CN-122014278-A - Automatic control system and method for shield tunneling machine slurry conveying system

CN122014278ACN 122014278 ACN122014278 ACN 122014278ACN-122014278-A

Abstract

The invention relates to the technical field of automatic control of shield machines, in particular to an automatic control system and method of a slurry conveying system of a shield machine, comprising the following steps: and when the shield tunneling machine starts tunneling or stops tunneling, executing a bypass mode, and transitioning from the bypass mode to the tunneling mode or from the bypass mode to the stopping mode. According to the automatic control system and the automatic control method, through setting the tunneling mode, the stopping mode and the bypass mode, whether the slurry conveying system enters the bypass mode or not is automatically controlled according to whether the shield tunneling machine is tunneling or not, then the slurry conveying system enters the tunneling mode or the stopping mode from the bypass mode, and stability of slurry circulation and pressure adjustment can be ensured through transition of the bypass mode.

Inventors

WU ZHAOYU
YANG HONGJI
LIU ENPING
GAO YANG
LU LUNJIE
YANG CHENPING
BAO QIN
XU XIAOLEI
KOU XIAOYONG
SONG YUN
XU AO
DONG BIN
PAN WANGYANG
Sheng Zhaolin

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. An automatic control method of a shield tunneling machine muddy water conveying system is characterized by comprising the following steps: when the shield tunneling machine starts tunneling or stops tunneling, a bypass mode is executed, and the bypass mode is transited to the tunneling mode or transited to the stopping mode; When a bypass mode is executed, a first ball valve on a communicating pipeline arranged between a mud pump and a mud pump is opened, the mud pump and the mud pump are directly communicated through the communicating pipeline to form a reflux loop, the mud pump and the mud pump are controlled to operate at a set initial rotating speed, the mud pump is enabled to maintain constant flow output according to a set mud inflow amount, and the rotating speed of the mud pump is adaptively adjusted according to a set target value of the working bin pressure so as to adjust the pressure of a main pipeline; When the bypass mode is transited to the tunneling mode, a first ball valve on the communicating pipeline is closed, a ball valve on a mud inlet pipeline of the mud pump communicating working bin is opened, and the ball valve on a mud discharge pipeline of the working bin is communicated with the mud discharge pump, so that mud is fed into the working bin through the mud inlet pipeline and then discharged through the mud discharge pipeline and the mud discharge pump, and mud water circulation is formed; And when the flow rates of the sludge pump and the sludge pump are close to zero, closing the sludge pump, the sludge pump and the first ball valve.
2. The automatic control method of a shield tunneling machine slurry transport system according to claim 1, wherein when the flow rates of said slurry feed pump and said slurry discharge pump are close to zero at the transition from said bypass mode to said stop mode, ball valves on said slurry feed pipe and said slurry discharge pipe are gradually closed.
3. The automatic control method of a slurry delivery system of a shield machine according to claim 1, wherein adaptively adjusting the rotational speed of the slurry pump according to a target value of a working chamber pressure setting comprises the steps of: when the main pipeline pressure is larger than the working bin pressure set target value, gradually increasing the rotating speed of the sludge pump until the main pipeline pressure approaches or equals to the working bin pressure set target value; And when the main pipeline pressure is smaller than the working bin pressure set target value, the rotating speed of the sludge pump is gradually reduced until the main pipeline pressure approaches or equals to the working bin pressure set target value.
4. The method for automatically controlling a slurry transporting system of a shield machine according to claim 1, further comprising displaying a layout of the slurry pump, the communication pipeline, the first ball valve, the slurry inlet pipeline and ball valves provided thereon, and the slurry discharge pipeline and ball valves provided thereon; And acquiring states of the first ball valve, each ball valve on the mud inlet pipeline and each ball valve on the mud discharge pipeline in real time, and displaying the acquired states on a displayed circuit layout in real time.
5. The automatic control method of a shield tunneling machine muddy water conveying system according to claim 4, further comprising obtaining the rotation speeds and the flow rates of the muddy water conveying pump and the muddy water discharging pump in real time, and displaying the obtained rotation speeds and the obtained flow rates of the muddy water conveying pump and the muddy water discharging pump on a displayed circuit layout in a list manner at a position close to the corresponding muddy water conveying pump and the corresponding muddy water discharging pump.
6. An automatic control system of a shield tunneling machine muddy water conveying system, which is characterized by comprising: the acquisition unit is connected with the controller of the shield machine and is used for acquiring a tunneling starting instruction or a tunneling stopping instruction of the shield machine; The processing unit is connected with the acquisition unit and is used for executing a bypass mode after the acquisition unit acquires a corresponding instruction, and then executing transition from the bypass mode to a tunneling mode according to the tunneling starting instruction or executing transition from the bypass mode to a stopping mode according to the tunneling stopping instruction; When the processing unit executes a bypass mode, the processing unit is used for controlling a first ball valve on a communicating pipeline arranged between the sludge pump and the sludge pump to be opened so that the sludge pump and the sludge pump are directly communicated through the communicating pipeline to form a reflux loop, controlling the sludge pump and the sludge pump to run at a set initial rotating speed, enabling the sludge pump to maintain constant flow output according to a set sludge inflow amount, and adaptively adjusting the rotating speed of the sludge pump according to a set target value of the working bin pressure to adjust the pressure of a main pipeline; When the processing unit performs transition from the bypass mode to the tunneling mode, the processing unit is used for controlling the first ball valve on the communicating pipe to be closed, controlling the ball valve on the mud inlet pipeline of the mud pump communicated with the working bin to be opened, controlling the ball valve on the mud outlet pipeline of the mud pump communicated with the working bin to be opened, and enabling mud to be sent to the working bin through the mud inlet pipeline and then discharged through the mud outlet pipeline and the mud outlet pump to form mud water circulation; The processing unit is used for controlling the rotation speed of the sludge pump and the rotation speed of the sludge discharge pump to gradually decrease until the rotation speed is reduced to zero when the bypass mode is changed into the stop mode, and controlling the sludge pump, the sludge discharge pump and the first ball valve to be closed when the flow rates of the sludge pump and the sludge discharge pump are close to zero.
7. The automatic control system of a shield tunneling machine slurry conveying system according to claim 6, further comprising an acquisition unit connected to said processing unit, said acquisition unit being configured to acquire flow rates of said slurry pump and said slurry pump; The processing unit is used for gradually closing the ball valves on the mud inlet pipeline and the mud discharge pipeline when the flow rates of the mud feeding pump and the mud discharge pump are close to zero.
8. The automatic control system of a shield tunneling machine slurry transport system according to claim 6, wherein said processing unit determines the magnitudes of the main line pressure and the working chamber pressure setting target value when adaptively adjusting the rotational speed of said slurry pump according to the working chamber pressure setting target value: If the main pipeline pressure is larger than the working bin pressure set target value, controlling the rotating speed of the sludge pump to gradually increase until the main pipeline pressure approaches or is equal to the working bin pressure set target value; and if the main pipeline pressure is smaller than the working bin pressure set target value, controlling the rotating speed of the sludge pump to gradually decrease until the main pipeline pressure approaches or equals to the working bin pressure set target value.
9. The automatic control system of a shield tunneling machine muddy water conveying system according to claim 6, further comprising a display unit for displaying a line layout of said mud pump, said communication pipeline, said first ball valve, said mud inlet pipeline and ball valves provided thereon, and said mud discharge pipeline and ball valves provided thereon; the display unit is connected with an acquisition unit, and the acquisition unit is used for acquiring the states of the first ball valve, each ball valve on the mud inlet pipeline and each ball valve on the mud discharge pipeline in real time; the display unit is used for displaying the state acquired by the acquisition unit on the displayed circuit layout in real time.
10. The automatic control system of a shield tunneling machine muddy water conveying system according to claim 9, wherein said acquisition unit is further used for acquiring the rotational speeds and the flow rates of said mud pump and said mud pump in real time; The display unit is also used for displaying the rotating speeds and the flow rates of the sludge conveying pump and the sludge discharging pump acquired by the acquisition unit on a displayed circuit layout in a list mode at positions close to the corresponding sludge conveying pump and sludge discharging pump.

Description

Automatic control system and method for shield tunneling machine slurry conveying system Technical Field The invention relates to the technical field of automatic control of shield machines, in particular to an automatic control system and method of a slurry conveying system of a shield machine. Background The slurry conveying system of the shield machine is a key subsystem responsible for discharging dregs, and currently, the system mainly has two core defects of regulation and control lag and parameter unbalance in the operation process, namely, operators need to rely on a plurality of independent interfaces to respectively monitor parameters such as slurry pressure, flow, front soil pressure and the like, and pumping and sludge discharging equipment is judged and manually regulated through manual experience, so that the slurry conveying system has slow response and low regulation and control precision, and is extremely easy to cause pressure fluctuation or unsmooth deslagging of a slurry bin under complex geological conditions, thereby causing ground subsidence or overload of the equipment. The whole regulation and control process is highly dependent on the real-time experience of operators, and lacks cooperative control and dynamic optimization at a system level, so that a new solution is necessary to be provided. Disclosure of Invention The invention aims to overcome the defects of the prior art, provides an automatic control system and method of a shield tunneling machine muddy water conveying system, and solves the problems that the existing muddy water conveying system is highly dependent on the real-time experience of an operator and lacks cooperative control and dynamic optimization of a system level through manual operation of manual experience. The technical scheme for achieving the purpose is as follows: The invention provides an automatic control method of a shield tunneling machine muddy water conveying system, which comprises the following steps: when the shield tunneling machine starts tunneling or stops tunneling, a bypass mode is executed, and the bypass mode is transited to the tunneling mode or transited to the stopping mode; When a bypass mode is executed, a first ball valve on a communicating pipeline arranged between a mud pump and a mud pump is opened, the mud pump and the mud pump are directly communicated through the communicating pipeline to form a reflux loop, the mud pump and the mud pump are controlled to operate at a set initial rotating speed, the mud pump is enabled to maintain constant flow output according to a set mud inflow amount, and the rotating speed of the mud pump is adaptively adjusted according to a set target value of the working bin pressure so as to adjust the pressure of a main pipeline; When the bypass mode is transited to the tunneling mode, a first ball valve on the communicating pipeline is closed, a ball valve on a mud inlet pipeline of the mud pump communicating working bin is opened, and the ball valve on a mud discharge pipeline of the working bin is communicated with the mud discharge pump, so that mud is fed into the working bin through the mud inlet pipeline and then discharged through the mud discharge pipeline and the mud discharge pump, and mud water circulation is formed; And when the flow rates of the sludge pump and the sludge pump are close to zero, closing the sludge pump, the sludge pump and the first ball valve. The automatic control method of the shield tunneling machine muddy water conveying system is further improved in that when the bypass mode is transited to the stop mode, when the flow rates of the muddy water conveying pump and the muddy water discharging pump are close to zero, ball valves on the muddy water inlet pipeline and the muddy water discharging pipeline are gradually closed. The automatic control method of the shield tunneling machine muddy water conveying system is further improved in that the rotation speed of the muddy water pump is adaptively adjusted according to the target value set by the pressure of the working bin, and the method comprises the following steps: when the main pipeline pressure is larger than the working bin pressure set target value, gradually increasing the rotating speed of the sludge pump until the main pipeline pressure approaches or equals to the working bin pressure set target value; And when the main pipeline pressure is smaller than the working bin pressure set target value, the rotating speed of the sludge pump is gradually reduced until the main pipeline pressure approaches or equals to the working bin pressure set target value. The automatic control method of the shield tunneling machine muddy water conveying system is further improved in that the automatic control method further comprises the steps of displaying a circuit layout diagram of the muddy water conveying pump, the mud discharging pump, the communication pipeline, the first ball valve, the mud inlet pipeline, ball valves ar