CN-122014277-A - Self-balancing control system and method for slurry shield

CN122014277ACN 122014277 ACN122014277 ACN 122014277ACN-122014277-A

Abstract

The invention relates to the technical field of shield tunneling machine control, in particular to a self-balancing control system and method of a slurry shield, comprising the following steps of acquiring working bin pressure and air cushion bin liquid level in real time in the tunneling process of the shield tunneling machine; the method comprises the steps of receiving a command of a selected pressure control mode, entering the pressure control mode according to the received command of the selected pressure control mode, entering the liquid level control mode according to the received command of the selected liquid level control mode, maintaining the pressure of a working bin near a mud water bin pressure target value in the pressure control mode, judging deviation between a liquid level of an air cushion bin obtained in real time and the liquid level target value of the air cushion bin in the liquid level control mode, and adjusting the rotating speed of a mud pump according to the judged deviation so that the liquid level of the air cushion bin tends to the liquid level target value of the air cushion bin. The invention realizes the cooperative control of the pressure and the liquid level, so that the slurry shield keeps stable pressure and moderate liquid level in the tunneling process, and the automation characteristic of the slurry shield improves the control precision, the response speed and the safety of the system.

Inventors

WANG YANNIAN
JU JUN
SHEN YIMING
Wen Xiongfu
Teng Xufeng
ZHANG YU
GU PEIRONG
JIAO LEI
WU ZHAOYU
QIN YUAN
YANG ZHENLE
YANG YUFAN
ZHU ZHENXUE
JIANG ZHIYANG

Assignees

上海隧道工程有限公司
上海城建隧道装备有限公司

Dates

Publication Date: 20260512
Application Date: 20260330

Claims (10)

1. The self-balancing control method of the slurry shield is characterized by comprising the following steps of: in the tunneling process of the shield machine, acquiring the pressure of a working bin and the liquid level of an air cushion bin in real time; Entering a pressure control mode according to the received instruction for selecting the pressure control mode; entering a liquid level control mode according to the received command for selecting the liquid level control mode; Judging the magnitude of the working bin pressure and the mud water bin pressure target value obtained in real time under a pressure control mode, and if the working bin pressure is larger than the mud water bin pressure target value, adjusting the rotating speed of the mud pump to reduce the working bin pressure; In the liquid level control mode, the deviation between the liquid level of the air cushion cabin and the liquid level target value of the air cushion cabin, which is acquired in real time, is judged, and the rotating speed of the sludge discharge pump is adjusted according to the judged deviation so that the liquid level of the air cushion cabin tends to the liquid level target value of the air cushion cabin.
2. The method for controlling self-balancing of slurry shield according to claim 1, wherein when the pressure of the working chamber is higher than the upper pressure limit value, the first ball valve on the pipeline for connecting the slurry pump and the slurry pump is controlled to be opened, the rotation speed of the slurry pump is increased, and the rotation speed of the slurry pump is reduced to reduce the pressure of the working chamber until the pressure of the working chamber is lower than the upper pressure limit value; When the pressure of the working bin is lower than the lower pressure limit value, controlling to open a first ball valve on a pipeline which is communicated with the sludge pump and the sludge pump, reducing the rotating speed of the sludge pump, and increasing the rotating speed of the sludge pump to increase the pressure of the working bin until the pressure of the working bin is higher than the lower pressure limit value.
3. The self-balancing control method of slurry shield according to claim 1, wherein when the liquid level of the air cushion bin is higher than the liquid level upper limit value or lower than the liquid level lower limit value, the first ball valve on the pipeline communicating the mud pump and the mud pump is controlled to be opened, and the mud pump are controlled to be smoothly adjusted to prevent abrupt change of the gas-liquid interface.
4. The method for self-balancing control of a slurry shield according to claim 1, further comprising acquiring an air cushion chamber pressure in real time; judging the magnitude of the air cushion cabin pressure and the air cushion cabin pressure target value obtained in real time, and if the air cushion cabin pressure is larger than the air cushion cabin pressure target value, adjusting the air in the air cushion cabin to be discharged so as to reduce the air cushion cabin pressure; if the air cushion cabin pressure is smaller than the air cushion cabin pressure target value, air is filled into the air cushion cabin to increase the air cushion cabin pressure.
5. The method for self-balancing control of a slurry shield according to claim 1, further comprising acquiring main line pressure of a slurry transport line in real time; And displaying the main pipeline pressure acquired in real time.
6. A self-balancing control system for a slurry shield, comprising: the collecting unit is used for collecting the pressure of the working bin and the liquid level of the air cushion bin in real time in the tunneling process of the shield machine; a mode selection unit for receiving an instruction to select a pressure control mode and an instruction to select a liquid level control mode; The system comprises a collecting unit, a mode selecting unit, a processing unit, a liquid level control mode and a control unit, wherein the collecting unit is connected with the mode selecting unit, the processing unit is used for entering the pressure control mode according to a received instruction of a selected pressure control mode, in the pressure control mode, the processing unit is also used for judging the magnitude of a working bin pressure and a muddy water bin pressure target value obtained in real time, if the working bin pressure is larger than the muddy water bin pressure target value, the rotating speed of a sludge pump is regulated to reduce the working bin pressure, if the working bin pressure is smaller than the muddy water bin pressure target value, the rotating speed of a sludge pump is regulated to increase the working bin pressure, the processing unit is also used for entering the liquid level control mode according to the received instruction of the selected liquid level control mode, in the liquid level control mode, and also used for judging the deviation between the liquid level of an air cushion bin and the liquid level target value of the air cushion bin, and regulating the rotating speed of the sludge pump according to the deviation obtained in real time so that the liquid level of the air cushion bin tends to the liquid level of the air cushion bin to the liquid level target value of the air cushion bin.
7. The slurry shield self-balancing control system according to claim 6, wherein the processing unit is further configured to determine whether the working chamber pressure is above an upper pressure limit and below a lower pressure limit; If the pressure of the working bin is higher than the upper pressure limit value, controlling to open a first ball valve on a pipeline for communicating the sludge pump and the sludge pump, increasing the rotation speed of the sludge pump, and reducing the rotation speed of the sludge pump to reduce the pressure of the working bin until the pressure of the working bin is lower than the upper pressure limit value; And if the pressure of the working bin is lower than the lower pressure limit value, controlling to open a first ball valve on a pipeline which is communicated with the sludge pump and the sludge pump, reducing the rotating speed of the sludge pump, and increasing the rotating speed of the sludge pump to increase the pressure of the working bin until the pressure of the working bin is higher than the lower pressure limit value.
8. The slurry shield self-balancing control system according to claim 6, wherein the processing unit is further configured to determine whether the air cushion bin level is above a level upper limit and below a level lower limit; if the liquid level of the air cushion bin is higher than the upper liquid level limit value or lower than the lower liquid level limit value, the first ball valve on the pipeline which is communicated with the mud pump and the mud pump is controlled to be opened, and the mud pump are controlled to be smoothly adjusted so as to prevent abrupt change of a gas-liquid interface.
9. The slurry shield self-balancing control system of claim 6, wherein the acquisition unit is further configured to perform an acquisition of air cushion bin pressure; The processing unit is also used for judging the air cushion cabin pressure and the air cushion cabin pressure target value acquired in real time, and if the air cushion cabin pressure is greater than the air cushion cabin pressure target value, the air in the air cushion cabin is adjusted to be discharged so as to reduce the air cushion cabin pressure; if the air cushion cabin pressure is smaller than the air cushion cabin pressure target value, air is filled into the air cushion cabin to increase the air cushion cabin pressure.
10. The slurry shield self-balancing control system according to claim 6, further comprising a display unit connected to the acquisition unit; The acquisition unit is also used for acquiring the main pipeline pressure of the slurry conveying pipeline in real time; The display unit is used for displaying the main pipeline pressure acquired in real time.

Description

Self-balancing control system and method for slurry shield Technical Field The invention relates to the technical field of shield machine control, in particular to a self-balancing control system and method for a slurry shield. Background In the tunneling construction process, the slurry shield mainly judges and manually adjusts pumping and mud discharging equipment, an air balancing device for air inlet and air outlet and the like through manual experience, so that the problems of slow response and low regulation precision exist, the actual experience of an operator is highly relied, and the capability of automatic balancing and control is lacking, so that a new solution is needed to be provided. Disclosure of Invention The invention aims to overcome the defects of the prior art, provides a self-balancing control system and a self-balancing control method for a slurry shield, and solves the problems of slow response, low regulation and control precision, high dependence on actual experience and the like existing in the conventional manual and empirical control. The technical scheme for achieving the purpose is as follows: the invention provides a self-balancing control method of a slurry shield, which comprises the following steps: in the tunneling process of the shield machine, acquiring the pressure of a working bin and the liquid level of an air cushion bin in real time; Entering a pressure control mode according to the received instruction for selecting the pressure control mode; entering a liquid level control mode according to the received command for selecting the liquid level control mode; Judging the magnitude of the working bin pressure and the mud water bin pressure target value obtained in real time under a pressure control mode, and if the working bin pressure is larger than the mud water bin pressure target value, adjusting the rotating speed of the mud pump to reduce the working bin pressure; In the liquid level control mode, the deviation between the liquid level of the air cushion cabin and the liquid level target value of the air cushion cabin, which is acquired in real time, is judged, and the rotating speed of the sludge discharge pump is adjusted according to the judged deviation so that the liquid level of the air cushion cabin tends to the liquid level target value of the air cushion cabin. When the pressure of the working bin is higher than the upper pressure limit value, controlling to open a first ball valve on a pipeline which is communicated with the mud pump and the mud pump, increasing the rotating speed of the mud pump, and reducing the rotating speed of the mud pump to reduce the pressure of the working bin until the pressure of the working bin is lower than the upper pressure limit value; When the pressure of the working bin is lower than the lower pressure limit value, controlling to open a first ball valve on a pipeline which is communicated with the sludge pump and the sludge pump, reducing the rotating speed of the sludge pump, and increasing the rotating speed of the sludge pump to increase the pressure of the working bin until the pressure of the working bin is higher than the lower pressure limit value. The self-balancing control method of the slurry shield is further improved in that when the liquid level of the air cushion bin is higher than the upper limit value or lower than the lower limit value of the liquid level, the first ball valve on the pipeline which is communicated with the mud pump and the mud pump is controlled to be opened, and the mud pump are controlled to be smoothly adjusted so as to prevent abrupt change of a gas-liquid interface. The self-balancing control method of the slurry shield is further improved in that the method also comprises the step of acquiring the pressure of the air cushion bin in real time; judging the magnitude of the air cushion cabin pressure and the air cushion cabin pressure target value obtained in real time, and if the air cushion cabin pressure is larger than the air cushion cabin pressure target value, adjusting the air in the air cushion cabin to be discharged so as to reduce the air cushion cabin pressure; if the air cushion cabin pressure is smaller than the air cushion cabin pressure target value, air is filled into the air cushion cabin to increase the air cushion cabin pressure. The self-balancing control method of the slurry shield is further improved in that the method also comprises the step of acquiring the main pipeline pressure of the slurry conveying pipeline in real time; And displaying the main pipeline pressure acquired in real time. The invention also provides a self-balancing control system of the slurry shield, which comprises the following steps: the collecting unit is used for collecting the pressure of the working bin and the liquid level of the air cushion bin in real time in the tunneling process of the shield machine; a mode selection unit for receiving an instruction to select a pressure contr