446 results about "Fast speed" patented technology

The invention belongs to the technical field of traffic intelligent perception, and particularly relates to a road area traffic perception and intervention low-speed operation vehicle collision early warning system and method, and the system comprises a data collection module, a data transmission module, a data processing module, a collision risk judgment module and an early warning information issuing module. Data used by the method are collected data of millimeter wave radar and camera detection equipment installed on a movable device, the method is convenient and rapid to use, real-time radar data is adopted, the method has the characteristics of high detection precision and high detection speed, real-time video data is adopted, the method has the characteristics of light weight and low deployment cost, and the method is suitable for popularization and application. And real-time sensing of vehicle position and size information, weather information and personnel position information can be realized through the edge calculation unit. And the constructor out-of-bound early warning module can judge the position information of the constructors according to the outer contour of the construction operation area and perform early warning prompt on the constructors exceeding the construction operation area, so that the possible interference of the constructors on traffic operation is reduced.

According to the method, a fuzzy subset is set according to the required torque, the current SOC value and the difference value between the engine rotating speed and the motor rotating speed, and the torque of an ISG motor is dynamically adjusted through a fuzzy control algorithm. The fuzzy control adopts a fixed fuzzy rule, so that a Q table is established through a Q learning algorithm, the compensation torque of the ISG motor is obtained, the final output torque of the ISG motor is determined to be the sum of the output torque of the fuzzy controller and the compensation torque output by the Q learning algorithm, and the torque output by the ISG motor is determined. According to the method, the advantage of high response speed of the torque of the motor is utilized, the difference value between the required torque and the actual torque is effectively compensated, the rotating speed fluctuation of the engine caused by overlarge change of the torque of the engine is avoided, and the fuel economy and the driving operation stability are improved.

The present application relates to a kind of narrow body vehicle balance control method based on control moment gyro, belong to narrow body vehicle active roll control system field.The dynamics equation of control moment gyro is established, the active roll dynamics model of narrow body vehicle is calculated to obtain the roll angle error and roll angular velocity error of vehicle, then the active roll controller is designed using sliding mode control method to control the roll angle error and roll angular velocity error, and the rotational angular velocity of control moment gyro frame is obtained;Finally, the control moment gyro on narrow body vehicle is adjusted in real time, and vehicle balance is realized.The vehicle roll scheme in the present application uses control moment gyro device, with high control precision, fast response speed, and independent of suspension system, can realize greater balance torque.By controlling the frame angular velocity of control moment gyro, the dynamic balance of narrow body vehicle when steering can be realized, to assist the safe steering of driver.

The invention discloses a vehicle control method, a computer readable storage medium, a controller and a vehicle, and the vehicle control method comprises the steps that when it is determined that the vehicle is in a floating state, a load module in the vehicle is controlled to move, so that the vehicle is adjusted to a second posture from a first posture. According to the vehicle control method, when it is determined that the vehicle is in the floating state, the load module in the vehicle is controlled to move, the gravity center of the whole vehicle is adjusted, control over the floating posture of the vehicle is achieved, and the vehicle control method has the advantages of being high in leveling speed, low in cost, good in platform expansibility, high in engineering application and low in matching work amount.

The invention relates to a three-channel loading station and method with loading capacity exceeding ten thousand tons per hour, which comprises a steel structure frame, a first channel, a second channel and a third channel, and a transition chute is arranged between a surge bin and a discharge chute of the third channel. One-time weighing of the quantitative bins of the first channel and the second channel is a large part of a carriage, one-time weighing of the quantitative bin of the third channel is a small part of the carriage, and at least one-time weighing of the quantitative bin of the third channel can be contained in the transition chute. The three buffer bins, the quantitative bin discharging chutes and the transition chute specially arranged on the third channel are utilized, the efficient loading requirement of the heavy-load train exceeding ten thousand tons is met in a three-channel alternate operation mode, the loading capacity reaches 10,000-13,000 t / h, the loading speed ranges from 1.5 km / h to 2 km / h, and whole-column loading of the heavy-load train of 30 thousand tons can be completed within about 2 hours. The loading speed is high, the loading capacity is large, the adaptive capacity is high, the transportation efficiency is remarkably improved, and the logistics cost is reduced.

The utility model provides a hydraulic control two-wheel belt sander and a polishing system, which comprises a driving mechanism, a hydraulic control mechanism and a belt sander, the polishing mechanism comprises abutting wheels and abrasive belts, the abutting wheels and the driving wheels are arranged at intervals, and the abrasive belts are arranged on the abutting wheels and the driving wheels in a sleeving mode; and the force control mechanism comprises a control assembly and an adjusting assembly, the adjusting assembly is connected to the driving mechanism and the polishing mechanism, and the control assembly comprises a force sensor, a displacement sensor and a central control module. Driving force is provided for the polishing process of the polishing mechanism through the driving mechanism, in the process, the force control mechanism can adjust the operation position of the polishing mechanism so that the polishing mechanism can keep high precision and high rigidity of polishing all the time, the force control mechanism can conduct self-adaptive adjustment on the process, and the polishing precision of the polishing mechanism is improved. Therefore, the method has the advantages of high response speed, accuracy and high efficiency. Compared with conventional grinding equipment at the present stage, the grinding equipment has the remarkable advantages in the aspects of grinding quality, the regulation and control process, the machining efficiency and the like.

The invention provides a design and application method of a sliding-mode deadbeat reaching law, and relates to the technical field of electrical engineering, and the method comprises the steps: designing a sliding-mode deadbeat reaching law SMDRL, designing a control strategy through a deadbeat control principle, defining a state change law on a sliding-mode surface through a sign function, and achieving the design of the sliding-mode deadbeat reaching law SMDRL. It is ensured that the system state converges to the sliding mode surface at the fastest speed in a control period; an improved sliding mode deadbeat reaching law ISMDRL is designed, a traditional sign function is replaced with a hyperbolic tangent function, and parameters of the hyperbolic tangent function are adjusted according to the system state; the SMDRL and the ISMDRL are applied to a speed driving system of a permanent magnet synchronous motor (PMSM), and the speed driving system comprises a PMSM mathematical model, a sliding mode speed controller with a speed disturbance observer and model prediction current control. The SMDRL is introduced from the traditional sliding mode reaching law for the first time through theoretical derivation, the convergence time of the SMDRL is the shortest, and the SMDRL is applied to a permanent magnet synchronous motor speed driving system.

A traveling device and a self-moving plunger pump. The traveling device comprises a working platform (10) and a traveling assembly, wherein the traveling assembly is arranged below the working platform (10); and a power driving assembly, a plunger pump assembly (20) and a control assembly (30) are provided on the working platform (10). The plunger pump is integrated in the traveling device, such that the plunger pump can autonomously move underground without depending on pulling apparatuses such as rails and winches any more, thereby avoiding the risk of safety accidents such as vehicle rolling and rope breakage during an apparatus pulling process, thus achieving the characteristics of a fast movement turn-around speed and flexible movement, and facilitating an improvement in the production efficiency and a reduction in the production cost.

This invention relates to a high-speed sweeper, comprising a dust collection device (6) and a sweeping device (7) disposed below a chassis (1); the dust collection device (6) includes a plurality of suction ports (62), a front rubber plate (63), a side rubber plate (64), and a roller brush (67) mounted on a suction cup body (61); the sweeping device (7) includes two front sweeping discs (71) and two rear sweeping discs (72); wherein the outermost edges of the two rear sweeping discs (72) respectively cover more than 1 / 3 of the area from the center to the outermost edge of the corresponding front sweeping disc (71) in the left and right directions; the suction area of ​​the suction cup body (61) respectively covers more than 1 / 4 of the area from the center to the outermost edge of the rear sweeping discs (72). This invention provides a high-speed sweeper with fast suction speed, no missed areas during high-speed sweeping, high sweeping efficiency, and good cleaning effect.

According to the differential wheel limiting detection device and method, the rotating direction and the rotating speed of a wheel set can be limited in advance before the differential wheel moves in two directions and collides with a hard limit, so that the control performance of a vehicle is improved, the situation that an oil cylinder and the like fall off due to collision with the hard limit when the speed is high is avoided, and the problem that a traditional differential wheel set is poor in safety is solved. The system has the advantages of quick response, high safety, simple structure and the like, and is suitable for differential wheel control systems of equipment such as AGVs (Automatic Guided Vehicles) and mobile robots.

The application relates to the field of network security, in particular to an IPSec anti-replay detection method based on multiple caches. The latest window information which has not been stored in DDR is cached by means of the cache space of FPGA. When the sn window information of the previous message is not updated in the algorithm decryption stage, the un-updated sn window information is stored in the cache space of FPGA, the anti-replay detection of the next message is not affected, the processing time of two messages is shortened to the algorithm processing time, the preparation time before the algorithm decryption is greatly compressed, the method has the characteristics of fast speed, less resource occupation and the like, and is suitable for devices which have strict performance requirements and need to perform anti-replay detection.

The application discloses a rope climbing device, which comprises a moving chassis, a supporting roller mechanism and at least two power mechanisms, wherein the rollers of the supporting roller mechanism are used for rolling along the handrail ropes to bear the moving chassis to move along the handrail ropes; each power mechanism comprises a power piece and a power roller connected with each other, the power piece is arranged on the moving chassis and is used for driving the power roller to rotate; wherein the power rollers of the two power mechanisms are used for being oppositely or oppositely pressed on two parallel handrail ropes to enable the power piece to drive the power roller to roll along the handrail ropes. Under the action of the power mechanisms, the moving chassis can continuously move along the handrail ropes. Obviously, the rope climbing device has the advantage of fast climbing speed, and correspondingly, the working efficiency of the main cable maintenance robot is improved.

This invention discloses a CVT drive clutch with downhill braking function, relating to the field of clutch technology. It includes a drive shaft, with a drive wheel assembly and a transmission wheel assembly connected to its two ends respectively. A braking assembly is provided between the drive wheel assembly and the transmission wheel assembly. The braking assembly includes a one-way bearing sleeved on the drive shaft; a bearing housing is sleeved on the outside of the one-way bearing; the inner ring of the one-way bearing is fixed to the drive shaft, and the outer ring of the one-way bearing is fixed to the bearing housing; a flange sleeve for connecting a drive belt is slidably sleeved on the outside of the bearing housing; the outer ring of the flange sleeve near the drive wheel assembly has a protruding structure for blocking the drive belt; an annular guide slider is sleeved on the outside of the bearing housing near the drive wheel assembly. The advantages of this invention are: it can achieve braking by clamping both sides of the drive belt, with fast response speed, good braking effect, and high reliability.

The invention relates to the technical field of power system control, and discloses a wind turbine generator target type pitch angle cooperative control method and system for the high-frequency problem of a sending-end power grid and a medium. According to the wind turbine generator target pitch angle cooperative control method for the high-frequency problem of the sending-end power grid, target pitch angle control is adopted, and a plurality of target values of wind turbine generator pitch angle changes participating in high-frequency problem adjustment can be determined, so that the active output of a wind power plant is reduced at the fastest speed, the output of the wind turbine generator is reduced more quickly, and the wind power generation efficiency is improved. The frequency rising trend is effectively slowed down, the rotating speed of the rotor is improved in cooperation with rotor kinetic energy control, the rotating speed of the rotor can be effectively improved after the frequency crosses the highest point, and the pitch angle is kept at a large value, so that the frequency modulation participation time of the wind turbine generator is remarkably prolonged, the frequency maximum value can be more effectively reduced, and the frequency tends to be gentle more quickly; and the control effect of wind power participating in high-frequency regulation of the sending-end power grid is improved.

A special gauge for rapidly detecting the shape and size of an automobile front axle comprises a base, a left limiting block, an inclined plane supporting block, a right limiting block, a double-axis sliding block, a sliding block baffle and a forge piece, the section structure of the base is of a U-shaped structure, and the left limiting block and the double-axis sliding block are installed at the left end and the right end of the base respectively. A bevel supporting block is installed in the middle of the base, a right limiting block is installed on the upper surface of the double-axis sliding block, a sliding block baffle is installed on the edge of the double-axis sliding block, and a forge piece is installed between the left limiting block and the right limiting block. The device is high in detection speed, low in manufacturing cost and good in environment adaptability; and the training cost is low.

The present invention relates to the field of battery technology, and more particularly to a battery intelligent discharge control method, system, and charging and discharging device. The method includes inserting a device into a port for protocol identification, calculating the remaining maximum power of the current theoretical output based on the maximum output power; when the remaining available power cannot meet the port power requirements under the condition that each port has a reserved minimum output power, the remaining available power is allocated to other ports according to the reserved minimum power, and the actual output power of the port is obtained by subtracting the sum of the minimum powers of other ports from the remaining available power; and monitoring the actual discharge power of each port in real time, and limiting the maximum discharge power of other ports based on the actual discharge power. This invention utilizes an intelligent power allocation method to dynamically adjust power output based on the power requirements of connected devices, ensuring that each device can charge at the fastest speed and improving charging efficiency.

The invention provides a high-side driving circuit device and method for overcurrent protection and a vehicle, and belongs to the technical field of vehicles. The device comprises a power supply module, an overcurrent protection module, a high-side driving module and a regulation and control module. A regulation and control module is connected with the input end of a high-side driving module, a regulation and control signal is output, on-off of the high-side driving module is controlled according to the regulation and control signal, a driving function is achieved, the high-side driving module is connected with a power module through an overcurrent protection module, the overcurrent protection module detects driving current of a driving power supply, and according to the driving current, on-off of the high-side driving module is controlled. On-off of the driving power supply is controlled, so that on-off of output of the driving power supply to the power supply load is controlled; the over-current protection circuit is constructed by using discrete devices instead of a special high-side driving chip, can trigger the turn-off protection in an over-current scene while realizing the basic function of high-side driving, does not need software monitoring and control, and is high in response speed, high in reliability and low in cost.

The invention provides a control method and device of a braking system, electronic equipment and a storage medium, and belongs to the technical field of automobile braking, in the method, a collaborative architecture of AI dynamic prediction, 14-degree-of-freedom physical model constraint verification and multi-target model prediction control is adopted to carry out coupling analysis on road condition-vehicle-tire data, and a control result of the braking system is obtained. Wherein in the multi-objective model prediction control, optimization objectives comprise brake distance error, wheel cylinder pressure change rate, yaw velocity and energy recovery efficiency, the process retains the advantage of processing complex nonlinearity by AI, and the obtained four-wheel adaptive optimal brake pressure distribution scheme ensures physical rationality and also has the optimal brake pressure distribution effect. The electro-hydraulic servo braking system has the advantages that multi-dimensional optimal balance of braking distance, stability, comfort, energy efficiency and the like is achieved, the self-adaptive capacity is good, the response speed of electro-hydraulic servo braking is high, and the collaborative requirements of functional safety and energy recovery in an automatic driving scene can be met.

This application relates to the field of hydraulic technology for injection molding machines, and provides a high-speed, precision mold-opening control circuit board. In use, the hydraulic fluid enters the P port of the first directional valve from the main return port. Adjusting the valve core position directs the fluid to the A / B ports of the first directional valve, entering the rodless / rod-side connection port, thus supplying oil to the rodless / rod-side chambers of the mold-locking cylinder. Simultaneously, oil from the rod / rodless chambers of the mold-locking cylinder discharges to the rod / rodless interface, allowing the fluid to flow to the T port of the first directional valve. Because a differential circuit is provided, activating the differential circuit connects the passage between the A port of the first directional valve and the rodless / rodless connection port with the passage between the T port of the first directional valve and the main return port. This allows the fluid entering the rodless / rodless chamber of the mold-locking cylinder simultaneously with the fluid entering the rodless / rodless chamber, creating a confluence effect that enables the mold-locking cylinder to move at a faster speed, improving production efficiency.

The invention provides a vehicle electromagnetic suspension assembly, a vehicle suspension system and a vehicle. The vehicle electromagnetic suspension assembly comprises a first supporting piece, a second supporting piece, an elastic piece and an electromagnetic driving device. The first supporting piece is used for being installed on a frame of a vehicle. The second supporting piece is used for being installed on a wheel of the vehicle. The elastic piece is supported between the first supporting piece and the second supporting piece and stretches out and draws back in the linear direction. The electromagnetic driving device is supported between the first supporting piece and the second supporting piece and actively applies damping force to drive the second supporting piece to move relative to the first supporting piece in the direction parallel to the straight line. The system is high in performance upper limit, simple in structure, high in response speed and capable of meeting user requirements.

An inner curve type PPU robot is characterized by: further comprising a support block, the support block being disposed inside three support bearings, and an oscillating contour surface being formed on the outer side of the support block, the oscillating contour surface comprising two symmetrically arranged C-shaped contour surfaces, the C-shaped contour surface comprising an arc segment and straight segments at both ends of the arc segment, and the distance of the arc segment from the rotation center of the main shaft being greater than the distance of the straight segments from the rotation center of the main shaft; when the oscillating wheel moves, the three support bearings and the oscillating contour surface are always in contact to form a rolling fit, and the oscillating wheel drives the linkage shaft to move along the C-shaped trajectory. Its advantages are: 1. The support block is set inside the three support bearings. Compared with the cycloidal frame in the prior art, the outer curved surface is changed to the inner curved surface, making the structure more compact and reasonable, and greatly reducing the volume; 2. The C-shaped contour surface includes an arc segment and two straight segments. Compared with the rounded square trajectory in the prior art, the movement of the swing wheel will be more continuous; 3. The support bearing has a higher speed and greater torque when passing through the straight segment, which reduces the influence of gravity and makes the movement more stable. The support bearing has a lower speed and faster speed when passing through the arc segment, which increases the running speed and makes the movement more rapid.

The invention discloses a method for automatically calibrating a suction nozzle of a high-speed chip mounter without shutdown, which is characterized in that a suction nozzle correction station is additionally arranged beside a suction nozzle exchange station of the high-speed chip mounter, and a correction sheet placed at a starting position is placed at the suction nozzle correction station; after the upper computer program detects that the suction nozzle exchange station completes the action of replacing the suction nozzle, the upper computer program automatically corrects the newly replaced suction nozzle through the correction function without shutdown, automatically switches to a mounting working state and automatically compensates and calibrates the newly replaced suction nozzle in real time; after the suction nozzles are replaced, the high-speed chip mounter automatically corrects the newly-replaced suction nozzles in a full-automatic non-stop mode, operator intervention or manual operation is not needed, shutdown is not needed in the high-speed chip mounting process, the original working state is automatically switched to and the original mounting work continues after the suction nozzles are corrected, the correction process is full-automatic, simple, convenient and rapid, and the efficiency is high. The correction speed is fast, and the efficiency is improved.

The utility model discloses a surfboard high-speed paddle structure, which belongs to the technical field of surfboard paddles, and comprises a shaft connecting sleeve, three groups of paddles are arranged on the outer side surface of the shaft connecting sleeve in an annular array manner, and drainage grooves are formed in the upper and lower sides of the connecting surfaces of the three groups of paddles and the shaft connecting sleeve; the front end of each drainage groove extends out of the front end of the corresponding paddle by one section, and the rear end of each drainage groove is flush with the rear end of the corresponding paddle. The drainage grooves can overflow a part of vortex rotating along with the blades, so that the resistance of the blades during rotation is reduced, the rotation speed of the blades is higher, the drainage grooves are arranged on the three groups of blades, the mutual influence among the blades is effectively reduced, the rotation of the blades can break through the original speed limitation, and the rotation speed of the blades is improved. And a faster speed is provided for the surfboard.

This invention discloses a closed-loop control method and system for an electromagnetic repulsion mechanism based on PID control, belonging to the field of electromagnetic repulsion mechanism control technology. It monitors the current motion state of the repulsion disk in real time and compares it with a preset target motion state. The deviation between the two is calculated and discretized using PID control to obtain state variables. Based on the magnitude and direction of the state variables, the amplitude, frequency, phase, and duty cycle of the pulse current are dynamically adjusted. The PID algorithm effectively controls the motion curve of the electromagnetic repulsion mechanism, making the motion of the repulsion disk closer to the preset motion curve. It possesses advantages such as strong adaptability, fast response speed, and small displacement error, thus solving the drawbacks of traditional open-loop drive electromagnetic repulsion mechanisms. It can dynamically adapt to changes in the motion state of the repulsion disk and meet the high-precision control requirements under complex working conditions.

The application is a QUBO problem solving method based on analog computing circuit, belonging to the field of analog computing and integrated circuit.The method combines the mathematical mapping of QUBO problem with the physical evolution process of analog computing circuit, maps the quadratic term matrix in QUBO problem into the product of resistance value in programmable resistance memory array and output current of current source module, maps the linear coefficient vector into threshold voltage of each row comparator, and takes the output voltage of each row comparator on feedback loop as the output of corresponding logic of state variable to be solved in QUBO problem, and relies on the natural evolution process of voltage in the circuit to realize the solution of QUBO problem in one step.The application does not depend on external digital circuit to provide clock, but updates in continuous time, has the advantages of fast speed, less peripheral circuit and low power consumption, and is suitable for the application scene of QUBO problem which is sensitive to power consumption and requires high solving speed.

The invention relates to the technical field of mechanical devices using springs as energy storage and power sources, in particular to a spring energy storage device with a quick response function, which comprises a generator, a main shaft and at least one spring energy storage unit, each spring energy storage unit comprises a spring compression mechanism and a ratchet wheel limiting mechanism matched with the spring compression mechanism, the spring compression mechanism and the ratchet wheel limiting mechanism are both installed on the bottom plate. The ratchet wheel limiting mechanism composed of the ratchet wheel, the pawl, the electric telescopic rod and the like is arranged, the overrun clutch is combined, rapid and accurate release control over spring energy is achieved, and the response speed is high.

The present invention discloses a PCB defect detection method based on an improved YOLOv7. The method comprises the following steps: first, randomly dividing a PCB defect dataset into a training set, a validation set, and a test set; then constructing an improved YOLOv7 detection model; secondly, preprocessing the data in the training set; then inputting the preprocessed training set data and validation set data into the improved YOLOv7 detection model, and starting model training until the loss curve converges; finally, inputting the test set images into the trained improved YOLOv7 detection model to obtain recognition results for PCB defect images. The present invention relates to a PCB defect detection method based on an improved YOLOv7. The method utilizes an attention mechanism to enable the receptive field to focus more on defect features and ignore irrelevant features, and takes effective measures to reduce the size of the model. The method achieves higher accuracy, faster speed, and smaller model size for PCB defect detection, making it suitable for industrial inspection environments.

The utility model provides a fast-assembly roller type steel bar protective layer controller which comprises a disc body and an insertion block, a hole used for fixing a steel bar is formed in the middle of the disc body, a strip-shaped insertion hole communicated with the hole is formed in the side edge of the disc body in the radial direction, clamping grooves are symmetrically formed in the middles of the two sides of the strip-shaped insertion hole, and the insertion block is of a strip-shaped structure matched with the strip-shaped insertion hole. The upper end of the steel bar is a cambered surface matched with the steel bar, clamping strips with the lower ends inclined outwards are symmetrically arranged on the two sides of the steel bar, and the clamping strips are used for being clamped in the clamping grooves. Rapid installation and positioning preparation can be achieved, and it is guaranteed that the thickness of the protection layer is controlled to be the same in all directions through the disc body; in addition, the installation speed is high, assembly type installation can be achieved, prefabrication production and batch machining can be achieved through a factory, and the wide market prospect is achieved.

This utility model discloses an automatic mahjong machine, including a first annular track, at least one second track intersecting and connected to the first track, and a track-splitting guide rotatably disposed in the intersection area. The track-splitting guide has a first working position blocking the second track and a second working position blocking the first track. The track-splitting guide includes two sides, each side having a blocking surface near the rotating shaft and a guide surface connected to the blocking surface. The blocking surface is used to receive the pushing force of the mahjong tiles to make the track-splitting guide swing, and the guide surface forms a guiding channel with the inner wall of the corresponding track. The advantages of this utility model are: it solves the problem of tile jamming when multiple tracks work together; it does not require additional power or complex control devices, relying only on the pushing force of the mahjong tiles themselves and the mechanical structure to complete the switching; it has no easily worn parts such as motors and gears; it has a long service life and low maintenance requirements; and it has a fast response speed and is stable and reliable.

The application relates to a tunnel construction method in a soft stratum, which adopts a bench method construction, when a temporary inverted arch is arranged on a bench platform, the temporary inverted arch is poured in a pumping concrete mode, and the temporary inverted arch is a plain concrete inverted arch. The temporary inverted arch adopts a direct pumping plain concrete mode, compared with a traditional steel and sprayed concrete mode temporary inverted arch, the method has simple construction operation, fast speed, and the temporary inverted arch is very convenient to remove after the temporary inverted arch plays a role, so that the construction safety risk can be greatly reduced. The method does not need an operation personnel to be close to a working face, the pump pipe can be directly fixed on an excavator mechanical arm, the pump pipe is sent to the vicinity of the working face, safety and convenience are achieved, and especially in an emergency when the bench is deformed greatly, the tunnel deformation can be quickly controlled under the condition of ensuring the safety of the operation personnel.