensing unit. The input quantization factor of the fuzzy adaptive calculation is corrected based on the deviation between the real-time vibration attenuation rate and the target vibration attenuation rate; the flexible vibration damping reference current is output based on the corrected input quantization factor.

[0009] Furthermore, the anti-instability and vibration suppression integrated control module extracts real-time roll angle, real-time pitch angle and real-time instability angular velocity from the real-time pose signal; The real-time roll angle, real-time pitch angle and real-time instability angular velocity are respectively compared with the corresponding preset attitude thresholds, and the maximum ratio is taken as the instability risk coefficient. Real-time vibration frequency and real-time vibration amplitude are extracted from the real-time vibration signal. The real-time vibration frequency and real-time vibration amplitude are then compared with the corresponding preset vibration thresholds, and the maximum ratio is taken as the vibration intensity coefficient. When the instability risk coefficient is greater than or equal to 1 and the vibration severity coefficient is less than 1, the operating condition is determined to be a single instability condition. When the instability risk coefficient is less than 1 and the vibration severity coefficient is greater than or equal to 1, the operating condition is determined to be a single vibration condition. When the instability risk coefficient is greater than or equal to 1 and the vibration severity coefficient is greater than or equal to 1, the operating condition is determined to be a coupled instability and vibration condition.

[0010] Furthermore, the anti-instability and vibration suppression integrated control module presets the anti-instability control reference weights and vibration suppression control reference weights; extracts the inclined shaft slope parameters from the real-time pose signal, and calculates the slope adaptive offset coefficient based on the inclined shaft slope parameters; The anti-instability control benchmark weight is increased by using the slope adaptive offset coefficient, and the vibration suppression control benchmark weight is decreased accordingly. When the operating condition is a coupled instability and vibration condition, the anti-instability-vibration suppression integrated control module calculates the anti-instability control weight and vibration suppression control weight for the current control cycle based on the adjusted control benchmark weight and the relative magnitude of the instability risk coefficient and the vibration severity coefficient. The combined excitation current is output by summing the product of the anti-instability control weight and the rigid anti-instability reference current, and the product of the vibration suppression control weight and the flexible vibration suppression reference current.

[0011] Furthermore, when the anti-instability and vibration suppression integrated control module determines that the operating condition is a coupling condition of instability and vibration, it divides a single control cycle into a high-current execution sequence and a low-current execution sequence. During the high-current execution sequence, a high current is output to the magnetorheological actuator, causing the magnetorheological fluid to enter a high yield stress state and form a rigid support force. During the low-current execution sequence, a low current is output to the magnetorheological actuator, causing the magnetorheological fluid to enter a damping adjustable state and form a flexible damping force. Among these, the high current is greater than the low current.

[0012] Furthermore, when the anti-instability and vibration suppression integrated control module detects signal loss, communication interruption, or data abnormality in the signal link of the sensor group, it stops using abnormal sensor signals to participate in the dynamic calculation of control parameters; it calls the anti-instability control reference weight and vibration suppression control reference weight set in the system initialization phase to generate basic control commands, and drives the magnetorheological actuator according to the basic control commands.

[0013] Furthermore, the attitude stabilization system also includes a bottom anti-roll bar assembly, which is arranged along both sides of the bottom track of the tunneling machine; pressure sensors are embedded inside the bottom anti-roll bar assembly.

[0014] Furthermore, the bottom anti-roll bar assembly has an inverted trapezoidal cross-section structure, with a wear-resistant alloy layer on the outside and a polyurethane elastic buffer layer on the inside.

[0015] Furthermore, the bottom anti-roll bar assembly includes multiple anti-roll bar units, which are arranged at intervals along the travel direction of the tunneling machine; multiple pressure sensors are distributed and embedded inside the multiple anti-roll bar units for synchronous acquisition of contact pressure signals at multiple points.

[0016] This invention provides a magnetorheological active instability prevention and vibration suppression attitude stabilization system for steep inclined shaft tunneling machines. It has the following beneficial effects: 1. This invention employs a timing-shifting multiplexing strategy, dividing the output process of the comprehensive excitation current into a high-current execution sequence and a low-current execution sequence within a single control cycle. The magnetorheological actuator outputs rigid support force during the high-current sequence and flexible damping force during the low-current sequence. This method allows a single actuator to alternately meet the rigid requirements for preventing fuselage instability and the flexible damping requirements for absorbing shocks, avoiding structural interference problems caused by superimposing two sets of actuators with different physical properties.

[0017] 2. This invention dynamically adjusts the anti-instability control weights and vibration suppression control weights based on the operating conditions, inclined shaft slope parameters, and the relative magnitudes of the instability risk coefficient and vibration severity coefficient, and then integrates these to generate a comprehensive excitation current. This control method can adaptively allocate the anti-instability emphasis ratio and the vibration suppression emphasis ratio according to the real-time slope environment of the tunneling machine and the transient load changes of the cutting face, thereby improving the operational stability of the equipment under coupled instability and vibration conditions.

[0018] 3. When calculating the anti-instability reference current, the control module of this invention uses the contact pressure signal at the bottom to feedforward and correct the basic proportional coefficient of the PID control algorithm; when calculating the vibration suppression reference current, it uses the actually measured vibration attenuation rate to feedback and correct the input quantization factor of the fuzzy control operation. This algorithm correction mechanism, which combines contact mechanical state feedforward and vibration state feedback, reduces the hysteresis effect of conventional attitude control and improves the calculation accuracy of the system's underlying control parameters. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structural layout of the present invention; Figure 2 This is a structural diagram of the bottom anti-roll bar assembly of the present invention; Figure 3 This is a flowchart of the integrated anti-instability and vibration suppression control module of the present invention; Figure 4 This is a schematic diagram of the excitation current timing for the timing-shifted multiplexing drive performed under the instability and vibration coupling conditions of the present invention. Figure 5 This is a schematic diagram comparing the attitude stabilization system of the present invention with traditional passive solutions in terms of roll angle response; Figure 6 This is a schematic diagram comparing the peak vibration acceleration of the posture stabilization system of the present invention with that of the traditional passive buffering scheme under different cutting operation stages.

[0020] Among them, 100 is the tunneling machine; 10 is the bottom anti-roll bar assembly; 11 is the bottom track; 13 is the anti-roll bar unit; 14 is the pressure sensor; 15 is the wear-resistant alloy layer; 16 is the polyurethane elastic buffer layer; 20 is the active control stabilization unit; 21 is the magnetorheological actuator unit; 22 is the anti-instability-vibration suppression integrated control module; 221 is the controller; 222 is the acquisition unit; 223 is the drive unit; 224 is the encoder feedback adjustment unit; 31 is the attitude sensing unit; and 32 is the vibration sensing unit. Detailed Implementation

[0021] The technical solutions in 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.

[0022] See attached document Figures 1 to 3 The present invention provides a magnetorheological active anti-instability and vibration suppression system for a steep inclined shaft tunneling machine, including a bottom anti-roll bar assembly 10 and an active control stabilization unit 20.

[0023] The bottom anti-roll bar assembly 10 is symmetrically arranged on both sides of the bottom track 11 of the tunneling machine 100. The bottom anti-roll bar assembly 10 has an inverted trapezoidal cross-section structure, with a wear-resistant alloy layer 15 on the outer side and a polyurethane elastic buffer layer 16 on the inner side. The bottom anti-roll bar assembly 10 includes multiple anti-roll bar units 13, which are spaced apart along the traveling direction of the tunneling machine 100. Multiple pressure sensors 14 are distributed and embedded inside the multiple anti-roll bar units 13 to achieve multi-point synchronous acquisition of contact pressure signals. The active control stabilization unit 20 is installed on both sides of the middle section of the tunneling machine 100.

[0024] The active control stabilization unit 20 includes a magnetorheological actuator 21 and an integrated anti-instability and vibration damping control module 22. The magnetorheological actuator 21 adjusts its output support force or damping force according to the change of the input excitation current, thereby forming a rigid anti-instability support output or a flexible vibration damping output.

[0025] The integrated anti-instability and vibration suppression control module 22 includes a controller 221, a data acquisition unit 222, a drive unit 223, and an encoder feedback adjustment unit 224. In the following description, the integrated anti-instability and vibration suppression control module 22 can be simply referred to as the control module. The control module completes signal acquisition, control calculation, and excitation current output through the controller 221, data acquisition unit 222, and drive unit 223. The encoder feedback adjustment unit 224 is used to acquire the piston rod displacement or execution position feedback signal of the magnetorheological actuator 21.

[0026] The attitude stabilization system is divided into a perception layer, a signal preprocessing layer, an integrated control and calculation layer, a drive execution layer, and a state feedback closed-loop layer according to the control link.

[0027] The sensing layer includes an attitude sensing unit 31 and a vibration sensing unit 32 disposed on the body of the tunneling machine 100, and a pressure sensor 14 embedded in the bottom anti-roll bar assembly 10. The attitude sensing unit 31, the vibration sensing unit 32, and the pressure sensor 14 together constitute a sensor group.

[0028] The attitude sensing unit 31 collects roll angle, pitch angle, and instability angular velocity signals to form a real-time attitude signal; the vibration sensing unit 32 collects vibration frequency and amplitude signals to form a real-time vibration signal; the attitude sensing unit 31 is used to collect roll angle, pitch angle, and instability angular velocity signals. The vibration sensing unit 32 is used to collect vibration frequency and amplitude signals. The pressure sensor 14 is used to collect the contact pressure signal between the fuselage and the rock wall.

[0029] The signal preprocessing layer receives data transmitted from the sensing layer, performs analog-to-digital conversion, hardware signal conditioning, and range mapping on the acquired signals, and converts data of different dimensions to a standard range suitable for the operation of the controller 221.

[0030] The integrated control and operation layer relies on controller 221 to run anti-instability logic and vibration suppression logic. Controller 221 generates anti-instability control quantity and vibration suppression control quantity in parallel, and performs weighted fusion of the two types of control quantity to form a comprehensive current command.

[0031] The drive execution layer receives the comprehensive current command. The drive unit 223 outputs excitation current to the magnetorheological execution unit 21 according to the comprehensive current command, so that the magnetorheological execution unit 21 outputs rigid anti-instability support action or flexible vibration suppression action.

[0032] The state feedback closed-loop layer continuously collects the overall position and posture data and vibration data of the tunneling machine 100 through the attitude sensing unit 31 and vibration sensing unit 32, and transmits them back to the controller 221 as input data for the next control cycle, thus forming the outer loop closed-loop feedback.

[0033] See attached document Figure 3 The present invention also provides a magnetorheological active instability prevention and vibration suppression method for a steep inclined shaft tunneling machine, comprising the following steps: S10, Perform system initialization. After power-on, the system completes self-test and sensor zero-point calibration, loads preset pose and vibration boundary thresholds, and sets initial weight parameters; S20, synchronous signal acquisition. The attitude sensing unit 31, vibration sensing unit 32, and pressure sensor 14 synchronously acquire and upload data according to the set data acquisition or upload frequency; S30, parallel discrimination of dual targets. Controller 221 synchronously distinguishes between instability and vibration states, identifying instability-only conditions, vibration-only conditions, and conditions where instability and vibration are coupled. S40, Cooperative execution control. Under unstable conditions only, it focuses on rigid attitude correction and outputs high current; under vibration conditions only, it focuses on flexible damping attenuation and outputs low current; under coupled conditions, it allocates control resources according to weights and drives the magnetorheological actuator 21 to act through timing staggered peaks. S50 features adaptive adjustment and fault fallback. During equipment operation, it continuously monitors the actual status, adjusts control parameters based on sensor feedback, and switches to basic parameter control or passive fallback mode in case of sensor failure or active execution link anomaly.

[0034] See attached document Figure 3 In step S10, after the device is powered on, it performs system initialization and baseline parameter setting operations. Before the device officially starts operating, the controller 221 performs parameter configuration and link status confirmation. This process specifically includes the following sub-steps.

[0035] S101, establish the system communication link and perform hardware self-test. After the system is powered on, the controller 221 sends communication handshake signals to the acquisition unit 222 and the drive unit 223 through the internal bus to verify whether the data interaction link between the modules is connected. The controller 221 simultaneously detects the resistance characteristics of the electromagnetic induction coil inside the magnetorheological actuator 21 to check for open circuits or short circuits and confirm that the high-voltage actuator has the ability to respond to the drive current. The underlying configuration of the communication protocol and the conventional open / short circuit detection methods can be set by those skilled in the art based on the general control bus architecture, and will not be elaborated here.

[0036] S102, zero-point calibration of the multi-source heterogeneous sensors is performed. In the initial stage when the tunneling machine 100 is stationary and has not yet started cutting operations, the acquisition unit 222 reads real-time data from the attitude sensing unit 31, vibration sensing unit 32, and pressure sensor 14. The controller 221 records this static data as an environmental background value in the storage area. In subsequent dynamic operation, the system uses differential calculations to remove this environmental background value to compensate for the initial zero-point drift error of the sensor nodes caused by changes in downhole ambient temperature or mechanical assembly stress, thereby obtaining the control zero position.

[0037] S103, Loading condition boundary judgment threshold. Controller 221 obtains critical parameters used to distinguish between normal and abnormal operating states by reading internal memory. Critical parameters include an instability critical threshold for judging the risk of fuselage attitude deviation and a vibration critical threshold for assessing the cutting impact state. These thresholds can be pre-calibrated based on the fuselage dimensions of the tunneling machine 100 and its dynamic center of gravity model under steep slope conditions.

[0038] In one specific embodiment of the present invention, the roll angle threshold is set to 0.3°, the forward tilt angle threshold is set to 0.4°, the vibration frequency determination threshold is set to 10Hz, and the vibration amplitude determination threshold is set to 1.2g. These parameters serve as reference boundaries for parallel computation of multiple algorithms. When the dynamic data uploaded by the acquisition unit 222 crosses the corresponding boundaries, the controller 221 determines that the tunneling machine 100 has deviated from its normal posture or vibration, and triggers the corresponding active correction program.

[0039] S104 sets the initial reference weights for the dual-objective control. In steep inclined shaft operations, attitude instability control and vibration suppression control have different control priorities. Controller 221 pre-configures the basic priority settings for the dual-core control algorithm during the initialization phase. Specifically, the anti-instability control reference weights... Set to 0.6, the baseline weight for vibration suppression control. It is set to 0.4. This baseline weight is used to generate basic control commands for biased instability prevention control when the system has not yet completed dynamic condition determination or when the sensor link communication is interrupted.

[0040] See attached document Figure 3 In step S20, after the system completes initialization, it enters the dynamic operation phase. Under the scheduling of controller 221, each sensor node synchronously collects operating parameters and preprocesses the underlying physical signals to form digital signals that meet the algorithm's computational requirements. This process specifically includes the following sub-steps.

[0041] S201 performs synchronous extraction of multi-source heterogeneous signals. To improve the real-time performance of subsequent dual-target condition discrimination and control output, the acquisition unit 222 triggers a synchronization interrupt based on its internal high-frequency timer, driving each sensor node to synchronously perform data acquisition.

[0042] The attitude sensing unit 31 uploads status data at a frequency no lower than 100Hz. The vibration sensing unit 32 uploads status data at a frequency no lower than 100Hz, and the vibration sensing unit 32 can output vibration frequency and vibration amplitude data obtained through its internal processing. The pressure sensor 14 has a sampling frequency of 80Hz to 100Hz; in a preferred embodiment, the sampling frequency of the pressure sensor 14 is 100Hz to match a single control cycle.

[0043] In this embodiment, the system's preset single control cycle is 10ms. The above-mentioned data acquisition and upload frequency configuration can meet the requirement of extracting effective state data samples within a single control cycle. Within a single control cycle, the attitude sensing unit 31 uploads the fuselage's roll angle, forward tilt angle, and instability angular velocity; the vibration sensing unit 32 uploads the fuselage's vibration frequency and vibration amplitude; and the pressure sensor 14 simultaneously acquires the multi-point contact pressure values ​​between the fuselage and the rock wall.

[0044] S202 performs hardware-level signal conditioning and analog-to-digital conversion. The initial signal acquired by the sensor is typically an analog signal containing ambient noise. The steep-slope inclined shaft excavation environment contains power frequency interference from electromechanical equipment and transient pulse noise generated by rock cutting. The input of acquisition unit 222 is equipped with a hardware signal conditioning channel to preprocess power frequency interference, transient pulse interference, and high-frequency noise in the original analog signal. The conditioned analog signal enters the analog-to-digital converter and is converted into a discrete digital signal. The selection of the analog-to-digital conversion circuit and the specific parameter configuration of the hardware signal conditioning circuit can be conventionally designed by those skilled in the art based on the actual measured signal bandwidth requirements, and will not be elaborated further here.

[0045] S203 performs heterogeneous data caching and range mapping. Attitude data, vibration data, and contact pressure data belong to different dimensions. Acquisition unit 222 transmits the converted digital signals to controller 221. Controller 221 performs proportional conversion or linear transformation on the digital signals according to the calibrated range of each sensor, generates real-time engineering data with dimension markings, and stores the batch of data in the internal buffer register according to the timestamp.

[0046] In some optional implementations, the range mapping is obtained based on a comparison between the sensor's current analog-to-digital conversion discrete value and the discrete value at full-scale output. This process enables the anti-instability logic and vibration suppression logic to access state data from the same time segment within the same control cycle, reducing data misalignment caused by communication delays.

[0047] See attached document Figure 3 In step S30, the controller 221 performs parallel logic operations on the cached real-time operating data to evaluate the current operating state of the device and calculate the underlying reference control quantities required to cope with instability and vibration. This process specifically includes the following sub-steps.

[0048] S301, performs normalized risk quantification and working condition discrimination. Controller 221 calculates the instability risk coefficient S and vibration severity coefficient D based on normalized data from multi-source heterogeneous sensors. The instability risk coefficient S characterizes the degree to which the attitude of the tunneling machine 100 deviates from the safety boundary, and is determined by the roll angle, forward tilt angle, and instability angular velocity. Specifically, the calculation model for the instability risk coefficient S is as follows: ; In the formula, The real-time roll angle is collected by the attitude sensing unit 31. This is the real-time camber angle. This refers to the real-time instability angular velocity; To preset the roll angle threshold, To preset the yaw angle threshold, A preset instability angular velocity threshold is set. In this embodiment, Preferably 0.3°, The preferred value is 0.4°.

[0049] Vibration intensity coefficient The calculation model used to characterize the impact resistance of mechanical structures is as follows: ; In the formula, The real-time vibration frequency collected by the vibration sensing unit 32 For real-time vibration amplitude, To preset the vibration frequency threshold, A preset vibration amplitude threshold is used. In this embodiment, Preferably 10Hz, The preferred dosage is 1.2g.

[0050] The preset roll angle threshold, preset pitch angle threshold, and preset instability angular velocity threshold are collectively referred to as preset attitude thresholds; the preset vibration frequency threshold and preset vibration amplitude threshold are collectively referred to as preset vibration thresholds.

[0051] Controller 221 is based on the instability risk coefficient and vibration intensity coefficient Define the operating condition boundaries. When and When the equipment is determined to be in a safe operating range, controller 221 maintains the current low-current standby state or maintains the stable output of the previous cycle, without triggering rigid instability correction and enhanced vibration suppression; when and When the equipment is in a single unstable condition, it is determined that the equipment is in such a condition. and When, the equipment is determined to be under a single vibration condition; when and When the device is in an unstable and vibration coupled state, it is determined that the device is in such a state. The above-mentioned single unstable state, single vibration state, and unstable and vibration coupled state together constitute the operating state determined by the controller 221.

[0052] S302 performs anti-instability feedforward-PID rigid correction calculations. This outputs a reference anti-instability current command to handle attitude tilt. The controller 221 uses the inner-loop attitude deviation as input to run a discrete incremental PID control algorithm. Attitude deviation... The attitude parameters are obtained by comparing the real-time attitude parameters collected by the attitude sensing unit 31 with the preset safe attitude parameters. The controller 221 performs this comparison during the sampling period. Internal calculation control increment Its calculation model is as follows: ; In the formula, This is the proportionality coefficient. The integral coefficient is... The differential coefficients are... The sampling period is [value]. Preferably, [value]. The value is 0.01s to match a synchronous sampling frequency of not less than 100Hz.

[0053] Controller 221 according to control increment Calculate the rigid reference current Its calculation model is as follows: ; In the formula, This is the static reference current. This is the voltage-to-current conversion factor. Rigid reference current. For rigid anti-instability reference current, ultimate contact pressure The preset limit contact pressure.

[0054] Furthermore, the controller 221 introduces a feedforward compensation mechanism based on the contact pressure of the bottom anti-roll bar assembly 10. The pressure sensor 14 acquires the contact pressure between the bottom anti-roll bar assembly 10 and the rock wall. The controller 221 is based on the contact pressure The proportional term of the PID controller is dynamically corrected using the following correction model: ; In the formula, This is the corrected scaling factor. This is the contact pressure feedforward coefficient. The contact pressure collected by pressure sensor 14 The ultimate contact pressure of the bottom anti-roll bar assembly 10. After introducing feedforward compensation, the controller 221 uses a corrected proportional coefficient. Substitution base ratio coefficient It participates in the above discrete incremental PID calculation, thereby performing feedforward correction of the anti-instability control quantity based on the bottom support contact state.

[0055] S303 performs vibration suppression fuzzy adaptive flexible control calculations. This outputs a reference vibration suppression current command to cope with impact loads. The controller 221 operates fuzzy adaptive control logic. This logic will adjust the vibration frequency deviation. Deviation from vibration amplitude As a fuzzy input variable, where: ; ; In the formula, For real-time vibration frequency, To preset the vibration frequency threshold, For real-time vibration amplitude, A preset vibration amplitude threshold is used. In this embodiment, Preferably 10Hz, The preferred dosage is 1.2g.

[0056] Controller 221 will determine the vibration frequency deviation and vibration amplitude deviation Mapped to a preset fuzzy universe of discourse, and outputting a flexible damping reference current based on a fuzzy rule base. Flexible damping reference current This serves as the reference current for flexible vibration suppression. Specifically, when... and When [the current is such that], the controller 221 outputs a small current in the range of 0 to 0.5A to form a micro-buffer; when [the current is such that]... When the vibration amplitude slightly exceeds the limit, the controller 221 outputs a moderate current in the range of 0.8A to 1.2A to form conventional damping vibration reduction; when and At this time, the controller 221 outputs a larger current in the range of 1.5A to 2.0A to enhance damping and dissipate impact vibration energy.

[0057] Furthermore, controller 221 introduces an adaptive correction rule based on the vibration damping rate. Real-time vibration damping rate. The amplitude can be calculated by controller 221 based on the change in vibration amplitude of vibration sensing unit 32 before and after damping adjustment. Controller 221 uses the real-time vibration attenuation rate. With the target vibration attenuation rate The deviation between them is dynamically corrected by adjusting the quantization factor of the fuzzy control input. The corrected model is as follows: ; In the formula, The corrected quantization factor. The quantization factor before correction is λ, and the adaptive learning coefficient is λ. For the target vibration attenuation rate, This represents the real-time vibration damping rate. When... Below When the controller 221 amplifies the input quantization factor, it improves the damping adjustment sensitivity; when Reaching or exceeding At this time, controller 221 maintains or reduces the quantization factor to avoid over-adjustment.

[0058] See attached document Figure 3 In step S40, the system performs control resource allocation and physical drive command issuance based on the operating condition judgment result and the underlying baseline control quantity. This process specifically includes the following sub-steps.

[0059] S401, Perform multi-condition dynamic weight allocation and slope compensation. After completing the basic control quantity calculation, controller 221 dynamically allocates the execution priority of anti-instability control and vibration suppression control according to the specific operating condition type determined in step S30. Assume the anti-instability control weight is... The vibration suppression control weight is Both conditions are met: ; During the system initialization phase, the baseline weights for instability prevention control are set. Vibration suppression control benchmark weight Under a single instability condition, the controller 221 increases the instability prevention control weight, causing the magnetorheological actuator 21 to prioritize the output of rigid support force. Under a single vibration condition, the controller 221 increases the vibration suppression control weight, causing the magnetorheological actuator 21 to prioritize the output of flexible damping force. Under a coupled instability and vibration condition, the controller 221 performs segmented weighting based on the relative magnitude of the instability risk coefficient S and the vibration severity coefficient D, prioritizing rigid instability prevention support when the instability risk is high, and prioritizing flexible damping vibration suppression when the vibration severity is high.

[0060] Furthermore, to adapt to inclined shaft conditions with steep slopes ranging from 30° to 45°, the controller 221 introduces an adaptive slope weight offset term. When the inclined shaft inclination angle β satisfies... At that time, the slope adaptive offset coefficient The calculation model is as follows: ; in, The slope parameters of the inclined shaft can be pre-written into the controller 221 from the construction design parameters, or obtained by the attitude sensing unit 31 based on the overall inclination state of the tunneling machine 100. The controller 221 uses an adaptive offset coefficient based on the slope. Increase the baseline weight for instability prevention, and modify the model as follows: ; In the formula, The corrected anti-instability reference weights are used. Controller 221 uses the corrected anti-instability reference weights. Replacement initialization phase Participate in subsequent dynamic weight allocation; Correspondingly, the corrected vibration damping reference weights satisfy In the actual output stage, the controller 221 then determines the output based on the instability risk coefficient. and vibration intensity coefficient Calculate the current control cycle and And by using amplitude limiting, the weights of each item are kept within the range of 0 to 1.

[0061] S402 performs excitation current fusion and hysteresis boundary control. Controller 221 calculates the comprehensive excitation current based on dynamic weights and underlying reference control quantities. Its calculation model is as follows: ; In the formula, IPID is the rigid reference current output by the anti-instability PID algorithm. This is the flexible damping reference current output by the vibration suppression fuzzy adaptive algorithm. Combined excitation current. satisfy .

[0062] After the calculation is completed, the controller 221 sends a comprehensive current command to the drive unit 223, and the drive unit 223 outputs excitation current to the magnetorheological actuator 21 according to the command. (Settings) This is a flexible vibration damping range, within which the magnetorheological fluid continuously becomes more viscous with the current, and the magnetorheological actuator 21 outputs a flexible damping force; [The following is a separate, unrelated sentence:] Set... The rigid anti-instability zone is in which the magnetorheological fluid is in a near-solid state, and the magnetorheological actuator 21 outputs a rigid support force.

[0063] To avoid frequent current jumps near the 2A critical point, the controller 221 sets a hysteresis transition range of 1.8A to 2.2A. When the combined excitation current increases from low to high, it needs to exceed 2.2A before confirming the switch to rigid anti-instability mode; when the combined excitation current decreases from high to low, it needs to fall below 1.8A before confirming the switch to flexible vibration suppression mode.

[0064] It should be noted that under a single instability condition or a single vibration condition, the combined excitation current... As a direct drive current output; under unstable and vibration coupled conditions, the combined excitation current As the basic parameters for controlling resource allocation and determining current amplitude, the controller 221 further generates high current stage instructions and low current stage instructions according to the timing staggered peak strategy.

[0065] S403 executes timing-shifting multiplexing drive under coupled operating conditions.

[0066] Under a single operating condition, the magnetorheological actuator 21 continuously outputs either a rigid support force or a flexible damping force corresponding to the current operating condition. Under the coupled instability and vibration conditions, attitude correction requires high current to excite the rigid support, while vibration attenuation requires low current to maintain the flexible damping, resulting in a physical conflict between the two on the same actuator. To address this, the anti-instability-vibration suppression integrated control module 22 employs a timing-staggered multiplexing strategy for decoupling.

[0067] It should be noted that the timing division of the first 4ms and the last 6ms is the fixed peak-shifting drive timing in this embodiment. The dynamic weight is mainly used to determine the fusion ratio or output amplitude of the rigid reference current and the flexible damping reference current, and is not limited to the corresponding time proportion.

[0068] In this embodiment, a single control cycle of the system The duration is 10ms. When the controller 221 determines that the current operating condition is a coupled condition of instability and vibration, it will... The execution sequence is divided into two segments: In the first 4ms, the drive unit 223 outputs a high current ranging from 2A to 3A, causing the magnetorheological fluid to enter a high yield stress state. The magnetorheological actuator 21 forms a relatively rigid support output for fuselage attitude correction. In the last 6ms, the drive unit 223 outputs a low current ranging from 0A to 2A, causing the magnetorheological fluid to enter a damping adjustable state. The magnetorheological actuator 21 forms a relatively flexible damping output for absorbing cutting vibration energy. Through the above time-division multiplexing drive method, the same magnetorheological actuator 21 can complete rigid attitude stabilization and flexible vibration suppression in one control cycle, thereby avoiding mechanical interference between rigid support and flexible damping. The first 4ms corresponds to the high current execution sequence, and the last 6ms corresponds to the low current execution sequence.

[0069] See attached document Figure 3 In step S50, the system continuously corrects the control output based on the feedback signal, and performs degradation control and passive fallback control when the sensor link or active execution link is abnormal. This process specifically includes the following sub-steps.

[0070] S501 executes dual closed-loop state feedback and error correction. The anti-instability and vibration suppression integrated control module 22 adopts dual closed-loop logic with inner-loop execution feedback and outer-loop overall machine state feedback. In the inner-loop control, the encoder feedback adjustment unit 224 collects the execution position signal or piston rod extension / retraction state of the magnetorheological actuator 21 in real time and feeds it back to the controller 221. The controller 221 corrects the output of the drive unit 223 according to the deviation between the target execution state and the feedback execution state to reduce the execution error of the magnetorheological actuator 21.

[0071] In the outer loop control, the attitude sensing unit 31 and the vibration sensing unit 32 continuously collect the position and vibration parameters of the tunneling machine 100 after its action response, and feed them back to the controller 221 as input variables for the next control cycle. The controller 221 re-determines the instability state and vibration state based on the outer loop feedback data, and updates the anti-instability control quantity, vibration suppression control quantity, and dynamic weight parameters, thereby performing closed-loop correction of the dynamic disturbance of the entire machine.

[0072] S502, executes degraded control based on sensor failure. When signal loss, communication interruption, or data anomaly is detected in any of the attitude sensing unit 31, vibration sensing unit 32, or pressure sensor 14, the controller 221 stops using the abnormal sensing signal to participate in the corresponding dynamic weight calculation or dynamic correction, and calls the anti-instability control benchmark weight set in the initialization phase. and vibration damping control reference weight The basic control commands include excitation current commands generated based on fixed reference weights, or commands to maintain a stable excitation current output from the previous effective cycle.

[0073] S503 provides passive mechanical support at the physical level. When the system experiences a power outage, magnetorheological coil failure, or control module hardware damage, causing active control to fail, the excitation current output of the drive unit 223 stops, and the magnetorheological actuator 21 ceases to perform active rigid support or active damping adjustment. In this state, the lateral overturning load and longitudinal impact load of the entire machine are transferred to the bottom anti-roll bar assembly 10 under the machine body. The bottom anti-roll bar assembly 10, with its multi-segment inverted trapezoidal cross-section structure, high wear-resistant alloy layer, polyurethane elastic buffer layer, and support structure that forms a surface contact with the rock wall, provides passive anti-instability support and low-frequency vibration buffer for the tunneling machine 100, forming a passive safety defense line after the failure of the system's active control.

[0074] In specific application embodiments, in order to further verify the actual working performance of the present invention in complex steep inclined well environments, the following is a detailed description of two specific downhole engineering application scenarios (Example 1 is a 45° hard rock inclined well condition, and Example 2 is a 35° soft and hard rock alternating inclined well condition) and their corresponding experimental comparisons and long-term operating data.

[0075] In actual construction operations, the system operates in coordination with the active control and stabilization unit 20 in the middle of the machine body through the anti-roll bar assembly at the bottom. The results show that, facing high instability risks and strong vibration coupling disturbances, this system can complete attitude correction and damping switching within a time scale of hundreds of milliseconds, increasing the dynamic vibration attenuation rate to over 40%, while effectively reducing the wear of core transmission components such as the gearbox, and improving the overall tunneling efficiency by 18% to 20%.

[0076] Taking the 45° hard rock inclined shaft operation in Example 1 as an example, the 12m long tunneling machine body is equipped with a single-section 1.2m long inverted trapezoidal anti-roll bar assembly, which is covered with a 15mm thick wear-resistant alloy layer and a 20mm thick elastic buffer layer, and internally has six PT124G-210 pressure sensors with a sampling frequency of 100Hz. When encountering strong vibration and high instability coupled disturbance, the attitude sensing unit measures the instantaneous roll angle. Reaching 0.5°, vibration frequency The frequency reached 15Hz. The PID parameters called by the control module were: , , The controller first performs normalized risk quantification. Based on the formula... Substitute the real-time roll deviation that currently plays a dominant role in instability (i.e. The instability risk coefficient was calculated. Similarly, according to the formula Substituting the current real-time vibration frequency deviation (i.e., 15Hz / 10Hz), the vibration severity coefficient is calculated. .because and The system accurately determined that it was in a coupled operating condition. To adapt to the extreme slope of 45°, the controller uses the formula... Calculate the slope adaptive offset coefficient And substitute them into the weight correction model to calculate the anti-instability benchmark weights: ; Obtain the corrected benchmark weights The numerical results indicate that, under steep slope and hard rock cutting conditions, the system actively allocates a high proportion of control resources to rigid anti-overturning actions.

[0077] After the above dynamic parameters are calculated, the system performs timing-shifted multiplexing drive on the magnetorheological actuator with an inner diameter of 100mm and a maximum output force of 20kN. (See attached...) Figure 4 The horizontal axis of the figure represents the time series within a unit control cycle (10ms), and the vertical axis represents the amplitude of the excitation current command output to the magnetorheological coil. In the legend, the dark-filled area represents the actuator in the rigid support range, and the light-filled area represents the flexible damping range. In a single control cycle after a disturbance occurs, due to the high anti-instability weight of 0.8, the drive module outputs a peak current approaching 3A in the first 4ms time window of the control cycle, rapidly generating the maximum rigid support force to counteract the tilting moment; in the remaining 6ms time window, the excitation command drops back to below 1.5A based on the fuzzy calculation results, causing the magnetorheological fluid to transform into a low-viscosity adjustable damping state. This attached figure intuitively illustrates the underlying execution process of a single actuator decoupling the physical conflict between attitude stabilization and vibration suppression in the time domain.

[0078] To verify the actual mechanical response effect after the control commands were issued, attitude correction comparison curves of the equipment body were acquired through a data acquisition terminal. (See attached...) Figure 5 In the figure, the horizontal axis represents the continuous test time series (unit: s), and the vertical axis represents the fuselage roll angle amplitude (unit: degrees). In the legend, the solid curve corresponds to the active instability prevention and vibration suppression scheme of Embodiment 1 of this invention, while the dashed curve corresponds to the traditional scheme without active excitation adjustment. During the test, after artificially applying an equivalent rock eccentric load impact, the traditional scheme, lacking active stiffness intervention, experienced a rapid increase in roll angle exceeding the limit. However, the scheme of this invention, when the instantaneous roll angle reaches 0.5°, benefits from… With its high proportional response and contact pressure feedforward compensation, the roll tendency was strongly suppressed. The solid trajectory shows that the machine body quickly corrected the roll angle to a safe and stable range of 0.2° within 0.2 seconds. Equipment logs from 1000 hours of continuous operation show that the number of destructive instability triggers was reduced to 2 or less after adopting this system. Furthermore, due to the stable posture, the wear on the tunneling machine's gearbox under eccentric load was significantly reduced by 42%.

[0079] Meanwhile, a specific comparative verification of the vibration reduction effect was conducted to address the load abrupt changes and frequency fluctuations caused by the alternating soft and hard rock conditions at 35° in Example 2. Example 2 used a magnetorheological actuator with a maximum output force of 40kN to cope with complex impacts.

[0080] See attached document Figure 6 The horizontal axis of the figure represents different time points or operating states before and after cutting from soft rock into hard rock, and the vertical axis represents the peak vibration acceleration (unit: g) extracted at that stage. In the legend, light-colored bars represent traditional passive buffering schemes without active control, while dark-colored bars represent the active instability prevention and vibration suppression scheme of this invention. As shown in the figure, in the steady-state stage of soft rock, the vibration amplitude of both schemes remains at a low level of 0.5g to 0.6g. When the cutting head suddenly cuts into the hard rock and causes a sudden impact change, the peak acceleration of the traditional scheme soars to 2.2g, and due to the lack of active damping adjustment, its acceleration remains high, above 1.8g, in the subsequent 0.15s and 0.3s stages. In contrast, the system of this invention suppresses the peak value to below 1.4g during the cutting transient; and within 0.15s after cutting, thanks to the dual closed-loop state feedback and dynamic damping adaptive adjustment, the vibration amplitude is rapidly reduced to about 0.8g; after 0.3s, it completely recovers to a safe level of 0.6g. The intuitive columnar drop strongly demonstrates that the present invention completed the damping coefficient regulation in a very short time (0.15s), and the overall steady-state vibration attenuation rate exceeded 42%.

Claims

1. A magnetorheological active instability prevention and vibration suppression attitude stabilization system for a steep inclined shaft tunneling machine, characterized in that, include: The sensor group, installed on the tunneling machine (100), includes an attitude sensing unit (31) for acquiring real-time pose signals, a vibration sensing unit (32) for acquiring real-time vibration signals, and a pressure sensor (14) for acquiring contact pressure signals. A magnetorheological actuator (21) is installed on the tunneling machine (100); An integrated anti-instability and vibration suppression control module (22) is connected to the sensor group and the magnetorheological actuator (21), respectively. The anti-instability-vibration suppression integrated control module (22) determines the operating condition based on the real-time pose signal and the real-time vibration signal; calculates the rigid anti-instability reference current based on the real-time pose signal and the contact pressure signal, and calculates the flexible vibration suppression reference current based on the real-time vibration signal; The anti-instability-vibration suppression integrated control module (22) integrates the rigid anti-instability reference current and the flexible vibration suppression reference current into a comprehensive excitation current according to the operating conditions; When the operating condition is an unstable and vibration coupled condition, the magnetorheological actuator (21) is driven by a time-sequence staggered peak reuse strategy, so that the magnetorheological actuator (21) outputs rigid support force and flexible damping force in segments within a single control cycle.

2. The magnetorheological active instability prevention and vibration suppression attitude stabilization system for a steep inclined shaft tunneling machine according to claim 1, characterized in that, The anti-instability-vibration suppression integrated control module (22) extracts the attitude deviation between the real-time pose signal and the preset safe attitude parameters, and runs a discrete incremental PID control algorithm based on the attitude deviation. Based on the ratio of the contact pressure signal to the preset limit contact pressure, the basic proportional coefficient in the discrete incremental PID control algorithm is fed forward to obtain the corrected proportional coefficient; and the corrected proportional coefficient is used in the discrete incremental PID control algorithm to output the rigid anti-instability reference current.

3. The magnetorheological active instability prevention and vibration suppression attitude stabilization system for a steep inclined shaft tunneling machine according to claim 1, characterized in that, The anti-instability-vibration suppression integrated control module (22) extracts the real-time vibration frequency and real-time vibration amplitude from the real-time vibration signal; The first deviation between the real-time vibration frequency and the preset vibration frequency threshold, and the second deviation between the real-time vibration amplitude and the preset vibration amplitude threshold are used as fuzzy input variables and substituted into the preset fuzzy domain to perform fuzzy adaptive operation. The real-time vibration attenuation rate is extracted based on the change in vibration amplitude before and after the output of the flexible damping force collected by the vibration sensing unit (32); the input quantization factor of the fuzzy adaptive operation is corrected based on the deviation between the real-time vibration attenuation rate and the target vibration attenuation rate; and the flexible vibration damping reference current is output based on the corrected input quantization factor.

4. The magnetorheological active instability prevention and vibration suppression attitude stabilization system for a steep inclined shaft tunneling machine according to claim 1, characterized in that, The anti-instability-vibration suppression integrated control module (22) extracts the real-time roll angle, real-time forward roll angle and real-time instability angular velocity from the real-time pose signal; The real-time roll angle, the real-time pitch angle, and the real-time instability angular velocity are each compared with their corresponding preset attitude thresholds, and the maximum ratio is taken as the instability risk coefficient. The real-time vibration frequency and real-time vibration amplitude are extracted from the real-time vibration signal. The real-time vibration frequency and the real-time vibration amplitude are respectively compared with the corresponding preset vibration threshold, and the maximum ratio is taken as the vibration intensity coefficient. When the instability risk coefficient is greater than or equal to 1 and the vibration severity coefficient is less than 1, the operating condition is determined to be a single instability condition; when the instability risk coefficient is less than 1 and the vibration severity coefficient is greater than or equal to 1, the operating condition is determined to be a single vibration condition; when the instability risk coefficient is greater than or equal to 1 and the vibration severity coefficient is greater than or equal to 1, the operating condition is determined to be a coupled instability and vibration condition.

5. The magnetorheological active instability prevention and vibration suppression system for a steep inclined shaft tunneling machine according to claim 4, characterized in that, The anti-instability-vibration suppression integrated control module (22) presets the anti-instability control reference weight and the vibration suppression control reference weight; The inclined shaft slope parameters are extracted from the real-time pose signal, and the slope adaptive offset coefficient is calculated based on the inclined shaft slope parameters; the anti-instability control reference weight is increased using the slope adaptive offset coefficient, and the vibration suppression control reference weight is decreased accordingly. When the operating condition is the instability and vibration coupled condition, the anti-instability-vibration suppression integrated control module (22) calculates the anti-instability control weight and vibration suppression control weight of the current control cycle based on the adjusted control reference weight and the relative magnitude of the instability risk coefficient and the vibration severity coefficient. The combined excitation current is output by summing the product of the anti-instability control weight and the rigid anti-instability reference current, and the product of the vibration suppression control weight and the flexible vibration suppression reference current.

6. The magnetorheological active instability prevention and vibration suppression attitude stabilization system for a steep inclined shaft tunneling machine according to claim 4, characterized in that, When the anti-instability-vibration suppression integrated control module (22) determines that the operating condition is the instability and vibration coupling condition, the single control cycle is divided into high current execution sequence and low current execution sequence; During the high current execution sequence, a high current is output to the magnetorheological actuator (21) to cause the magnetorheological fluid to enter a high yield stress state and form the rigid support force; during the low current execution sequence, a low current is output to the magnetorheological actuator (21) to cause the magnetorheological fluid to enter a damping adjustable state and form the flexible damping force; wherein, the high current is greater than the low current.

7. The magnetorheological active instability prevention and vibration suppression attitude stabilization system for a steep inclined shaft tunneling machine according to claim 1, characterized in that, When the anti-instability-vibration suppression integrated control module (22) detects that there is signal loss, communication interruption or data abnormality in the signal link of the sensor group, it stops using abnormal sensing signals to participate in the dynamic calculation of control parameters; it calls the anti-instability control benchmark weight and vibration suppression control benchmark weight set in the system initialization stage to generate basic control instructions, and drives the magnetorheological execution unit (21) according to the basic control instructions.

8. The magnetorheological active instability prevention and vibration suppression system for a steep inclined shaft tunneling machine according to claim 1, characterized in that, The attitude stabilization system also includes a bottom anti-roll bar assembly (10), which is arranged on both sides of the bottom track (11) of the tunneling machine (100); the pressure sensor (14) is embedded inside the bottom anti-roll bar assembly (10).

9. The magnetorheological active instability prevention and vibration suppression system for a steep inclined shaft tunneling machine according to claim 8, characterized in that, The bottom anti-roll bar assembly (10) has an inverted trapezoidal cross-section structure, with a wear-resistant alloy layer (15) on the outside and a polyurethane elastic buffer layer (16) on the inside.

10. The magnetorheological active instability prevention and vibration suppression system for a steep inclined shaft tunneling machine according to claim 8, characterized in that, The bottom anti-roll bar assembly (10) includes multiple anti-roll bar units (13), which are arranged at intervals along the travel direction of the tunneling machine (100); multiple pressure sensors (14) are distributed and embedded inside the multiple anti-roll bar units (13) for synchronously collecting the contact pressure signal at multiple points.

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