CN-122018532-A - High-efficiency and high-precision TBM attitude autonomous regulation and control method and system

Abstract

The invention belongs to the technical field of tunneling, and discloses a high-efficiency and high-precision TBM attitude autonomous regulation and control technology which comprises the steps of establishing a TBM deviation correcting capability evaluation model based on constraint factors such as edge cutter abrasion, oil cylinder travel, rigidity of a direction regulating mechanism under rock-machine interaction, maximum supporting force provided by surrounding rock and the like, providing support for subsequent track planning, reading TBM real-time attitude information, selecting different tunneling strategies according to different degrees of deviation, determining tunneling parameters for different tunneling strategies to ensure the high efficiency and economical efficiency of tunneling, and reading the real-time attitude information of the TBM to comprise TBM coordinates Pitch angle Angle of horizontal direction Curvature of horizontal plane Curvature of vertical plane And establishing an evaluation function considering multiple factors, optimizing the end point of the deviation rectifying track by using a genetic algorithm, and finally obtaining the optimal deviation rectifying track. The invention can reduce manual operation errors, greatly reduce labor cost required by tunneling and greatly improve tunneling efficiency of TBM.

Inventors

• ZHU GUOLI
• PENG CHUAN
• XIE ZHE

Assignees

• 华中科技大学

Dates

Publication Date

20260512

Application Date

20260210

Claims (10)

1. 1. The autonomous regulation and control method for the attitude of the shield tunneling machine is characterized by comprising the following steps of: Acquiring real-time pose information of a shield tunneling machine and tunnel design axis information; Calculating the minimum deviation correcting radius allowed by the shield machine in a single step propulsion stroke on the basis of the allowable displacement of the edge cutter, the stroke difference of the propulsion cylinder, the maximum extension of the torsion cylinder, the structural rigidity of the steering mechanism and the maximum supporting capability provided by surrounding rock; The comprehensive minimum deviation correcting capability boundary of the shield machine under the current working condition is determined by uniformly comparing the minimum deviation correcting radius obtained by the limit cutter displacement constraint, the oil cylinder stroke constraint, the main beam maximum allowable deformation constraint and the surrounding rock maximum supporting capability constraint; According to the relation between the real-time deviation of the center of the cutter head of the shield tunneling machine relative to the tunnel design axis and the comprehensive minimum deviation correcting capability boundary, automatically selecting a tunneling strategy with dominant propulsion, synergy of propulsion and deviation correcting or dominant deviation correcting; and generating a deviation rectifying track meeting the boundary constraint of the comprehensive minimum deviation rectifying capability under the selected tunneling strategy, and finishing the posture adjustment of the shield tunneling machine according to the deviation rectifying track.
2. 2. The method of claim 1, wherein the minimum deviation-correcting radius under the limit of the allowable displacement of the edge cutter is determined by a geometric relationship between a single step advance stroke length, a cutter head radius, and the maximum allowable displacement of the edge cutter.
3. 3. The method of claim 1, wherein the minimum deviation correction radius under the ram travel constraint is determined in the horizontal plane by the relationship between ram travel difference and single step ram travel, and in the vertical plane by the relationship between maximum extension of the torsion ram and main beam length.
4. 4. The method of claim 1, wherein the steering mechanism structural stiffness constraint derives a maximum rotational angle within a single step propulsion stroke from a maximum allowable deflection limit of the main beam by treating the main beam as a cantilever beam, and calculates a minimum deviation-correcting radius from the maximum rotational angle.
5. 5. The method of claim 1, wherein the maximum support capacity of the surrounding rock constrains a relationship between a maximum friction force and a thrust force that can be provided by the surrounding rock on the support shoe, limits a shield tunneling machine attitude deflection angle, and calculates a minimum deviation correcting radius from the deflection angle.
6. 6. The self-adaptive switching method for the tunneling strategy of the shield tunneling machine is characterized by comprising the following steps of: Comparing the real-time deviation of the center of the cutter head of the shield machine relative to the tunnel design axis with a preset limit deviation; when the deviation is smaller than 1/2 of the limit deviation, selecting a propulsion dominant tunneling strategy to ensure that the shield machine maintains normal propulsion speed and propulsion thrust; When the deviation is between 1/2 of the limit deviation and the limit deviation, selecting a propulsion and deviation correction cooperative strategy, reducing the propulsion speed and applying the posture adjustment torque; when the deviation is larger than the limit deviation, a deviation rectifying dominant tunneling strategy is selected, the propulsion speed and the propulsion thrust are further reduced, and the posture adjustment amplitude is increased; and under each tunneling strategy, the minimum deviation correcting radius constraint is used as a boundary condition for tunneling parameter adjustment.
7. 7. The method of claim 6, wherein the propulsion speed, propulsion thrust, and attitude adjustment torque are continuously varied with the magnitude of the deviation under a propulsion and deskewing cooperative strategy.
8. 8. The utility model provides a shield constructs machine gesture autonomous control system which characterized in that includes: the pose acquisition module is used for acquiring real-time pose information of the shield tunneling machine and tunnel design axis information; The deviation correcting capability evaluation module is used for calculating the minimum deviation correcting radius of the shield machine on the horizontal plane and the vertical plane based on the displacement of the edge cutter, the stroke of the oil cylinder, the structural rigidity of the direction adjusting mechanism and the surrounding rock supporting capability, and forming a comprehensive deviation correcting capability boundary; The tunneling strategy decision module is used for selecting a tunneling strategy according to the relation between the real-time deviation of the shield tunneling machine and the comprehensive deviation correcting capacity boundary; The track generation module is used for generating a deviation rectifying track meeting the constraint of the minimum deviation rectifying radius; and the execution control module is used for calculating and controlling the motion parameters of each hydraulic execution mechanism according to the deviation rectifying track.
9. 9. The system of claim 8, wherein the trajectory generation module describes the deviation correcting trajectory using a five-degree polynomial curve while satisfying the position, direction, and curvature continuity constraints of the start and end points.
10. 10. The system of claim 8, wherein the execution control module calculates target thrust forces of the thrust cylinder, the horizontal support cylinder and the torsion cylinder based on a mechanical model of the shield machine thrust system, and achieves track following by adopting an adaptive control mode.

Description

High-efficiency and high-precision TBM attitude autonomous regulation and control method and system Technical Field The invention belongs to the technical field of tunneling, but is not limited to, and particularly relates to a high-efficiency and high-precision TBM attitude autonomous regulation and control method and system. Background The full-face tunnel boring machine (TunnelBoringMachine, TBM) integrates the functions of geological sensing, rock-soil boring, lining support and the like, and is irreplaceable core equipment in the fields of traffic facilities, water conservancy and hydropower, energy management networks, national defense engineering and the like. The construction precision control and the intelligent decision level of the TBM directly relate to the structural safety, the full life cycle cost and the engineering efficiency of the national important infrastructure. According to national comprehensive three-dimensional traffic network planning outline, the railway operation mileage of China can reach 20 ten thousand kilometers by 2035, tunnel engineering is taken as a key control node, and the scale can continuously keep growing at a high speed. Especially under the double constraint of complex geological conditions and high-precision construction requirements, TBM has become a key technical carrier for breaking through mountain barriers and guaranteeing smoothness of lines. It is expected that the demand of TBM equipment will break through 500 sets in the future, and the market estimate is over 600 hundred million Yuan people's coins. During TBM tunneling, equipment is advanced along the design axis in strict accordance with the result of the geological survey. However, the high vibration construction environment often causes misalignment and even failure of a pose measurement system, forces the TBM to be in a blind tunneling state, is extremely easy to cause a tunneling track to deviate from a design axis obviously, and in addition, the unbalanced load and manual operation errors of a propulsion system caused by a complex geological environment are also important inducements of individual pose deviation. The deviation phenomenon not only reduces the tunnel forming quality, but also causes excessive abrasion of the edge cutter and sharp reduction of tunneling efficiency, and even needs to tunnel again after backfilling when severe, thereby causing huge economic loss and construction period delay. Therefore, it is important to correct the deviation timely and accurately when the deviation occurs. Aiming at the problem of TBM pose correction, the existing methods are mainly divided into two types. The first is a direct control method based on deviation guidance, i.e. the offset angle and deviation are directly corrected by adjusting the propulsion system parameters. For example, wang establishes a theoretical coupling relation between TBM pose deviation and control parameters, proposes a track adjustment method for synchronously reducing the deviation angle and the position deviation, and Zhang fuses a propulsion hydraulic system dynamics theory and a Deep Neural Network (DNN) to construct an optimization framework integrating PIDL, NSGA-III and a virtual model so as to predict cylinder stroke control strategies under different geological conditions. Despite the wide application of such methods in the field of engineering, there is a significant limitation in that TBMs act as large inertia under-actuated systems, with significant hysteresis in the propulsion system response. When the thrust adjustment deviation is directly utilized, the thrust adjustment deviation is difficult to stop in time at the moment of correcting in place, overshoot is easy to generate in the opposite direction, and a tunneling axis is caused to appear in a snake-shaped vibration. In addition, the method is highly dependent on field data, has poor generalization capability of the model, often needs retraining in the face of heterogeneous geological environment, and limits the cross-scene application capability. The second type is a composite control method of planning and tracking firstly, namely planning deviation rectifying tracks according to TBM states firstly, and then controlling a propulsion system to track the tracks accurately. If the track design is reasonable, the method can obviously improve the stability of the deviation correcting process and avoid repeated oscillation. Hou Kunzhou a TBM deviation rectifying and direction regulating kinematic model is established, deviation rectifying paths are planned by comprehensively considering constraints such as maximum displacement of a side cutter, minimum turning radius and the like, he Boning a tunnel axis algorithm is researched, a deviation rectifying circuit design method based on a cubic parabola is provided, and Liu realizes high-precision tracking of deviation rectifying tracks by utilizing a dead zone compensation and integral separation fuzzy PI contr