CN-122014725-A - Multi-partition oil cylinder pressure intelligent cooperative control method for shield tunneling

CN122014725ACN 122014725 ACN122014725 ACN 122014725ACN-122014725-A

Abstract

The invention relates to the technical field of shield construction and discloses a multi-partition oil cylinder pressure intelligent cooperative control method for shield tunneling, which comprises the steps of collecting tunneling data and calculating real-time travel deviation; the method comprises the steps of obtaining an oil cylinder travel control surface through fitting based on real-time travel deviation, extracting characteristic parameters of the oil cylinder travel control surface, obtaining pressure control surface characteristic parameters and pressure proportion coefficients of each partition through mapping and conversion by a PID control algorithm according to the extracted characteristic parameters, and generating a control instruction based on the pressure proportion coefficients and the current tunneling state to obtain an optimal shield tunneling strategy. By combining the PID control algorithm with the space control surface of the multi-partition oil cylinder, shield tunneling data are mapped in real time, the problem that the oil cylinder pressure control depends on manual experience is effectively solved, the coordinated control of the pressure setting of each partition oil cylinder is realized, segment crushing or shield machine faults are reduced, and shield tunneling efficiency and construction quality are greatly improved.

Inventors

WANG GAN
WANG YIXIAN
FANG QIAN
GUO PANPAN
AN RAN
WEI JIANYING

Assignees

合肥工业大学

Dates

Publication Date: 20260512
Application Date: 20260327

Claims (10)

1. The intelligent cooperative control method for the pressure of the multi-partition oil cylinder for shield tunneling is characterized by comprising the following steps of: Collecting original data of tunneling of oil cylinders in each partition, and calculating the real-time travel deviation of the oil cylinders; Based on the real-time travel deviation, fitting to obtain an oil cylinder travel control surface and extracting characteristic parameters thereof; According to the extracted characteristic parameters, mapping and converting by adopting a PID control algorithm to obtain the characteristic parameters of the pressure control surface and the pressure proportionality coefficients of each partition; And generating a control instruction based on the pressure proportionality coefficient and the current tunneling state to obtain an optimal shield tunneling strategy.
2. The intelligent cooperative control method for the pressure of the multi-partition oil cylinder facing the shield tunneling according to claim 1, wherein before calculating the real-time travel deviation of the oil cylinder, the method further comprises: Establishing a space coordinate system based on the posture of the shield machine and the space position relation of each partition oil cylinder; The space coordinate system takes the geometric center of the section of the starting point of the shield machine propulsion cylinder as an origin and the shield tunneling direction as an origin A shaft.
3. The intelligent cooperative control method for the pressure of the multi-partition oil cylinders facing the shield tunneling according to claim 1, wherein the collected raw data comprise an oil cylinder stroke planning value, an actual stroke value of each oil cylinder and an inherent geometric parameter of a shield propulsion system; The inherent geometric parameters of the shield propulsion system are the central angles of the oil cylinders of the subareas; The real-time travel deviation of the oil cylinder is the difference between the travel planning value of the oil cylinder and the actual travel value of each oil cylinder.
4. The intelligent cooperative control method for the pressure of the multi-partition oil cylinder for shield tunneling according to claim 1 is characterized in that the extracted characteristic parameters of the oil cylinder stroke control surface comprise azimuth angle and inclination angle of the oil cylinder stroke control surface.
5. The intelligent cooperative control method for pressure of a multi-partition oil cylinder facing shield tunneling according to claim 1 or 4, wherein the obtaining the characteristic parameters of the pressure control surface and the pressure proportionality coefficients of each partition by mapping and converting by using a PID control algorithm according to the extracted characteristic parameters comprises: based on the fact that the stroke propulsion demand direction of the oil cylinder is the same as the pressure applying direction of the oil cylinder, the azimuth angle of the stroke control surface is directly mapped and converted into the azimuth angle of the pressure control surface through PID; establishing a PID control equation, and converting the stroke control surface inclination angle dynamic mapping into a pressure control surface inclination angle; And establishing an oil cylinder pressure control surface according to the azimuth angle and the inclination angle of the pressure control surface, obtaining a normal vector of the pressure control surface, establishing a pressure distribution equation, and solving to obtain the pressure proportionality coefficient of each partition oil cylinder.
6. The intelligent cooperative control method for the pressure of the multi-partition oil cylinder facing the shield tunneling according to claim 5 is characterized in that the PID control equation comprises a proportional term introducing proportional gain, an integral term introducing integral gain and a differential term introducing differential gain; the proportional term, the integral term and the differential term comprise inclination errors, and the inclination errors are obtained according to the current geological conditions and the construction stage.
7. The intelligent cooperative control method for the pressure of the multi-partition oil cylinder facing the shield tunneling according to claim 6, wherein an adaptive parameter adjustment mechanism is set when the stroke control surface inclination angle dynamic mapping is converted into the pressure control surface inclination angle, and the adaptive parameter adjustment mechanism comprises: calculating standard deviation of stroke deviation of each partition oil cylinder in real time, judging the homogeneity of the current shield tunneling stratum, and dynamically adjusting proportional gain and integral gain; Dynamically adjusting differential gain based on shield attitude deviation; The parameters representing the shield attitude deviation comprise a pitch angle variation and an azimuth angle variation which are monitored in real time.
8. The intelligent cooperative control method for the pressure of the multi-partition oil cylinder facing the shield tunneling according to claim 1, wherein the generating a control command based on the pressure proportionality coefficient and the current tunneling state comprises the following steps: Calculating the basic pressure of the oil cylinder according to the total thrust requirement of shield tunneling; Based on the basic pressure, calculating a preliminary pressure set value of each partition oil cylinder according to the normalized pressure proportional coefficient; Based on the preliminary pressure set value, introducing a layering decision mechanism to obtain a final pressure set value; Performing amplitude limiting processing on the final pressure set value, generating a control instruction and setting a fault alarm and maintenance mechanism; when the preliminary pressure set value of each partition oil cylinder is calculated, a safety coefficient is introduced according to the pipe piece bearing capacity.
9. The intelligent cooperative control method for the pressure of the multi-partition oil cylinder facing the shield tunneling according to claim 8, wherein the layered decision mechanism comprises a multi-layer safety limiting mechanism and a partition pressure fault-tolerant control mechanism; the multi-layer safety limiting mechanism comprises absolute limiting constraint of pressure of each partition, pressure distribution uniformity constraint and pressure change smoothness constraint; The partition pressure fault-tolerant control mechanism comprises: monitoring the pressure data of the oil cylinders of all the subareas on line in real time, and identifying and isolating abnormal subareas with faults; Obtaining a pressure substitution value for substituting the pressure value of the abnormal fault partition based on the pressure interpolation of the adjacent partition; And automatically adjusting proportional gain by taking stable shield posture as a target, and generating a final pressure set value according to the tunneling state of each zone based on the preliminary pressure set value and the pressure substitution value.
10. The intelligent cooperative control method for pressure of a multi-partition oil cylinder for shield tunneling according to any one of claims 1, 8 and 9, wherein the obtaining an optimal shield tunneling strategy comprises: issuing an execution control instruction according to a period, and establishing a multidimensional monitoring and evaluating system; introducing a self-adaptive control strategy of monitoring indexes, automatically switching the shield working mode and optimizing control parameters on line; Recording control parameters and monitoring indexes in the shield tunneling process, and automatically analyzing and adjusting tunneling propulsion parameters to obtain an optimal shield tunneling strategy; The multidimensional monitoring and evaluating system comprises a travel tracking error, a shield attitude deviation, a pressure uniformity and a tunneling energy consumption which are obtained by real-time monitoring; the control parameter optimized on line is proportional gain; The recorded control parameters include final pressure set point, pressure scaling factor, proportional gain, integral gain, differential gain.

Description

Multi-partition oil cylinder pressure intelligent cooperative control method for shield tunneling Technical Field The invention relates to the technical field of shield construction, in particular to a multi-partition thrust cylinder pressure cooperative control method for shield tunneling. Background In recent years, shield construction is widely applied to urban underground engineering due to the characteristics of high efficiency and safety. However, when shield tunneling is performed in a large-diameter or water-rich stratum, the problem of floating of the segment is particularly remarkable, and tunneling accuracy along the tunnel axis and shield tunneling safety are seriously affected. In the prior art, the floating of the segment is generally restrained by adjusting grouting parameters at the tail part of the shield tunneling machine, but the coordination control problem of the shield propulsion system cannot be solved. The propulsion system of the shield machine is formed by connecting a plurality of subarea hydraulic cylinders in parallel, the traditional control mode relies on manual experience to set the pressure proportion of each subarea oil cylinder, and the following obvious defects exist: (1) For complex propulsion systems with the area of 6 or more, the manual coordination of multi-area pressure distribution is difficult, the local pressure concentration is easy to cause, and the local crushing of the duct piece or the uncontrolled attitude of the shield are caused; (2) The existing PID control algorithm based on a single index cannot meet the requirement of multi-partition cooperative control, mechanical faults are often caused by uneven pressure distribution, and construction efficiency is reduced; (3) Geological conditions are changeable in the construction process, manual experience is difficult to optimize and adjust in real time, and tunneling accuracy and construction quality are seriously affected. In summary, although attempts have been made to use intelligent control algorithms in shield construction, many remain under theoretical investigation. On one hand, the high-frequency control requirement of the tunneling process is difficult to meet due to large calculation amount and poor instantaneity of the optimization algorithm of machine learning, and on the other hand, the existing intelligent control model is mostly of a black box structure, has poor interpretability and is difficult to debug on site. Particularly, the coordination control problem of the pushing pressure of the multi-partition oil cylinder is not found in the prior art, so that the problems of unstable control of the shield posture, uneven stress of the pipe piece and the like exist for a long time in the shield construction process. Therefore, a method for realizing intelligent coordination control of the pressure of the multi-partition oil cylinder is needed in real time, stably and interpretable. Disclosure of Invention In order to overcome the defects in the prior art, the invention provides the intelligent cooperative control method for the pressure of the multi-partition oil cylinder for the shield tunneling, which solves the problems that the control of the pressure of the multi-partition oil cylinder is seriously dependent on manual experience, cannot be controlled in real time and has poor control cooperativity, so that the attitude of the shield is easy to run away, and the construction quality of the shield tunneling is seriously affected. In order to achieve the above purpose, the embodiment of the invention provides a multi-partition oil cylinder pressure intelligent cooperative control method for shield tunneling, which comprises the following steps: Collecting original data of tunneling of oil cylinders in each partition, and calculating the real-time travel deviation of the oil cylinders; Based on the real-time travel deviation, fitting to obtain an oil cylinder travel control surface and extracting characteristic parameters thereof; According to the extracted characteristic parameters, mapping and converting by adopting a PID control algorithm to obtain the characteristic parameters of the pressure control surface and the pressure proportionality coefficients of each partition; And generating a control instruction based on the pressure proportionality coefficient and the current tunneling state to obtain an optimal shield tunneling strategy. In a preferred embodiment, before calculating the real-time stroke deviation of the oil cylinder, the method further comprises: Establishing a space coordinate system based on the posture of the shield machine and the space position relation of each partition oil cylinder; The space coordinate system takes the geometric center of the section of the starting point of the shield machine propulsion cylinder as an origin and the shield tunneling direction as an origin A shaft. In a preferred embodiment, the acquired raw data comprises an oil cylinder stroke plannin