Tunneling machine double circulation cooling control system, control method, device and medium

Abstract

The application belongs to the technical field of electrical control of shield machines, and specifically provides a shield machine double-circulation cooling control system, a control method, electronic equipment and a storage medium, the system comprising a data acquisition module, an inner-circulation control module, an outer-circulation control module, a double-circulation collaborative algorithm and a monitoring and early warning module; the data acquisition module is used for detecting the operation, temperature and flow of each component in the double-circulation cooling part of the shield machine; the inner-circulation control module is used for establishing a thermal power dynamic estimation model; the outer-circulation control module is used for real-time adjustment of the flow of the inner-circulation cooling part and the outer-circulation cooling part; and the double-circulation collaborative algorithm is used for realizing linkage matching and collaborative scheduling of the inner-circulation part and the outer double-circulation part. The application realizes adaptive, self-learning and precise temperature control without manual intervention throughout the whole process, takes into account the heat dissipation stability of core components and the energy saving property of the system, and is suitable for complex construction scenes of shield machines.

Description

Technical Field

[0001] This invention belongs to the field of shield machine electrical control technology, and relates to a shield machine dual-circulation cooling control system, control method, equipment and medium. Background Technology

[0002] The tunnel boring machine (TBM) cooling system consists of an internal circulation system and an external circulation system. The internal circulation system is a closed-loop system used for the enclosed cooling of core heat-generating components such as the main drive, main drive motor, and frequency converter. The external circulation system is used to cool the return water from the internal circulation system and also handles the cooling and supply of water for TBM construction. The main drive, main drive motor, and frequency converter are the core heat-generating components of the TBM, and their heat generation directly affects the equipment's reliability and continuous operation capability, requiring coordinated heat dissipation through the internal and external dual circulation water systems. The internal circulation system is a closed-loop system and does not consume water resources, but the long-term fixed operation of the water pumps results in a significant waste of electrical energy. The external circulation system simultaneously handles the cooling of the return water from the internal circulation system and the supply of water for TBM construction, making it the main link in energy and water consumption.

[0003] The existing tunnel boring machine cooling system has the following obvious defects: Serious energy waste: The internal circulation water pumps mostly operate at a fixed speed and cannot dynamically adjust the flow rate according to the actual heat generated by the main drive, motor and frequency converter, and are in a state of high flow and high power consumption for a long time; the external circulation water pumps also operate at a fixed speed and are not intelligently adjusted according to the internal circulation heat dissipation load and construction water consumption, which further aggravates the energy consumption.

[0004] Cooling response lag: Monitoring only a single temperature parameter without combining temperature rise trend and dual-cycle load linkage analysis results in passive and delayed adjustment, which can easily lead to insufficient cooling causing equipment overheating or excessive cooling causing ineffective energy consumption.

[0005] The dual circulation system lacks coordinated control: the internal and external circulation are controlled independently without linkage logic, making it impossible to match the optimal operation strategy based on the heat generation of core components and the water demand for construction, thus failing to tap the energy-saving potential.

[0006] Existing optimization schemes have poor applicability: Existing improvement schemes mostly focus on single-loop control or complex waste heat recovery structures, failing to achieve coordinated energy saving through internal and external dual circulation. They either have simple control logic and limited energy-saving effects, or complex systems and high modification costs, making it difficult to widely apply them to existing tunnel boring machines. Summary of the Invention

[0007] This invention aims to provide an intelligent energy-saving control method for the dual-circulation cooling system of tunnel boring machines (TBMs), based on the existing electrical control architecture of TBMs, to build a dual-circulation cooling control system, control method, equipment and medium for TBMs, so as to achieve adaptive, self-learning and high-precision energy-saving operation under all working conditions.

[0008] This invention provides a dual-circulation cooling control system for tunnel boring machines, including a data acquisition module, an inner circulation control module, an outer circulation control module, a dual-circulation collaborative algorithm, and a monitoring and early warning module; The tunnel boring machine's dual-circulation cooling system includes an internal circulation cooling section and an external circulation cooling section; The data acquisition module is used to detect the operating status, temperature, and flow rate of each component in the dual-circulation cooling section of the tunnel boring machine; The internal circulation control module is used to establish a dynamic thermal power estimation model based on the data collected in real time by the data acquisition module, and then dynamically adjust the internal circulation cooling water flow rate according to the actual heat demand of the components to achieve on-demand cooling and precise temperature control. The external circulation control module is used to adjust the flow rate of the internal circulation cooling section and the external circulation cooling section in real time based on the data collected in real time by the data acquisition module, the total heat generation of the core components of the tunnel boring machine, and the water consumption of the tunnel boring machine construction, so as to minimize the system energy consumption while meeting the heat dissipation requirements of the internal circulation and the stable supply of construction water. The dual-loop collaborative algorithm includes MPC predictive control strategy, PID regulation strategy and self-learning optimization algorithm, which are used to realize the linkage matching and collaborative scheduling of the inner loop part and the outer dual loop part. The monitoring and early warning module is used to analyze and judge the relevant data collected by the data acquisition module to realize graded alarms.

[0009] Furthermore, the data acquisition module includes an internal circulation data acquisition unit, an external circulation data acquisition unit, a temperature acquisition unit, and a flow rate acquisition unit; The internal circulation data acquisition unit is used to monitor the operation of each component in the internal circulation cooling section in real time. The external circulation data acquisition unit is used to monitor the operating status of each component in the external circulation cooling section in real time. The temperature acquisition unit is used to detect the temperature of the internal circulation cooling section, the external circulation cooling section, the main drive section, and the water pump frequency conversion system; The flow acquisition module is used to detect the flow rates of the internal circulation cooling section, the external circulation cooling section, the main drive section, and the water pump frequency conversion system.

[0010] Furthermore, the internal circulation data acquisition unit is used to detect the liquid level of the internal circulation cooling section, the operating status of the main drive frequency converter, the operating status of the hydraulic pump station, the working status of the screw conveyor lubrication system, the working status of the main drive lubrication system, and the operating status of the main drive motor, respectively. The external circulation data acquisition unit is used to detect the operating status of the soil chamber water supply, the operating status of the foam system, and the operating status of the cutterhead water spray system respectively. The temperature acquisition unit is used to detect the internal circulating water temperature, external circulating water temperature, main drive inlet water temperature, drive return water temperature, main drive lubrication and sealing cooling water temperature, main drive motor temperature, frequency converter system cooling water temperature, and frequency converter system core component temperature respectively. The flow acquisition unit is used to detect the internal and external circulating water flow, the main drive inlet water flow, the main drive return water flow, the main drive lubrication and sealing cooling water flow, the main drive motor cooling water flow, and the water pump frequency conversion system cooling water flow separately.

[0011] As a further aspect of the present invention, the present invention also provides a dual-circulation cooling control method for tunnel boring machines, comprising the following steps: Step 1: Use the shield machine dual-circulation cooling control system as described above to collect shield machine status data, and determine the current working condition of the shield machine based on the collected data; Step 2: Calculate the theoretical internal circulation flow rate required by the tunnel boring machine under its current operating conditions based on the collected data. Controlling flow rate using external circulation theory ; Step 3: Construct a dual-loop collaborative optimization algorithm; The aforementioned dual-loop collaborative optimization algorithm uses the theoretical required flow rate of the inner loop. Controlling flow rate using external circulation theory Based on this, the MPC predictive control strategy, PID regulation strategy, and self-learning optimization algorithm are integrated; Step 4: Demand flow based on internal circulation theory Controlling flow rate using external circulation theory Based on the baseline, combined with the final control flow after algorithm optimization The internal and external circulation are respectively adaptively and precisely controlled to adjust the frequency conversion operation of the water pump; Step 5: Analyze and judge the current status of the tunnel boring machine based on the collected data, and implement graded alarm.

[0012] Furthermore, the current operating condition of the tunnel boring machine is any one of the following: full-load tunneling, standby, or assembly.

[0013] Furthermore, calculate the theoretical demand flow rate of the inner circulation. The specific process is as follows: Step 2.11: Collect key temperature data under three different operating conditions in real time to provide basic support for temperature rise calculation and flow rate calculation; The key temperature data include the real-time temperature of the main drive, the real-time temperature of the main drive motor, the real-time temperature of the frequency converter, the real-time temperature of the pump station motor, the real-time temperature of the hydraulic oil tank, the internal circulation inlet water temperature, and the internal circulation return water temperature. Step 2.12: Calculate the temperature rise rate using the following formula: ; ; in, For the first The rate of temperature rise of each component per unit time, in units of ; For the first The real-time temperature of each component at a later moment, in units of... ; For the first The real-time temperature of each component, measured in units of [missing information]. ; In order to collect and The interval between them, in units of ; The total number of components; Step 2.13: Calculate the theoretical internal circulation demand flow rate using the following formula. : ; in, The unit is ; For the first The preset target temperature for each component, in units of ; For the first The temperature is collected in real time by each component, in units of... ; For the first Temperature coefficient of each component; For the first Temperature rise coefficient of each component.

[0014] Furthermore, the external circulation theory is used to control the flow rate. The specific process is as follows: Step 2.21: Real-time acquisition of the basic parameters required for calculation; the basic parameters include external circulation inlet water temperature, external circulation return water temperature, real-time system heat load, external circulation inlet water flow rate, and external circulation return water flow rate; Step 2.22: Calculate the final external circulation control flow rate using the following formula. : ; ; ; in, This refers to the basic heat dissipation flow rate of the equipment. This refers to the specific heat capacity of cooling water, in units of... ; This refers to the density of cooling water, in units of... ; This refers to the temperature difference between the inlet and outlet water in the external circulation system, expressed in units of... ; Real-time heat load, unit: ; Water consumption for tunnels, in units of ; This represents the water intake volume of the tunnel, in units of... ; This refers to the tunnel return water volume, in units of .

[0015] Furthermore, the implementation method of the MPC predictive control strategy is as follows: The objective function for predictive optimization of MPC predictive control is set with the goals of minimizing temperature control deviation and optimizing flow regulation smoothness. ; ; in, For MPC prediction step size, For MPC control step size, In order to be in The target temperature of the core components at any given time, in units of ; In order to be in The core component predicts real-time temperature, in units of ; In order to be in Adjustment amount of internal circulation flow rate / adjustment amount of external circulation flow rate at any given time, in units of ; Temperature deviation weighting, Weighting of flow regulation; Predictive optimization objective function based on MPC predictive control Obtain the MPC control step size The optimized flow control sequence is used, and the first output value at the current moment is taken as the flow optimization target setpoint. .

[0016] Furthermore, the implementation method of the PID control strategy is as follows: Suppose the calculation formula for the PID control strategy is as follows: ; ; in, for Flow deviation, in units This refers to the difference between the target MPC value and the actual collected traffic. This is the proportionality coefficient. The integral coefficient is... These are the differential coefficients. for Flow deviation at any given time, in units of ,Right now The difference between the target MPC value and the actual collected traffic at any given time, and ; for Actual internal circulation flow / actual external circulation flow at any given moment; To control the flow; control quantity As the ultimate control flow It is used to drive the water pump to operate at a variable frequency.

[0017] Furthermore, the implementation method of the self-learning optimization algorithm is as follows: Let the core calculation formula of the self-learning optimization algorithm be: ; in, The parameter vector to be optimized includes the internal circulation temperature coefficient. Temperature rise coefficient External circulation flow coefficient, heat dissipation temperature difference coefficient, and temperature deviation weighting coefficient Flow regulation weighting coefficient And all key parameters in the control model, such as the coefficients in the PID regulation strategy, with a separate set of parameters for each operating condition; For the learning rate, and ; The gradient of the objective function; The control system establishes independent databases according to different operating conditions, continuously collects operating data, calculates the gradient of the objective function after removing abnormal data, and iteratively updates the parameters according to the calculation formula of the self-learning optimization algorithm. The updated parameters only apply to the corresponding operating conditions.

[0018] Furthermore, the specific process of adaptive and precise control of the internal circulation is as follows: Step 4.11: Calculate the theoretical demand flow rate for the internal circulation. The theoretical internal circulation demand flow rate is input into the MPC predictive control strategy. The target value for traffic optimization was obtained through MPC prediction and optimization. ; Step 4.12: PID control strategy optimizes the target setpoint for flow rate. To achieve this, collect the actual flow rate of the inner circulation. Calculate the deviation and control the quantity ; Step 4.13: Final control flow It is converted into a frequency command for the water pump inverter, which drives the internal circulation water pump to operate and adjusts the internal circulation flow rate; Step 4.14, Adaptive adjustment based on working conditions: Real-time tracking of temperature changes and rapid adjustment of flow rate during full-load tunneling; reduction of flow rate to the basic maintenance value during standby; and precise response to temperature fluctuations during assembly.

[0019] Furthermore, the specific process of adaptive and precise control of the external circulation is as follows: Step 4.21: Control the flow rate using the external circulation theory. The input is fed into the MPC predictive control strategy, and the target setpoint for flow optimization is obtained through MPC predictive optimization. ; Step 4.22: PID control strategy optimizes the target setpoint for flow rate. To achieve this, collect the actual flow rate of the external circulation. Calculate the deviation and control the quantity ; Step 4.23: Finalize the control flow It is converted into a frequency command for the water pump inverter, which drives the external circulation water pump to operate and adjusts the external circulation flow rate; Step 4.24, Adaptive Adjustment Based on Working Conditions: Control the flow rate according to the external circulation theory under full-load tunneling conditions. Maximum flow rate is maintained while balancing heat dissipation and water usage; in standby mode, the flow rate is reduced to the baseline heat dissipation value; in assembly mode, the flow rate is slightly adjusted based on thermal shock conditions.

[0020] Furthermore, tiered alarm methods include: When the real-time temperature of the core component exceeds the preset target temperature limit, an over-temperature alarm is immediately triggered. At the same time, the flow rates of both the internal and external circulation cooling sections are adjusted to the maximum, and the alarm time, temperature data, and flow rate data at the time of the alarm are automatically recorded. When the real-time flow rate of either the internal or external circulation cooling section is less than the minimum flow rate threshold for safe operation of the equipment, a flow abnormality alarm is immediately triggered, and the speed of the corresponding circulating water pump is increased to increase the flow rate. In addition, continuous monitoring of flow changes will be conducted. If the real-time flow of the internal or external circulation cooling section still fails to reach the minimum flow threshold for safe operation of the equipment, the equipment shutdown protection will be further triggered. ③ When the temperature difference between the inlet and outlet water of the external circulation system exceeds the set threshold, it is determined that the external circulation system's heat dissipation capacity is insufficient, and an abnormal temperature difference alarm is immediately triggered. At the same time, the speed of the external circulation water pump is increased to increase the external circulation flow rate. In addition, continuously monitor the temperature difference between the inlet and outlet water of the external circulation system. If the temperature difference between the inlet and outlet water of the external circulation system still cannot be restored to the normal range, the internal circulation flow rate will be increased simultaneously.

[0021] As a further aspect of the present invention, the present invention also provides an electronic device, including a memory, one or more processors, and one or more programs stored in the memory, said one or more programs including instructions for executing the tunnel boring machine dual-cycle cooling control method as described above.

[0022] As a further aspect of the present invention, the present invention also provides a storage medium including one or more programs executable by one or more processors of an electronic device, the one or more programs including instructions for executing the tunnel boring machine dual-cycle cooling control method as described above.

[0023] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a dual-circulation cooling control system for tunnel boring machines, comprising an internal circulation control module, an external circulation control module, a dual-circulation collaborative algorithm module, a full-condition adaptive adjustment module, and an anomaly monitoring and self-learning optimization module; it achieves precise temperature control with full self-adaptation, self-learning, and no manual intervention, taking into account the heat dissipation stability of core components and the energy efficiency of the system, and is suitable for complex construction scenarios of tunnel boring machines.

[0024] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0025] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the framework of a dual-circulation cooling control system for a tunnel boring machine according to Embodiment 1 of the present invention; Figure 2 This is a flowchart illustrating a control method for a dual-circulation cooling system for a tunnel boring machine according to Embodiment 2 of the present invention. Detailed Implementation

[0026] To make the above-mentioned objectives, features, and advantages of the present invention clearer and easier to understand, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the accompanying drawings of the present invention are all in a simplified form and use non-precise proportions, and are only used to facilitate and clearly assist in illustrating the implementation of the present invention; the "several" mentioned in the present invention are not limited to the specific number shown in the examples in the accompanying drawings; the orientations or positional relationships indicated by terms such as "front," "middle," "rear," "left," "right," "up," "down," "top," "bottom," and "center" mentioned in the present invention are all based on the orientations or positional relationships shown in the accompanying drawings of the present invention, and do not indicate or imply that the device or component referred to must have a specific orientation, nor should they be construed as limitations on the present invention.

[0027] Example 1: This embodiment provides a dual-circulation cooling control system for a tunnel boring machine, including a data acquisition module, an inner circulation control module, an outer circulation control module, a dual-circulation collaborative algorithm, and a monitoring and early warning module; The tunnel boring machine's dual-circulation cooling system includes an internal circulation cooling section and an external circulation cooling section; The data acquisition module includes an internal circulation data acquisition unit, an external circulation data acquisition unit, a temperature acquisition unit, and a flow rate acquisition unit. The internal circulation data acquisition unit is used to monitor the operating status of each component in the internal circulation cooling section in real time. The external circulation data acquisition unit is used to monitor the operating status of each component in the external circulation cooling section in real time. The temperature acquisition unit is used to monitor the temperature of the internal circulation cooling section, the external circulation cooling section, the main drive section, and the water pump frequency conversion system. The flow rate acquisition module is used to monitor the flow rate of the internal circulation cooling section, the external circulation cooling section, the main drive section, and the water pump frequency conversion system. The internal circulation control module is used to establish a dynamic thermal power estimation model based on the data collected in real time by the data acquisition module, and then dynamically adjust the internal circulation cooling water flow rate according to the actual heat demand of the components to achieve on-demand cooling and precise temperature control. The external circulation control module is used to adjust the flow rate of the internal circulation cooling section and the external circulation cooling section in real time based on the data collected in real time by the data acquisition module, the total heat generation of the core components of the tunnel boring machine, and the water consumption of the tunnel boring machine construction, so as to minimize the system energy consumption while meeting the heat dissipation requirements of the internal circulation and the stable supply of construction water. The dual-loop collaborative algorithm includes MPC predictive control strategy, PID regulation strategy and self-learning optimization algorithm, which are used to realize the linkage matching and collaborative scheduling of the inner loop part and the outer dual loop part, and avoid energy waste caused by excessive operation of a single loop. The monitoring and early warning module is used to analyze and judge the relevant data collected by the data acquisition module and to implement graded alarms.

[0028] Preferably, the internal circulation data acquisition unit is used to detect the operating status of each component in the internal circulation cooling section; specifically, in this embodiment, the internal circulation data acquisition unit is used to detect the liquid level, main drive frequency converter operating status, hydraulic pump station operating status, screw conveyor lubrication system operating status, main drive lubrication system operating status, and main drive motor operating status of the internal circulation cooling section respectively.

[0029] Preferably, the external circulation data acquisition unit is used to detect the operating status of the soil chamber water supply, the operating status of the foam system, and the operating status of the cutterhead water spray system respectively.

[0030] Preferably, the temperature acquisition unit is used to detect the internal circulating water temperature, external circulating water temperature, main drive inlet water temperature, drive return water temperature, main drive lubrication and sealing cooling water temperature, main drive motor temperature, frequency converter system cooling water temperature, and frequency converter system core component temperature respectively.

[0031] Preferably, the flow acquisition unit is used to detect the internal and external circulating water flow, the main drive inlet water flow, the main drive return water flow, the main drive lubrication and sealing cooling water flow, the main drive motor cooling water flow, and the water pump frequency conversion system cooling water flow separately.

[0032] Example 2: This embodiment provides a dual-circulation cooling control method for tunnel boring machines, including the following steps: Step 1: Use the shield machine dual-circulation cooling control system as shown in Example 1 to collect shield machine status data, and determine the current working condition of the shield machine based on the collected data.

[0033] Preferably, the current operating condition of the tunnel boring machine is any one of the following: full-load tunneling, standby, and assembly. Full-load tunneling condition: The core components such as main drive, motor, and frequency converter operate at full load, with the maximum load and heat generation. The demand for water for tunnel construction is stable, and it is necessary to simultaneously meet the dual needs of heat dissipation of core components and water for construction. This is the condition with the greatest energy consumption and temperature control pressure. Standby mode (energy saving mode): The tunnel boring machine stops tunneling, the core components are under low load or stop operating, the heat generation is greatly reduced, the demand for construction water is reduced, and it is only necessary to maintain the basic temperature of the core components. The core goal is to maximize energy saving. Assembly mode (precision mode): The tunnel boring machine stops advancing, the core components operate under low load, the heat generation is between tunneling and standby, a brief thermal shock may occur during the assembly process, the construction water demand is unstable, and it is necessary to balance precise temperature control and flexible adaptation to avoid temperature fluctuations and energy waste. The load characteristics, heat generation demand and water demand of each working condition are clearly defined, providing a precise basis for subsequent flow calculation and control mode switching.

[0034] Step 2: Calculate the theoretical internal circulation flow rate required by the tunnel boring machine under its current operating conditions based on the collected data. Controlling flow rate using external circulation theory Specifically, the theoretical internal circulation flow rate is calculated by considering the load and heating characteristics of three different operating conditions. Controlling flow rate using external circulation theory As the core benchmark for subsequent algorithm optimization and loop control, the calculation process conforms to the characteristics of the working conditions, ensuring that the flow rate is accurately matched with the actual demand. Among them, the theoretical demand flow rate of the inner loop is calculated. The core objective is to calculate the required flow rate of internal circulating cooling water to suit the current operating conditions based on the real-time temperature and temperature rise rate of the core components, so as to achieve "on-demand cooling and precise temperature control" and avoid energy waste caused by flow redundancy. Calculate the external circulation theory to control the flow rate The core objective is to calculate the theoretical control flow rate of the external circulation system by considering both the internal circulation heat dissipation demand and the tunnel construction water demand. To minimize the overall energy consumption of the system while meeting both requirements.

[0035] Preferably, calculate the theoretical demand flow rate of the inner circulation. The specific process is as follows: Step 2.11: Collect key temperature data under three different operating conditions in real time to provide basic support for temperature rise calculation and flow rate calculation; The key temperature data include the real-time temperature of the main drive, the real-time temperature of the main drive motor, the real-time temperature of the frequency converter, the real-time temperature of the pump station motor, the real-time temperature of the hydraulic oil tank, the internal circulation inlet water temperature, and the internal circulation return water temperature. Step 2.12: Calculate the temperature rise rate; The temperature rise rate is not directly collected. Instead, it is calculated by the control system based on the temperature difference of components collected at adjacent times and the time interval, so as to accurately capture the temperature rise trend of components under different operating conditions and provide a predictive basis for flow regulation. Preferably, the expression for calculating the temperature rise rate is as follows: ; ; in, For the first The rate of temperature rise of each component per unit time, in units of ; For the first The real-time temperature of each component at a later moment, in units of... ; For the first The real-time temperature of each component, measured in units of [missing information]. ; In order to collect and The interval between them, in units of ; The total number of components; Step 2.13: Calculate the theoretical internal circulation demand flow. ; The internal circulation flow rate is calculated based on the component temperature deviation and temperature rise rate. By combining the heating characteristics of different operating conditions, we ensure that the flow supply is precisely matched with the actual heating demand of the components; Internal circulation theoretical demand flow The expression is as follows: ; in, The unit is ; For the first The preset target temperature for each component, in units of ; For the first The temperature is collected in real time by each component, in units of... ; For the first Temperature coefficient of each component; For the first Temperature rise coefficient of each component.

[0036] Preferably, the external circulation theory is used to control the flow rate. The specific process is as follows: Step 2.21: Real-time acquisition of the basic parameters required for calculation; the basic parameters include external circulation inlet water temperature, external circulation return water temperature (calculated based on the temperature difference between inlet and outlet water), real-time system heat load (calculated based on the operating power of core components), external circulation inlet water flow rate, and external circulation return water flow rate; Step 2.22: Calculate the basic heat dissipation flow rate of the equipment based on the internal circulation heat dissipation requirements. Based on the real-time water flow rate during tunnel construction, the maximum value of the two values ​​is taken as the final external circulation control flow rate. External circulation controls flow It balances heat dissipation, water supply, and energy conservation; Equipment foundation heat dissipation flow The expression is as follows: ; in, This refers to the specific heat capacity of cooling water, in units of... ; This refers to the density of cooling water, in units of... ; This refers to the temperature difference between the inlet and outlet water in the external circulation system, expressed in units of... ; Real-time heat load, unit: It is calculated based on the real-time operating power of core components such as the main drive and frequency converter; External circulation control flow The expression is as follows: ; ; in, Water consumption for tunnels, in units of ; This represents the water intake volume of the tunnel, in units of... ; This refers to the tunnel return water volume, in units of .

[0037] Step 3: Construct a dual-loop collaborative optimization algorithm; The aforementioned dual-loop collaborative optimization algorithm uses the theoretical required flow rate of the inner loop. Controlling flow rate using external circulation theory Based on this, the system integrates MPC predictive control strategy, PID regulation strategy and self-learning optimization algorithm to achieve dual-loop linkage scheduling and precise flow optimization, transforming theoretical flow into an executable control objective.

[0038] Preferably, the MPC predictive control strategy is used for demand flow based on the inner circulation theory. Controlling flow rate using external circulation theory The baseline value is used to predict future operating condition changes, optimize the flow regulation process, avoid sudden flow changes, and ensure control smoothness and accuracy. Specifically, in this embodiment, the implementation method of the MPC predictive control strategy is as follows: The objective function for predictive optimization of MPC predictive control is set with the goals of minimizing temperature control deviation and optimizing flow regulation smoothness. ; ; in, For MPC prediction step size, For MPC control step size (specifically, in this embodiment, (Set according to different working conditions) In order to be in The target temperature of the core components at any given time, in units of ; In order to be in The core component predicts real-time temperature, in units of ; In order to be in Adjustment amount of internal circulation flow rate / adjustment amount of external circulation flow rate at any given time, in units of Specifically, in this embodiment, Demand flow based on internal circulation theory Controlling flow rate using external circulation theory The baseline value is calculated, where This is used to optimize the range of flow adjustment. Temperature deviation weighting, Weighting of flow regulation amount, and Used to balance temperature control accuracy and adjustment smoothness.

[0039] Predictive optimization objective function based on MPC predictive control Obtain the MPC control step size The optimized flow control sequence is taken at the current time ( The first output value at time ( ) is used as the target setting for traffic optimization. This provides a target benchmark for subsequent PID control.

[0040] Preferably, the PID control strategy is used for real-time tracking. To correct flow deviations, the optimized flow target is transformed into an actual execution signal, ensuring that the actual flow remains stable within the target range. Specifically, in this embodiment, the PID control strategy is implemented as follows: Suppose the calculation formula for the PID control strategy is as follows: ; ; in, for Flow deviation, in units This refers to the difference between the target MPC value and the actual collected traffic. This is the proportionality coefficient. The integral coefficient is... These are the differential coefficients. for Flow deviation at any given time, in units of ,Right now The difference between the target MPC value and the actual collected traffic at any given time, and ; for Actual internal circulation flow / actual external circulation flow at any given moment; To control the flow; control quantity As the ultimate control flow It is directly used to drive the variable frequency operation of water pumps.

[0041] Preferably, the self-learning optimization algorithm improves the adaptability of the dual-loop collaborative optimization algorithm by iteratively optimizing the core parameters of the MPC predictive control strategy, PID regulation strategy, and flow calculation, ensuring continuous improvement in control accuracy and energy-saving effect under different operating conditions. Specifically, in this embodiment, the self-learning optimization algorithm is implemented as follows: Let the core calculation formula of the self-learning optimization algorithm be: ; in, The parameter vector to be optimized includes the internal circulation temperature coefficient. Temperature rise coefficient External circulation flow coefficient, heat dissipation temperature difference coefficient, and temperature deviation weighting coefficient Flow regulation weighting coefficient And all key parameters in the control model, such as the coefficients in the PID regulation strategy, with a separate set of parameters for each operating condition; For the learning rate, and After initial system settings, it can be automatically fine-tuned based on operational stability. The gradient of the objective function, composed of "temperature control error" and "system energy consumption", guides the parameters to be updated in the direction of optimization. Self-learning process: The control system establishes independent databases according to different operating conditions, continuously collects operating data (temperature, flow rate, deviation, energy consumption, etc.), calculates the gradient of the objective function after removing abnormal data, and iteratively updates the parameters according to the calculation formula of the self-learning optimization algorithm. The updated parameters only apply to the corresponding operating conditions, continuously improving the adaptability of the algorithm.

[0042] Step 4: Demand flow based on internal circulation theory Controlling flow rate using external circulation theory Based on the baseline, combined with the final control flow after algorithm optimization It adaptively and precisely controls the internal and external circulation separately, adjusts the frequency conversion operation of the water pump, and achieves the temperature control and energy-saving goals under different operating conditions.

[0043] Preferably, the purpose of adaptive and precise control of the internal circulation is to stabilize the temperature of the core components within a preset target range, achieving "on-demand cooling and precise temperature control," and avoiding flow redundancy and component overheating. Specifically, in this embodiment, the process of adaptive and precise control of the internal circulation is as follows: Step 4.11: Calculate the theoretical demand flow rate for the internal circulation. The theoretical internal circulation demand flow rate is input into the MPC predictive control strategy. The target value for traffic optimization was obtained through MPC prediction and optimization. ; Step 4.12: PID control strategy optimizes the target setpoint for flow rate. To achieve this, collect the actual flow rate of the inner circulation. Calculate the deviation and control the quantity (i.e., final control flow) ); Step 4.13: Final control flow It is converted into a frequency command for the water pump inverter, which drives the internal circulation water pump to operate and adjusts the internal circulation flow rate; Step 4.14, Adaptive adjustment based on working conditions: Real-time tracking of temperature changes and rapid adjustment of flow rate during full-load tunneling; Reduced flow rate to the basic maintenance value during standby; Precise response to temperature fluctuations during assembly to avoid overheating.

[0044] Preferably, the purpose of adaptive and precise control of the external circulation is to balance internal circulation heat dissipation, tunnel construction water use, and system energy saving, ensuring a precise match between flow rate and dual demands. Specifically, in this embodiment, the process of adaptive and precise control of the external circulation is as follows: Step 4.21: Control the flow rate using the external circulation theory. The input is fed into the MPC predictive control strategy, and the target setpoint for flow optimization is obtained through MPC predictive optimization. ; Step 4.22: PID control strategy optimizes the target setpoint for flow rate. To achieve this, collect the actual flow rate of the external circulation. Calculate the deviation and control the quantity (i.e., final control flow) ); Step 4.23: Finalize the control flow It is converted into a frequency command for the water pump inverter, which drives the external circulation water pump to operate and adjusts the external circulation flow rate; Step 4.24, Adaptive Adjustment Based on Working Conditions: Control the flow rate according to the external circulation theory under full-load tunneling conditions. Maximum flow rate is maintained while balancing heat dissipation and water usage; in standby mode, the flow rate is reduced to the baseline heat dissipation value; during assembly mode, the flow rate is slightly adjusted based on thermal shock conditions to avoid energy waste.

[0045] Step 5: Anomaly Monitoring and Early Warning Implementation. This step involves real-time monitoring of key parameters such as temperature, flow rate, and differential pressure, establishing a tiered alarm and protection mechanism to promptly mitigate the risks of equipment damage and system failure. Specifically, in this embodiment, the specific implementation method for anomaly monitoring and early warning is as follows: The real-time monitored data includes: real-time temperature of core components (main drive, motor, frequency converter), internal circulation inlet water temperature and temperature difference, external circulation inlet water temperature and temperature difference, internal circulation return water temperature and temperature difference, external circulation return water temperature and temperature difference, and system pressure difference; Alarms and protection mechanisms are triggered in a graded manner based on the severity of the anomaly to ensure timely risk management, as detailed below: ① Over-temperature alarm; When the real-time temperature of the core component exceeds the preset target temperature limit, an over-temperature alarm is immediately triggered, and protective measures are implemented simultaneously. Automatically increases internal and external circulation flow to maximum to quickly reduce component temperature and prevent component damage due to overheating; Output an alarm signal to the host computer to remind staff to pay attention to the equipment status; It automatically records alarm time, temperature data at the time of alarm, flow data and other information for subsequent troubleshooting and parameter optimization.

[0046] ② Traffic abnormality alarm; When the real-time flow rate of either the internal or external circulation cooling section is less than the minimum protection flow rate (the minimum flow rate threshold for safe operation of the equipment), the system immediately triggers a flow abnormality alarm and simultaneously implements protective measures: The corresponding circulating water pump speed is automatically increased to increase the flow rate and ensure that the core components are effectively cooled. Output an alarm signal to the host computer to indicate abnormal flow; Continuously monitor flow rate changes. If the circulating cooling section or the external circulating cooling section still cannot reach the minimum protection flow rate, further trigger the equipment shutdown protection to prevent components from overheating and being damaged.

[0047] ③ Temperature difference alarm; When the temperature difference between the inlet and outlet water of the external circulation system exceeds the set threshold, the system determines that the external circulation heat dissipation capacity is insufficient, immediately triggers a temperature difference abnormality alarm, and simultaneously executes protective measures: Automatically increases the speed of the external circulating water pump, increases the external circulation flow rate, and enhances heat dissipation capacity; It outputs an alarm signal to the host computer to remind staff to check the external circulation cooling system; Continuously monitor the temperature difference between the inlet and outlet water of the external circulation system. If the temperature difference still cannot be restored to the normal range, simultaneously increase the internal circulation flow rate to assist in heat dissipation and ensure stable system operation.

[0048] Alarm logging and tracing: The control system automatically records all alarm information, including alarm time, alarm type, abnormal parameter values, and triggered protection measures. The storage period meets the needs of on-site fault diagnosis and equipment maintenance, making it easy for staff to trace the cause of abnormalities and optimize system operating parameters.

[0049] Example 3: As a further embodiment of the present invention, the present invention also provides an electronic device, comprising: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the aforementioned method.

[0050] In practical use, users can interact with servers, which are also electronic devices, via a network to receive or send messages. Terminal devices are generally various electronic devices equipped with a display and used through a human-computer interface, including but not limited to smartphones, tablets, laptops, and desktop computers. Various specific application software can be installed on these terminal devices as needed, including but not limited to web browsers, instant messaging software, social media platforms, and shopping apps.

[0051] Furthermore, the server is a network server used to provide various services, such as a backend server that provides corresponding calculation services for the operating status, temperature and flow of each component in the dual-circulation cooling section of the tunnel boring machine transmitted from the terminal device, so as to realize the processing of the dual-circulation cooling control method of the tunnel boring machine, calculate the control parameters of the dual-circulation cooling section of the tunnel boring machine, and finally return them to the terminal device.

[0052] Example 4: As a further embodiment of the present invention, the present invention also provides a storage medium including one or more programs executable by one or more processors of an electronic device, the one or more programs including instructions for performing the tunnel boring machine dual-cycle cooling control method as described above.

[0053] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A dual-circulation cooling control system for a tunnel boring machine, characterized in that, It includes a data acquisition module, an inner loop control module, an outer loop control module, a dual-loop collaborative algorithm, and a monitoring and early warning module; The tunnel boring machine's dual-circulation cooling system includes an internal circulation cooling section and an external circulation cooling section; The data acquisition module is used to detect the operating status, temperature, and flow rate of each component in the dual-circulation cooling section of the tunnel boring machine; The internal circulation control module is used to establish a dynamic thermal power estimation model based on the data collected in real time by the data acquisition module, and then dynamically adjust the internal circulation cooling water flow rate according to the actual heat demand of the components to achieve on-demand cooling and precise temperature control. The external circulation control module is used to adjust the flow rate of the internal circulation cooling section and the external circulation cooling section in real time based on the data collected in real time by the data acquisition module, the total heat generation of the core components of the tunnel boring machine, and the water consumption of the tunnel boring machine construction, so as to minimize the system energy consumption while meeting the heat dissipation requirements of the internal circulation and the stable supply of construction water. The dual-loop collaborative algorithm includes MPC predictive control strategy, PID regulation strategy and self-learning optimization algorithm, which are used to realize the linkage matching and collaborative scheduling of the inner loop part and the outer dual loop part. The monitoring and early warning module is used to analyze and judge the relevant data collected by the data acquisition module to realize graded alarms.

2. The shield tunneling machine dual-circulation cooling control system according to claim 1, characterized in that, The data acquisition module includes an internal circulation data acquisition unit, an external circulation data acquisition unit, a temperature acquisition unit, and a flow rate acquisition unit; The internal circulation data acquisition unit is used to monitor the operation of each component in the internal circulation cooling section in real time. The external circulation data acquisition unit is used to monitor the operating status of each component in the external circulation cooling section in real time. The temperature acquisition unit is used to detect the temperature of the internal circulation cooling section, the external circulation cooling section, the main drive section, and the water pump frequency conversion system; The flow acquisition module is used to detect the flow rates of the internal circulation cooling section, the external circulation cooling section, the main drive section, and the water pump frequency conversion system.

3. The shield tunneling machine dual-circulation cooling control system according to claim 2, characterized in that, The internal circulation data acquisition unit is used to detect the liquid level of the internal circulation cooling section, the operating status of the main drive frequency converter, the operating status of the hydraulic pump station, the working status of the screw conveyor lubrication system, the working status of the main drive lubrication system, and the operating status of the main drive motor, respectively. The external circulation data acquisition unit is used to detect the operating status of the soil chamber water supply, the operating status of the foam system, and the operating status of the cutterhead water spray system respectively. The temperature acquisition unit is used to detect the internal circulating water temperature, external circulating water temperature, main drive inlet water temperature, drive return water temperature, main drive lubrication and sealing cooling water temperature, main drive motor temperature, frequency converter system cooling water temperature, and frequency converter system core component temperature respectively. The flow acquisition unit is used to detect the internal and external circulating water flow, the main drive inlet water flow, the main drive return water flow, the main drive lubrication and sealing cooling water flow, the main drive motor cooling water flow, and the water pump frequency conversion system cooling water flow separately.

4. A dual-circulation cooling control method for a tunnel boring machine, characterized in that, Includes the following steps: Step 1: Collect shield machine status data using the shield machine dual-circulation cooling control system as described in any one of claims 1-3, and determine the current working condition of the shield machine based on the collected data; Step 2: Calculate the theoretical internal circulation flow rate required by the tunnel boring machine under its current operating conditions based on the collected data. Controlling flow rate using external circulation theory ; Step 3: Construct a dual-loop collaborative optimization algorithm; The aforementioned dual-loop collaborative optimization algorithm uses the theoretical required flow rate of the inner loop. Controlling flow rate using external circulation theory Based on this, the MPC predictive control strategy, PID regulation strategy, and self-learning optimization algorithm are integrated; Step 4: Demand flow based on internal circulation theory Controlling flow rate using external circulation theory Based on the baseline, combined with the final control flow after algorithm optimization The internal and external circulation are respectively adaptively and precisely controlled to adjust the frequency conversion operation of the water pump; Step 5: Analyze and judge the current status of the tunnel boring machine based on the collected data, and implement graded alarm.

5. The shield tunneling machine dual-circulation cooling control method according to claim 4, characterized in that, The tunnel boring machine is currently operating under any one of the following conditions: full-load tunneling, standby, or assembly.

6. The shield tunneling machine dual-circulation cooling control method according to claim 5, characterized in that, Calculate the theoretical demand flow of the inner loop. The specific process is as follows: Step 2.11: Collect key temperature data under three different operating conditions in real time to provide basic support for temperature rise calculation and flow rate calculation; The key temperature data include the real-time temperature of the main drive, the real-time temperature of the main drive motor, the real-time temperature of the frequency converter, the real-time temperature of the pump station motor, the real-time temperature of the hydraulic oil tank, the internal circulation inlet water temperature, and the internal circulation return water temperature. Step 2.12: Calculate the temperature rise rate using the following formula: ； ； in, For the first The rate of temperature rise of each component per unit time, in units of ; For the first The real-time temperature of each component at a later moment, in units of... ; For the first The real-time temperature of each component, measured in units of [missing information]. ; In order to collect and The interval between them, in units of ; The total number of components; Step 2.13: Calculate the theoretical internal circulation demand flow rate using the following formula. : ； in, The unit is ; For the first The preset target temperature for each component, in units of ; For the first The temperature is collected in real time by each component, in units of... ; For the first Temperature coefficient of each component; For the first Temperature rise coefficient of each component.

7. The shield tunneling machine dual-circulation cooling control method according to claim 5, characterized in that, Calculate the external circulation theory to control the flow rate The specific process is as follows: Step 2.21: Real-time acquisition of the basic parameters required for calculation; the basic parameters include external circulation inlet water temperature, external circulation return water temperature, real-time system heat load, external circulation inlet water flow rate, and external circulation return water flow rate; Step 2.22: Calculate the final external circulation control flow rate using the following formula. : ； ； ； in, This refers to the basic heat dissipation flow rate of the equipment. This refers to the specific heat capacity of cooling water, in units of... ; This refers to the density of cooling water, in units of... ; This refers to the temperature difference between the inlet and outlet water in the external circulation system, expressed in units of... ; Real-time heat load, unit: ; Water consumption for tunnels, in units of ; This represents the water intake volume of the tunnel, in units of... ; This refers to the tunnel return water volume, in units of... .

8. The shield tunneling machine dual-circulation cooling control method according to any one of claims 4-7, characterized in that, The implementation method of the MPC predictive control strategy is as follows: The objective function for predictive optimization of MPC predictive control is set with the goals of minimizing temperature control deviation and optimizing flow regulation smoothness. ; ； in, For MPC prediction step size, For MPC control step size, In order to be in The target temperature of the core components at any given time, in units of ; In order to be in The core component predicts real-time temperature, in units of ; In order to be in Adjustment amount of internal circulation flow rate / adjustment amount of external circulation flow rate at any given time, in units of ; Temperature deviation weighting, Weighting of flow regulation; Predictive optimization objective function based on MPC predictive control Obtain the MPC control step size The optimized flow control sequence is used, and the first output value at the current moment is taken as the flow optimization target setpoint. .

9. The shield tunneling machine dual-circulation cooling control method according to claim 8, characterized in that, The implementation method of the PID control strategy is as follows: Suppose the calculation formula for the PID control strategy is as follows: ； ； in, for Flow deviation, in units of This refers to the difference between the target MPC value and the actual collected traffic. This is the proportionality coefficient. The integral coefficient is... These are the differential coefficients. for Flow deviation at any given time, in units of ,Right now The difference between the target MPC value and the actual collected traffic at any given time, and ; for Actual internal circulation flow / actual external circulation flow at any given moment; To control the flow; control quantity As the ultimate control flow It is used to drive the water pump to operate at a variable frequency.

10. The shield tunneling machine dual-circulation cooling control method according to claim 9, characterized in that, The implementation method of the self-learning optimization algorithm is as follows: Let the core calculation formula of the self-learning optimization algorithm be: ； in, The parameter vector to be optimized includes the internal circulation temperature coefficient. Temperature rise coefficient External circulation flow coefficient, heat dissipation temperature difference coefficient, and temperature deviation weighting coefficient Flow regulation weighting coefficient And all key parameters in the control model, such as the coefficients in the PID regulation strategy, with a separate set of parameters for each operating condition; For the learning rate, and ; The gradient of the objective function; The control system establishes independent databases according to different operating conditions, continuously collects operating data, calculates the gradient of the objective function after removing abnormal data, and iteratively updates the parameters according to the calculation formula of the self-learning optimization algorithm. The updated parameters only apply to the corresponding operating conditions.

11. The shield tunneling machine dual-circulation cooling control method according to claim 10, characterized in that, The specific process of adaptive and precise control of the inner circulation is as follows: Step 4.11: Calculate the theoretical demand flow rate for the internal circulation. The theoretical internal circulation demand flow rate is input into the MPC predictive control strategy. The target value for traffic optimization was obtained through MPC prediction and optimization. ; Step 4.12: PID control strategy optimizes the target setpoint for flow rate. To achieve this, collect the actual flow rate of the inner circulation. Calculate the deviation and control the quantity ; Step 4.13: Final control flow It is converted into a frequency command for the water pump inverter, which drives the internal circulation water pump to operate and adjusts the internal circulation flow rate; Step 4.14, Adaptive adjustment based on working conditions: Real-time tracking of temperature changes and rapid adjustment of flow rate during full-load tunneling; reduction of flow rate to the basic maintenance value during standby; and precise response to temperature fluctuations during assembly.

12. The shield tunneling machine dual-circulation cooling control method according to claim 11, characterized in that, The specific process of adaptive and precise control of the external circulation is as follows: Step 4.21: Control the flow rate using the external circulation theory. The input is fed into the MPC predictive control strategy, and the target setpoint for flow optimization is obtained through MPC predictive optimization. ; Step 4.22: PID control strategy optimizes the target setpoint for flow rate. To achieve this, collect the actual flow rate of the external circulation. Calculate the deviation and control the quantity ; Step 4.23: Finalize the control flow It is converted into a frequency command for the water pump inverter, which drives the external circulation water pump to operate and adjusts the external circulation flow rate; Step 4.24, Adaptive Adjustment Based on Working Conditions: Control the flow rate according to the external circulation theory under full-load tunneling conditions. Maximum flow rate is maintained while balancing heat dissipation and water usage; in standby mode, the flow rate is reduced to the baseline heat dissipation value; in assembly mode, the flow rate is slightly adjusted based on thermal shock conditions.

13. The shield tunneling machine dual-cycle cooling control method according to claim 11 or 12, characterized in that, The tiered alarm methods include: When the real-time temperature of the core component exceeds the preset target temperature limit, an over-temperature alarm is immediately triggered. At the same time, the flow rates of both the internal and external circulation cooling sections are adjusted to the maximum, and the alarm time, temperature data, and flow rate data at the time of the alarm are automatically recorded. When the real-time flow rate of either the internal or external circulation cooling section is less than the minimum flow rate threshold for safe operation of the equipment, a flow abnormality alarm is immediately triggered, and the speed of the corresponding circulating water pump is increased to increase the flow rate. as well as, Continuously monitor flow changes. If the real-time flow of the internal or external circulation cooling section still cannot reach the minimum flow threshold for safe operation of the equipment, the equipment shutdown protection will be further triggered. ③ When the temperature difference between the inlet and outlet water of the external circulation system exceeds the set threshold, it is determined that the external circulation system's heat dissipation capacity is insufficient, and an abnormal temperature difference alarm is immediately triggered. At the same time, the speed of the external circulation water pump is increased to increase the external circulation flow rate. as well as, Continuously monitor the temperature difference between the inlet and outlet water of the external circulation system. If the temperature difference between the inlet and outlet water of the external circulation system still cannot be restored to the normal range, the internal circulation flow rate will be increased simultaneously.

14. An electronic device, characterized in that, It includes a memory, one or more processors, and one or more programs stored in the memory, the one or more programs including instructions for executing the tunnel boring machine dual-cycle cooling control method as described in any one of claims 1-13.

15. A storage medium, characterized in that, It includes one or more programs that are executed by one or more processors of an electronic device, the one or more programs including instructions for executing the tunnel boring machine dual-cycle cooling control method as described in any one of claims 1-13.

Images