Energy-saving control method and system for automatic constant-speed tunneling of shield machine

Abstract

An energy-saving control method for automatic constant-speed tunneling of a shield machine. The method comprises: obtaining tunneling parameters of a shield machine and corresponding complete-machine power consumption; selecting a group of optimal tunneling parameters having the minimum complete-machine power consumption, such that the shield machine performs tunneling according to the optimal tunneling parameters; and when it is detected that a tunneling speed has been changed, maintaining the tunneling speed of the shield machine within a set target tunneling speed interval by means of the rotating speed of a cutterhead or the flow rate of hydraulic oil. Further provided is an energy-saving control system for automatic constant-speed tunneling of a shield machine. By means of the method and system, constant-speed energy-saving tunneling can be realized, thereby facilitating an operator in maintaining the overall macroscopic control and organization of all links of a project.

Description

A shield machine automatic constant speed excavation energy-saving control method and system Technical Field

[0001] The present invention relates to an automatic constant-speed tunneling energy-saving control method and system for a shield machine, belonging to the technical field of shield machine construction automation and intelligence. Background Art

[0002] The shield machine is a specialized piece of engineering equipment for tunneling, performing tunneling operations such as face excavation, slag removal, simultaneous grouting, and segment assembly. Over the past 40 years, to improve tunneling efficiency (e.g., high torque, high speed, and high thrust), mitigate unforeseen risks, and enhance equipment performance, the system configuration has continuously improved, resulting in a continuous increase in installed power, nearly doubling. However, this overall power increase and system redundancy are only necessary in exceptional circumstances; in most cases, only a small portion is required.

[0003] The Chinese invention patent authorization document with publication number CN115098559A discloses a system for predicting the relationship between the tunneling speed and tunneling parameters of a shield machine, and introduces a method for predicting the tunneling speed by combining the judgment of soil pressure. That is, based on preset geological information parameters, the obtained soil bin pressure information and the cutterhead speed information, a regression analysis method is used to fuse the received data to predict the relationship between the cutterhead tunneling speed and the tunneling parameters. The tunneling parameters include the cutterhead thrust, the obtained soil bin pressure and the cutterhead speed.

[0004] Chinese invention patent publication number CN112183993A discloses a method for intelligent prediction and optimization of TBM excavation control parameters. This method uses a TBM rock-breaking energy function as the objective function of a particle swarm optimization algorithm (PSO). Based on iterative calculations, the optimization algorithm achieves adaptive matching of TBM excavation control parameters (TBM penetration and cutterhead speed) while comprehensively considering energy consumption. This rock-breaking energy function is primarily applicable to rock formations. Because jointed and lamellae-rich rock formations require greater power and cutterhead torque, the excavation power for jointed and lamellae-rich rock formations is sometimes greater than that for intact rock formations.

[0005] Both of the above schemes use mechanical specific energy to analyze and compare various system data of shield tunneling, and then make real-time control and adjustment of the shield machine tunneling parameters to enable it to tunnel at a more ideal energy consumption; however, the specific energy theory model is often more applicable when the geological conditions are single, and during the shield machine tunneling process, the geology is often ever-changing. Therefore, the specific energy theory also has large errors and unreliability in implementation, and the amount of data analysis is large.

[0006] Furthermore, shield machines often need to consider the timing of other process steps during operation, requiring them to maintain a constant speed to achieve orderly material flow and energy conservation. Therefore, it is necessary to develop an automatic constant-speed tunneling energy-saving control method for shield machines that is more geologically adaptable and easier to control.

[0007] Summary of the Invention

[0008] The purpose of the present invention is to provide a shield machine automatic constant speed excavation energy-saving control method and system to solve the problem that the process of using mechanical specific energy to derive the optimal excavation parameters to achieve energy saving in the prior art is relatively complex and has poor adaptability to different strata.

[0009] To achieve the above object, the solution of the present invention includes:

[0010] A shield machine automatic constant speed excavation energy-saving control method includes the following steps:

[0011] 1) Obtain shield machine excavation parameters and corresponding machine power consumption;

[0012] 2) Select a set of optimal tunneling parameters with the lowest power consumption of the entire machine, so that the shield machine can tunnel according to the optimal tunneling parameters. When the tunneling speed changes, the cutterhead penetration and cutterhead speed are adjusted according to the relationship between the tunneling speed, the penetration rate and the cutterhead speed to maintain the tunneling speed of the shield machine within a set target tunneling speed range.

[0013] This tunneling method puts the shield machine in an energy-saving state of automatic tunneling, while the tunneling speed is specified by the shield driver and construction efficiency and progress are guaranteed. Compared with other existing technologies, there is no need to analyze and compare various system data of the shield tunneling, and the tunneling parameters of the shield machine are controlled and adjusted in real time to enable it to tunnel at a more ideal energy consumption. The overall control method is relatively simple. Based on the tunneling parameters corresponding to the lowest power consumption of tunneling in the same stratum, the power consumption of the entire machine is sacrificed within an acceptable range to keep the power consumption of the entire machine within a range close to the minimum value. With the tunneling speed V constant and the cutterhead penetration not adjusted, the cutterhead speed R is used as the target control parameter to achieve energy-saving control during automatic constant-speed tunneling, reduce a large amount of useless tunneling data analysis and calculation, and is relatively easy to implement. At the same time, constant-speed tunneling also facilitates the operator to achieve overall macro-control and organization of all aspects of the project.

[0014] Furthermore, in step 2), the shield machine is maintained within the target tunneling speed range by adjusting the cutterhead speed according to the change in the cutterhead penetration. When the tunneling speed decreases, the cutterhead speed is adjusted to increase the cutterhead speed accordingly; when the tunneling speed increases, the cutterhead speed is adjusted to decrease the cutterhead speed accordingly.

[0015] When the tunneling speed is specified by the shield driver and construction efficiency and progress are guaranteed, the cutterhead penetration will change with geological changes under the conditions of constant tunneling speed V and no adjustment of cutterhead penetration. According to the change of cutterhead penetration, only the cutterhead speed R is used as the target control parameter to achieve energy-saving control during automatic constant speed tunneling, so that the shield machine can operate in an overall relatively energy-saving manner, simplifying the control method and making it easier to implement.

[0016] Furthermore, the relationship is: V = P × R

[0017] Where: V is the excavation speed, P is the cutterhead penetration, and R is the cutterhead speed.

[0018] The above formula is simple, the logical relationship is clear, and it is easy to implement the code in practical application.

[0019] Furthermore, in step 1), the tunneling parameters of the shield machine and the corresponding power consumption of the entire machine are obtained during the current operation of the shield machine.

[0020] By statistically analyzing the tunnel boring parameters and the corresponding power consumption of the entire machine during the current operation of the shield machine, and using the data of the current shield machine to perform data statistics on the current shield machine, the obtained data on the tunnel boring parameters and the corresponding power consumption of the entire machine are more accurate and more applicable.

[0021] Furthermore, in step 1), the tunneling parameters of the shield machine and the corresponding power consumption of the entire machine during the tunneling processes of the latest several ring segments before the current operation moment of the shield machine are obtained.

[0022] The optimal excavation parameters are obtained by statistically analyzing the excavation data of several ring segments before the current operating time. Since the statistical data used is close to the current operating time, the analysis results are more accurate and more applicable.

[0023] A shield machine automatic constant speed excavation energy-saving control method includes the following steps:

[0024] 1) Obtain shield machine excavation parameters and corresponding machine power consumption;

[0025] 2) Select a set of optimal tunneling parameters with the lowest power consumption of the entire machine, so that the shield machine can tunnel according to the optimal tunneling parameters. When the tunneling speed is found to change, the tunneling speed of the shield machine is maintained within a set target tunneling speed range by adjusting the hydraulic oil flow rate based on the relationship between the tunneling speed and the flow rate of the hydraulic oil.

[0026] This tunneling method puts the shield machine in an energy-saving state of automatic tunneling, while the tunneling speed is specified by the shield driver and construction efficiency and progress are guaranteed. Compared with other existing technologies, there is no need to analyze and compare various system data of the shield tunneling, and the tunneling parameters of the shield machine are controlled and adjusted in real time to enable it to tunnel at a more ideal energy consumption. The overall control method is relatively simple. Based on the tunneling parameters corresponding to the lowest power consumption of tunneling in the same stratum, the power consumption of the whole machine is kept within a range close to the minimum value. Under the condition of a constant tunneling speed V, the flow rate of hydraulic oil is used as the target control parameter to achieve energy-saving control during automatic constant-speed tunneling, reduce a large amount of useless tunneling data analysis and calculation, and is relatively easy to implement. At the same time, constant-speed tunneling also makes it easier for the operator to achieve overall macro-control and organization of all aspects of the project.

[0027] Furthermore, in step 2), the tunneling speed of the shield machine is maintained within a set target tunneling speed range by adjusting the flow rate of the hydraulic oil under the condition of a constant cutterhead speed. When the tunneling speed decreases, the flow rate of the hydraulic oil in the cylinder is increased, and when the tunneling speed increases, the flow rate of the hydraulic oil in the cylinder is reduced.

[0028] Maintaining a constant cutterhead speed and adjusting the cutterhead penetration to make the shield machine advance at a constant speed, this solution achieves a constant excavation speed by controlling the relative increase or decrease of the flow rate of the propulsion cylinder, thereby achieving constant speed excavation, thereby eliminating the need for frequent speed adjustments of the main drive motor that drives the cutterhead rotation.

[0029] Furthermore, the relationship is: V = Q / S

[0030] Where: Q is the flow rate of hydraulic oil in the cylinder, S is the cross-sectional area of ​​the cylinder, and V is the excavation speed.

[0031] In the above formula, the flow rate of hydraulic oil in the cylinder divided by the cross-sectional area of ​​the cylinder gives the extension speed of the cylinder. Since the extension speed of the propulsion cylinder corresponds to the tunneling speed of the shield machine, the logical relationship of this formula is clear and easy to implement in code in practical application.

[0032] Furthermore, in step 1), the tunneling parameters of the shield machine and the corresponding power consumption of the entire machine during the tunneling processes of the latest several ring segments before the current operation moment of the shield machine are obtained.

[0033] By statistically analyzing the tunnel boring parameters and the corresponding power consumption of the entire machine during the current operation of the shield machine, and using the data of the current shield machine to perform data statistics on the current shield machine, the obtained data on the tunnel boring parameters and the corresponding power consumption of the entire machine are more accurate and more applicable.

[0034] Furthermore, in step 1), the tunneling parameters of the shield machine and the corresponding power consumption of the entire machine during the tunneling processes of the latest several ring segments before the current operation moment of the shield machine are obtained.

[0035] Various excavation data are obtained by statistically analyzing various excavation data during the excavation process of several ring segments before the current operating time. Since the statistical data used is relatively close to the current operating time, the analysis results are more accurate and more applicable.

[0036] A shield machine automatic constant speed excavation energy-saving control system includes a memory and a processor, wherein the processor is used to execute computer program instructions stored in the memory to implement the shield machine automatic constant speed excavation energy-saving control method as described in any one of the above. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] FIG1 is a schematic diagram of an energy-saving control system of the present invention;

[0038] FIG2 is a control principle diagram based on the cutter head speed of the present invention;

[0039] FIG3 is a diagram showing the control principle of the hydraulic oil flow rate according to the present invention;

[0040] In the figure: 1. Cutter head; 2. Main drive unit; 3. Screw conveyor; 4. Propulsion cylinder; 5. Segment; 6. Host computer. DETAILED DESCRIPTION

[0041] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0042] The present invention provides an energy-saving control method for automatic constant-speed tunneling of a shield machine. The method obtains tunneling parameters of the shield machine and corresponding power consumption of the entire machine by means of big data collection; after processing the collected relevant big data, a set of optimal tunneling parameters with minimum power consumption of the entire machine is selected, so that the shield machine tunnels according to the optimal tunneling parameters; when a change in tunneling speed is found, the tunneling speed of the shield machine is maintained within a set target tunneling speed range by adjusting the cutterhead speed according to the relationship between the tunneling speed, the penetration degree of the cutterhead and the cutterhead speed; or when a change in tunneling speed is found, the tunneling speed of the shield machine is maintained within a set target tunneling speed range by adjusting the flow rate of the hydraulic oil according to the relationship between the tunneling speed and the flow rate of the hydraulic oil. This tunneling method puts the shield machine in an energy-saving state of automatic tunneling, while the tunneling speed is specified by the shield driver and construction efficiency and progress are guaranteed. Compared with other existing technologies, there is no need to analyze and compare various system data of the shield tunneling, and the tunneling parameters of the shield machine are controlled and adjusted in real time to enable it to tunnel with more ideal energy consumption. The overall control method is relatively simple. Based on the tunneling parameters corresponding to the lowest power consumption of tunneling in the same stratum, the tunneling speed V, the cutterhead penetration and the cutterhead speed R are used as target control parameters, or the tunneling speed V and the flow rate of the hydraulic oil are used as target control parameters, energy-saving control is achieved in the automatic tunneling process, a large amount of useless tunneling data analysis and calculation is reduced, and it is relatively easy to implement.

[0043] Method Example 1:

[0044] In this embodiment, a shield machine automatic constant speed excavation energy-saving control method is provided. As shown in FIG1 , the shield machine of the present invention includes a cutterhead 1 for excavating a tunnel face during underground construction; a main drive unit 2, which supports the cutterhead 1 and is used to provide rotational power to the cutterhead 1; a screw conveyor 3, which discharges the excavated and crushed soil from the cutterhead 1 to a rear-mounted belt conveyor, which then transports it to the outside of the tunnel via a tunnel belt conveyor or a slag truck; a propulsion cylinder 4, which obtains a power oil source from a rear-mounted hydraulic system to enable the shield machine to excavate forward at a certain propulsion speed (i.e., excavation speed V); a pipe segment 5, which is used to support the tunnel wall formed by the shield machine excavation to form a stable tunnel support structure; and a host computer 6, which includes a data processing module, a control module, etc. After the relevant excavation data of each system of the shield machine is transmitted to the data processing module and the control module through the data acquisition module, various excavation parameters of the shield machine are displayed on the host computer. At the same time, the relevant control parameters of the shield machine can be analyzed and processed to control the normal excavation of the shield machine.

[0045] In this method, the shield machine driver specifies the tunneling speed to ensure construction efficiency and progress while automatically controlling the tunneling of the shield machine. As shown in Figure 2, the tunneling speed V is set as the target speed of the tunneling section. The shield machine systems are started with one button to put them into operation. The cutterhead is then started to rotate in place at a certain speed R. The shield machine's propulsion system then automatically increases the thrust. If the thrust T is less than the commonly used thrust T0 for the stratum, the system automatically increases the thrust T to the target value T0. If the thrust T is less than the rated thrust T0 under the set tunneling speed, the thrust T will be increased to the target value T0. a When the speed is within the range of 0~b%, the cutter head speed R is automatically adjusted to keep the tunneling speed V of the shield machine at a relatively stable speed.

[0046] In the present invention, during tunneling, the shield machine's total power consumption can be displayed in real time on the host computer screen, particularly the power of the main drive unit 2, which often accounts for a significant portion of the total machine power. As described above, the shield machine's control system automatically records various target tunneling parameters and corresponding total machine power consumption during the tunneling of the first X rings of segments at the current moment, where X is a positive integer. The data processing module automatically compares the minimum total machine power consumption and automatically records and generates several sets of tunneling parameters (cutterhead speed R, cutterhead torque Tr, and thrust T). Under the same geological conditions, after several ring segment excavation distances, the shield machine's control system can analyze the excavation parameters based on the stored data, obtain relatively excellent excavation parameters, select and recommend them as the optimal excavation parameters, and display them on the host computer interface; if the shield machine is in automatic excavation mode, the optimal excavation parameters can be automatically fed back to each execution unit through the host computer, and excavation work can be carried out according to the optimal excavation machine parameters analyzed by the system (mainly including propulsion force, required excavation speed, and cutterhead speed), so that the equipment excavation is relatively energy-saving or efficient compared to before the parameters are implemented; if the shield machine is in manual mode, the optimal excavation parameters will be displayed on the host computer interface in the form of a pop-up window, giving the shield machine driver a reference to adjust its excavation parameters to make the equipment energy-saving and reduce losses.

[0047] When the system is run again, it will automatically memorize and execute the corresponding thrust force T, and automatically advance at the currently set excavation speed. During the excavation process, geological conditions are often not absolutely homogeneous. Under the same geological conditions, the presence of uneven materials in the strata often causes accidental geological changes. Therefore, under the condition of thrust force T, the penetration P of the cutterhead into the stratum will change. According to the relationship between excavation speed, cutterhead penetration and cutterhead speed: V=P×R

[0048] It can be seen that when the excavation speed V is constant and the propulsion force T is at the rated propulsion force T aWhen the cutter head speed R is within the range of 0 to b%, the specific control method for adjusting the cutter head speed R is as follows:

[0049] If the geological conditions locally become relatively difficult for the cutterhead to penetrate, the penetration rate P of the cutterhead into the formation will decrease, and the cutterhead speed R will automatically increase;

[0050] If the geological conditions locally become relatively easier for the cutterhead to penetrate, the penetration P of the cutterhead into the formation will increase, and the cutterhead rotation speed R will automatically decrease.

[0051] At the same time, the propulsion force T will be adaptively adjusted according to the uneven changes in the geology. If the propulsion force T exceeds the rated propulsion force T a When the thrust is within the range of 0% to b%, the shield machine stops the tunneling mode. A safety upper limit of b% is set for the total thrust of the propulsion system. This safety upper limit depends on the maximum bearing capacity of other structures in the shield machine, such as the articulated system and the maximum bearing capacity of the cutterhead. When the cutterhead speed is controlled to achieve constant speed tunneling, the safety of all components of the shield machine can be guaranteed.

[0052] This automatic tunneling energy-saving control mode eliminates the need for real-time data analysis and feedback based on the shield machine's earth pressure, cutterhead torque, thrust, and tunneling data from various supporting systems. While the tunneling speed is specified by the shield machine driver to ensure construction efficiency and progress, the system operates relatively energy-efficiently by targeting only the two primary tunneling control parameters of thrust and tunneling speed. This simplifies control and makes implementation easier.

[0053] Through the above method, the power consumption of the shield machine is kept within a range close to the minimum value, and energy-saving constant-speed tunneling is achieved during the shield tunneling process by adjusting the cutterhead speed.

[0054] Under the above working mode, the shield machine can operate with a relatively economical penetration rate and excavation speed. The screw conveyor will automatically control the slag discharge speed according to the excavation speed, so that the belt conveyor system behind the shield machine can automatically adjust the speed according to the slag discharge speed of the screw conveyor to save energy; the remaining supporting components such as the grouting system, slag improvement system, hydraulic system, cooling water system and other systems can automatically adjust their working capacity according to the excavation speed, reduce the output of redundant and useless work, so as to achieve a balanced excavation state for the entire shield machine and realize energy saving during the excavation process.

[0055] This tunneling method puts the shield machine in an energy-saving state of automatic tunneling, while the tunneling speed is specified by the shield driver and construction efficiency and progress are guaranteed. Compared with other existing technologies, there is no need to analyze and compare various system data of the shield tunneling, and the tunneling parameters of the shield machine are controlled and adjusted in real time to enable it to tunnel at a more ideal energy consumption. The overall control method is relatively simple. Based on the tunneling parameters corresponding to the lowest power consumption of tunneling in the same stratum, the power consumption of the entire machine is kept within a range close to the minimum value. Under the condition of a constant tunneling speed V, the cutterhead speed R is used as the target control parameter to achieve energy-saving control in the process of automatic constant-speed tunneling, reduce a large amount of useless tunneling data analysis and calculation, and is relatively easy to implement.

[0056] Method Example 2:

[0057] In this embodiment, a shield machine automatic constant speed excavation energy-saving control method is provided. As shown in FIG1 , the shield machine of the present invention includes a cutterhead 1 for excavating a tunnel face during underground construction; a main drive unit 2, which supports the cutterhead 1 and is used to provide rotational power to the cutterhead 1; a screw conveyor 3, which discharges the excavated and crushed soil from the cutterhead 1 to a rear-mounted belt conveyor, which then transports it to the outside of the tunnel via a tunnel belt conveyor or a slag truck; a propulsion cylinder 4, which obtains a power oil source from a rear-mounted hydraulic system to enable the shield machine to excavate forward at a certain propulsion speed (i.e., excavation speed V); a pipe segment 5, which is used to support the tunnel wall formed by the shield machine excavation to form a stable tunnel support structure; and a host computer 6, which includes a data processing module, a control module, etc. After the relevant excavation data of each system of the shield machine is transmitted to the data processing module and the control module through the data acquisition module, various excavation parameters of the shield machine are displayed on the host computer. At the same time, the relevant control parameters of the shield machine can be analyzed and processed to control the normal excavation of the shield machine.

[0058] In this method, the shield machine driver specifies the tunneling speed to ensure construction efficiency and progress while automatically controlling the tunneling of the shield machine. As shown in Figure 3, the tunneling speed V is set as the target speed of the tunneling section. The shield machine systems are started with one button to put them into operation. The cutterhead is then started to rotate in place at a certain speed R. The shield machine's propulsion system then automatically increases the thrust. If the thrust T is less than the commonly used thrust T0 for the stratum, the system automatically increases the thrust T to the target value T0. If the thrust T is less than the rated thrust T0 under the set tunneling speed, the thrust T is less than the rated thrust T0. a When the speed is within the range of 0~b%, the cutter head speed R is automatically adjusted to keep the tunneling speed V of the shield machine at a relatively stable speed.

[0059] In the present invention, during tunneling, the shield machine's total power consumption can be displayed in real time on the host computer screen, particularly the power of the main drive unit 2, which often accounts for a significant portion of the total machine power. As described above, the shield machine's control system automatically records various target tunneling parameters and corresponding total machine power consumption during the tunneling of the first X rings of segments at the current moment, where X is a positive integer. The data processing module automatically compares the minimum total machine power consumption and automatically records and generates several sets of tunneling parameters (cutterhead speed R, cutterhead torque Tr, and thrust T). Under the same geological conditions, after several ring segment excavation distances, the shield machine's control system can analyze the excavation parameters based on the stored data, obtain relatively excellent excavation parameters, select and recommend them as the optimal excavation parameters, and display them on the host computer interface; if the shield machine is in automatic excavation mode, the optimal excavation parameters can be automatically fed back to each execution unit through the host computer, and excavation work can be carried out according to the optimal excavation machine parameters analyzed by the system (mainly including propulsion force, required excavation speed, and cutterhead speed), so that the equipment excavation is relatively energy-saving or efficient compared to before the parameters are implemented; if the shield machine is in manual mode, the optimal excavation parameters will be displayed on the host computer interface in the form of a pop-up window, giving the shield machine driver a reference to adjust its excavation parameters to make the equipment energy-saving and reduce losses.

[0060] Due to the possibility of inhomogeneity in the strata, the shield machine will still encounter uneven geological changes during the excavation process, which will cause the cutterhead penetration (thrust size corresponds to penetration) to fluctuate accordingly within the currently set thrust range, resulting in frequent changes in the cutterhead speed at a constant excavation speed.

[0061] Since the extension speed of the thrust cylinder corresponds to the forward speed of the shield machine, that is, the tunneling speed. The extension speed of the thrust cylinder depends on the flow rate of the hydraulic oil input to the cylinder. Therefore, by controlling the flow rate of the thrust cylinder to be relatively stable, the tunneling speed can also be kept constant, achieving constant speed tunneling. At the same time, the cutterhead speed can be kept constant, thus eliminating the need for frequent speed adjustment of the main drive motor that drives the cutterhead. The relationship between tunneling speed and hydraulic oil flow rate is as follows: V = Q / S

[0062] Where Q is the flow rate of hydraulic oil in the cylinder, S is the cross-sectional area of ​​the cylinder, and V is the excavation speed.

[0063] According to the above formula, when the excavation speed V and cutterhead speed R are constant, the specific control method for achieving constant speed excavation by adjusting the flow rate of hydraulic oil in the propulsion cylinder is as follows:

[0064] When the excavation speed decreases, the flow rate of hydraulic oil in the cylinder is increased;

[0065] When the excavation speed increases, the flow rate of the hydraulic oil in the cylinder is reduced.

[0066] At the same time, the propulsion force T will be adaptively adjusted according to the uneven changes in the geology. If the propulsion force T exceeds the rated propulsion force T a When the thrust falls within the range of 0% to b%, the shield machine stops the tunneling mode. A safety upper limit of b% is set for the total thrust of the propulsion system. This safety upper limit depends on the maximum bearing capacity of other structures in the shield machine, such as the articulation system and the maximum bearing capacity of the cutterhead. When the flow of hydraulic oil in the cylinder is controlled to achieve a constant speed tunneling, the safety of all components of the shield machine can be guaranteed.

[0067] Through the above method, the power consumption of the shield machine is kept within a range close to the minimum value, and energy-saving constant-speed tunneling is achieved during the shield tunneling process through the flow of hydraulic oil.

[0068] Under the above working mode, the shield machine can operate at a relatively economical cutterhead speed and excavation speed. The screw conveyor will automatically control the slag discharge speed according to the excavation speed, so that the belt conveyor system behind the shield machine can automatically adjust the speed according to the slag discharge speed of the screw conveyor to save energy; the remaining supporting components such as the grouting system, slag improvement system, hydraulic system, cooling water system and other systems can automatically adjust their working capacity according to the excavation speed, reduce the output of redundant and useless work, so as to achieve a balanced excavation state for the entire shield machine and realize energy saving during the excavation process.

[0069] This tunneling method puts the shield machine in an energy-saving state of automatic tunneling while ensuring the tunneling speed specified by the shield driver and the construction efficiency and progress. Compared with other existing technologies, there is no need to analyze and compare the various system data of the shield tunneling, and the shield machine tunneling parameters are controlled and adjusted in real time to enable it to tunnel at a more ideal energy consumption. The overall control method is relatively simple. Based on the tunneling parameters corresponding to the lowest power consumption of tunneling in the same stratum, the power consumption of the whole machine is kept within a range close to the minimum value. Under the condition of a constant tunneling speed V, the flow rate of hydraulic oil is used as the target control parameter. At the same time, the cutterhead speed can be maintained constant, so there is no need to frequently adjust the speed of the main drive motor that drives the cutterhead rotation, thereby realizing energy-saving control in the process of automatic constant-speed tunneling, reducing a large amount of useless tunneling data analysis and calculation, and being relatively easy to implement.

[0070] System Example:

[0071] The present invention provides an energy-saving control system for automatic constant-speed tunneling of a shield machine, comprising a memory, a processor, and an internal bus. The processor and memory communicate and exchange data with each other via the internal bus. The memory includes at least one software function module stored therein. The processor executes the software programs and modules stored therein to perform various functional applications and data processing, thereby implementing the energy-saving control method for automatic constant-speed tunneling of a shield machine described in Method Embodiment 1 or Method Embodiment 2 of the present invention. Method Embodiment 1 or Method Embodiment 2 has been described sufficiently clearly above and will not be repeated here.

[0072] The processor may be a microprocessor (MCU), a programmable logic device (FPGA), or other processing device. The memory may be any type of memory that stores information electrically, such as RAM and ROM; any type of memory that stores information magnetically, such as hard disks, floppy disks, magnetic tapes, magnetic core memory, bubble memory, and USB flash drives; any type of memory that stores information optically, such as CDs and DVDs; or any other type of memory, such as quantum memory and graphene memory.

Claims

1. An energy-saving control method for automatic constant-speed tunneling of a shield machine, characterized in that, it includes the following steps: 1) Obtain the tunneling parameters of the shield machine and the corresponding total machine power consumption; 2) Select a set of optimal tunneling parameters with the minimum total machine power consumption, and make the shield machine tunnel according to the optimal tunneling parameters. When it is found that the tunneling speed changes, according to the relationship between the tunneling speed, the cutter head penetration and the cutter head rotation speed, maintain the tunneling speed of the shield machine within a set target tunneling speed range by adjusting the cutter head rotation speed.

2. The energy-saving control method for automatic constant-speed tunneling of a shield machine according to claim 1, characterized in that, in step 2), maintain the shield machine within the target tunneling speed range by adjusting the cutter head rotation speed according to the change of the cutter head penetration. When the tunneling speed decreases, adjust the cutter head rotation speed to increase correspondingly; when the tunneling speed increases, adjust the cutter head rotation speed to decrease correspondingly.

3. The energy-saving control method for automatic constant-speed tunneling of a shield machine according to claim 1, characterized in that, the relationship is: V = P × R where: V is the tunneling speed, P is the cutter head penetration, and R is the cutter head rotation speed.

4. The energy-saving control method for automatic constant-speed tunneling of a shield machine according to claim 1, characterized in that, in step 1), obtain the tunneling parameters of the shield machine and the corresponding total machine power consumption during the current operation of the shield machine.

5. The energy-saving control method for automatic constant-speed tunneling of a shield machine according to claim 4, characterized in that, in step 1), the tunneling parameters of the shield machine and the corresponding total machine power consumption during the tunneling of several rings of segments closest to the current operation time of the shield machine.

6. An energy-saving control method for automatic constant-speed tunneling of a shield machine, characterized in that, it includes the following steps: 1) Obtain the tunneling parameters of the shield machine and the corresponding total machine power consumption; 2) Select a set of optimal tunneling parameters with the minimum total machine power consumption, and make the shield machine tunnel according to the optimal tunneling parameters. When it is found that the tunneling speed changes, according to the relationship between the tunneling speed and the flow rate of the hydraulic oil, maintain the tunneling speed of the shield machine within a set target tunneling speed range by adjusting the flow rate of the hydraulic oil.

7. The energy-saving control method for automatic constant-speed tunneling of a shield machine according to claim 6, characterized in that, in step 2), maintain the tunneling speed of the shield machine within a set target tunneling speed range by adjusting the flow rate of the hydraulic oil under the condition of constant cutter head rotation speed. When the tunneling speed decreases, increase the flow rate of the hydraulic oil in the cylinder; when the tunneling speed increases, decrease the flow rate of the hydraulic oil in the cylinder.

8. The energy-saving control method for automatic constant-speed tunneling of a shield machine according to claim 6, characterized in that, the relationship is: V = Q / S where: Q is the flow rate of the hydraulic oil in the cylinder, S is the cross-sectional area of the cylinder, and V is the tunneling speed.

9. The energy-saving control method for automatic constant-speed tunneling of a shield machine according to claim 6, characterized in that, in step 1), obtain the tunneling parameters of the shield machine and the corresponding total machine power consumption during the current operation of the shield machine.

10. The energy-saving control method for automatic constant-speed tunneling of a shield machine according to claim 9, characterized in that, In step 1), the tunneling parameters of the shield machine and the corresponding overall power consumption during the tunneling of several rings of segments closest to the current operating moment of the shield machine.

11. An energy-saving control system for automatic constant-speed tunneling of a shield machine, characterized in that, it includes a memory and a processor, and the processor is used to execute computer program instructions stored in the memory to implement the energy-saving control method for automatic constant-speed tunneling of a shield machine as described in any one of claims 1 to 10.

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