CN101922294B - Dynamic coordinate control method of full-face large-scale tunneling equipment - Google Patents

Abstract

The invention provides a dynamic coordinate control method of full-face large-scale tunneling equipment, which belongs to the technical field of tunneling automatic control and solves the problem of multi-system coordinate control over the tunneling equipment under a multi-field coupling action. The dynamic coordinate control method of the full-face large-scale tunneling equipment comprises a sealed cabin pressure distribution real-time dynamic model, an advancement speed set value model, a cutter rotation speed set value model and a slag discharge speed set value model, and is characterized in that: a system automatically corrects the set values of the advancement speed of the tunneling equipment, the rotation speed of a cutter and the slag discharge speed of a spiral conveyor in real time according to the pressure change of a sealed cabin of the tunneling equipment and therefore realizes the automatic real-time coordinate control of each sub-system. The dynamic coordinate control method of the full-face large-scale tunneling equipment has the advantages that: an advancement sub-system, a cutter sub-system and a slag discharge sub-system can be coordinately controlled; the control of the dynamic balance of the pressure of the sealed cabin is realized; and the whole tunneling process is safe and highly efficient.

Description

The dynamic coordinate control method of full-face large-scale tunneling equipment

Technical field

The invention belongs to the tunnel piercing technical field of automatic control, relate to the dynamic coordination controlling system of digging device under a kind of many couplings.

Background technology

At present, the problems such as driving safety, efficient, reliability and geological adaptability of digging device are still still unsolved international great technical barrier.And the sealed compartment imbalance of pressure is the main reason that catastrophic failure such as surface subsidence takes place; Sealed compartment pressure balance control not only with tunneling process in many couplings such as stress field, thermal field, seepage field closely related; But also receive the influence of factors such as multiphase medium component in the cabin, driving and deslagging speed; Because do not disclose as yet that muck removal local soil type divides and mechanical characteristic to the rule that influences of sealed compartment pressure, cause being difficult to through advancing, be unearthed and multiple subsystem comprehensive coordination control such as cutterhead realizing the sealed compartment pressure balance.Therefore, many coupling lower seal cabin pressure dynamic equilibrium controls are the advanced subject in the large-scale digging device research, also are the key technologies that influences ground deformation.

Mainly there is following problem in existing research: it is unclear to the action rule of sealed compartment pressure influence to become component medium and flow behavior; Sealed compartment dynamic pressure field analysis under many couplings and imbalance of pressure signature analysis be research not; The mapping relations of boring parameter and sealed compartment pressure field state parameter lack theoretic research, how to express with empirical formula; The theoretical research that bad ground tunneling process sealed compartment pressure is coordinated control does not appear in the newspapers as yet.Therefore, in practical operation, adjustment sealed compartment pressure is mainly according to experience or driving test, when actual detected, just reduces fltting speed or improves the conveying worm rotating speed during greater than theoretical soil pressure setting value to the soil pressure value of sealed compartment; Otherwise, can improve fltting speed or reduce the rotating speed of conveying worm; If both equate, then can move on; When the operation pose that detects the shield body had deviation, operating personnel regulated the pressure of PF cylinder pressure and the pose deviation that fltting speed is corrected the shield body by rule of thumb.Manually-operated has so repeatedly had a strong impact on the effect and the efficient of tunneling.

At present for sealed compartment pressure balance control, majority is that the operational factor through the single by rule of thumb adjusting propulsion system of operating personnel, cutterhead system or dreg removing system realizes, and three sub-systems is not made the as a whole coordination control technology of considering.Existing method as: adopt the BP neutral net to set up the excavation face earth pressure balance control system of shield driving process; Provide optimum fltting speed and conveying worm rotating speed (Yeh; I-Cheng.Application of neural networks to automatic soil pressure balance controlfor shield tunneling.Automation in Construction; 1997,5 (5): 421-426); Through the rotating speed of manual adjustment conveying worm, change bed drain purge, or advance the thrust of oil cylinder or the rotating speed of cutterhead to change into soil amount (Hu Guoliang through adjustment; Gong Guofang, Yang Huayong. the realization of earth pressure balance for shield tunnelling machine. journal of Zhejiang university (engineering version), 2006; 40 (5), 874-877); Through regulate additive foam or compressed air injection rate wait the controlled pressure balance (Zhu Wei, Guo Tao, Wei Kanglin. the shield structure is with the performance of bubble and split the excavator body improved effect and influence. the underground space and engineering journal, 2006,2 (4): 571-577).

In sum, existing digging device control system mainly contains following characteristics:

1. in tunneling process; The main situation of change that adopts the method for monitoring to judge sealed compartment pressure; Then through the artificial mode of adjusting; Change the rotating speed of conveying worm, the fltting speed of hydraulic cylinder, rotating speed, additive foam or the compressed-air actuated injection rate etc. of cutterhead, keep the sealed compartment pressure balance, but the control effect often depends on operating personnel's experience;

2. each sub-systems works independently in the control procedure, does not make the mutual cooperation work of each sub-systems carry out earth pressure balance control.

From These characteristics, can find out; The control system is equipped in existing tunnel piercing; All be the separate work of each subsystem; According to the driving operating mode of reality, operating personnel change the operational factor of each subsystem by rule of thumb and control the sealed compartment pressure balance, and do not adopt the automatic synchronization control strategy of each subsystem to address the above problem.Therefore, the effect and the precision of driving have been had a strong impact on.

Summary of the invention

The present invention aims to provide a kind of dynamic coordination controlling system of full-face large-scale tunneling equipment, and the multisystem that has solved digging device under many couplings is coordinated control problem.

The present invention includes: sealed compartment pressure distribution real time dynamic model, fltting speed setting value model, cutterhead speed setting value model, deslagging speed setting value model.This coordinated control system is in the ipc monitor system; Can be according to the real-time change situation of sealed compartment pressure; Utilize sealed compartment pressure distribution real time dynamic model, fltting speed setting value model, cutterhead speed setting value model, deslagging speed setting value model; Provide each sub-systems best control pre-set parameter respectively, revise propelling, cutterhead, dreg removing system operational factor in real time, realize the automatic synchronization control that each subsystem is real-time.

For this coordinated control system, at first set up sealed compartment pressure distribution real time dynamic model, by pressure observation value (x in the sealed compartment _i(t), y _i(t)), calculate pressure distribution

$p_x\left(t\right)=\frac{{\mathrm{\Σ}}_1^n{x}_i\left(t\right)}{{\mathrm{\Σ}}_1^n{x}_i^2\left(t\right)},$ $p_y\left(t\right)=\frac{{\mathrm{\Σ}}_1^n{y}_i\left(t\right)}{{\mathrm{\Σ}}_1^n{y}_i^2\left(t\right)}$

So it is following to get development machine sealed compartment pressure distribution real time dynamic model:

On the basis of sealed compartment pressure distribution real time dynamic model, provide the setting value model of development machine fltting speed, cutterhead rotating speed, conveying worm deslagging speed according to the methods below:

(1) fltting speed setting value model

At first the hydraulic cylinder with propulsion system is divided into four districts up and down by circumference, and its corresponding fltting speed is respectively:

$V_j^T\left(t\right)=a_j{p}_x\left(t\right)+b_j{p}_y\left(t\right),j=1,...,4$

Parameter (a wherein _j, b _j) provide by least square method;

(2) cutterhead rotary speed setting value model

V ^D(t)＝ap _x(t)+bp _y(t)

Wherein (a b) is provided by least square method parameter;

(3) conveying worm deslagging speed setting value model

Deslagging speed is the following equation of comptability of normal root certificate really:

$V_o^T\left(t\right)/V^L\left(t\right)=A(1-\mathrm{\Δ}{P}_f\left(t\right)/E_s)$

Wherein, V ^L(t) be deslagging speed, average fltting speed

A is the positive cross sectional area of shield structure, Δ P _f(t) pressure of excavation face changes, and

ΔP _f(t)＝cp _x(t)+dp _y(t)

Wherein (c d) will be provided E by least square method to parameter _sModulus of compressibility for cutting soil.Through the setting value of real-time correction deslagging speed, realized guaranteeing the dynamic real-time coordination control of the pressure balanced propulsion system of sealed compartment, cutterhead system and dreg removing system.

Effect benefit of the present invention is that propelling, cutterhead, deslagging three sub-systems are considered as an organic whole, has proposed the dynamic coordination controlling system of digging device under a kind of many couplings.Geologic parameter, sealed compartment pressure field distributed constant, propulsive parameter etc. are input in the coordinated control system; Respectively the initial operational parameter of each subsystem is provided with by propelling, cutterhead, three coordinating control modules of deslagging according to these parameters; Again according to the variation of each parameter; Each coordinating control module provides corresponding control strategies, revises the setting value of each subsystem operational factor in real time.

The present invention can coordinate to control propelling, cutterhead, deslagging three sub-systems, reaches the control purpose of sealed compartment pressure dynamic equilibrium, makes whole tunneling process safety, efficient.

Description of drawings

Fig. 1 is the schematic diagram of development machine coordinated control system.

Fig. 2 is the packet mode figure of PF cylinder pressure.

Fig. 3 is that the scene of development machine control system connects sketch map.

The specific embodiment

Be described in detail the specific embodiment of the present invention below in conjunction with technical scheme and accompanying drawing.

As shown in Figure 1; The present invention includes: sealed compartment pressure distribution real time dynamic model, fltting speed setting value model, cutterhead speed setting value model, deslagging speed setting value model; Constitute coordinated control system, wherein, coordinated control system is arranged in the ipc monitor system.The on-the-spot hardware connection mode of The whole control system is as shown in Figure 3; Adopt the form of structure of upper and lower machine; Host computer is an industrial control computer, and slave computer adopts the PLC controller for each functional module, and host computer is connected through Ethernet with the PLC controller realizes the real time data communication; The PLC controller is provided with the CC-Link main website; Adopt CAN bussing technique and CC-Link slave station to carry out real-time communication, follow the CANopen agreement at CAN bus transmitting data, each CC-Link slave station is connected with cutterhead control system, propulsion control system, deslagging control system etc.

Specifically be achieved in that the real time dynamic model of at first in the coordinated control system of host computer, calculating the sealed compartment pressure distribution.The sealed compartment pressure p that data collecting system will be gathered in real time _i(t) flow to host computer, the p that each pressure sensor monitoring arrives _i(t) be the pressure of horizontal direction, i.e. x _i(t)=p _iAnd vertical direction y (t), _i(t) according to computes: y _i(t)=p _i(t)/k ₀(1)

Wherein, k ₀Be the lateral pressure coefficient of the soil body, carry out value according to the state of soil property.

So by force value (x in the sealed compartment _i(t), y _i(t)), calculate pressure distribution

$p_x\left(t\right)=\frac{{\mathrm{\Σ}}_1^n{x}_i\left(t\right)}{{\mathrm{\Σ}}_1^n{x}_i^2\left(t\right)},$ $p_y\left(t\right)=\frac{{\mathrm{\Σ}}_1^n{y}_i\left(t\right)}{{\mathrm{\Σ}}_1^n{y}_i^2\left(t\right)}$

And then can draw development machine sealed compartment pressure distribution real time dynamic model and be:

Secondly, based on above-mentioned pressure-plotting model, in coordinated control system, obtain fltting speed V respectively according to fltting speed setting value model, cutterhead rotary speed setting value model, conveying worm deslagging speed setting value model again _j ^T(t),

Cutterhead rotating speed V ^D(t), conveying worm rotating speed V ^L(t):

(1) fltting speed setting value

At first the hydraulic cylinder with propulsion system is divided into four districts (like accompanying drawing 2) up and down by circumference, and its corresponding fltting speed is respectively:

$V_j^T\left(t\right)=a_j{p}_x\left(t\right)+b_j{p}_y\left(t\right),j=1,...,4---\left(3\right)$

Parameter (a wherein _j, b _j) according to the data V of field measurement _j ^T(t)

And pressure-plotting model

Method by least square fitting provides.

Especially, the fltting speed of the hydraulic cylinder of four subregions is the same when the shield machine straightaway, and this moment, model became:

V ^T(t)＝ap _x(t)+bp _y(t) (4)

(2) cutterhead rotary speed setting value

Based on sealed compartment pressure distribution real time dynamic model, according to

V ^D(t)＝ap _x(t)+bp _y(t) (5)

Calculate cutterhead rotary speed setting value V ^D(t), wherein parameter (a is b) according to the data and the pressure-plotting model of field measurement

Method by least square fitting provides;

(3) conveying worm deslagging speed setting value

Basis at first

$V_o^T\left(t\right)={\mathrm{\Σ}}_1^4{\mathrm{\α}}_j{V}_j^T\left(t\right),$ ${\mathrm{\Σ}}_1^4{\mathrm{\α}}_j=1---\left(6\right)$

Calculate average fltting speed V _o ^T(t),

Basis then

ΔP _f(t)＝cp _x(t)+dp _y(t) (7)

Calculate the pressure changes delta P in the sealed compartment _f(t), again according to the equation of comptability

$V_o^T\left(t\right)/V^L\left(t\right)=A(1-\mathrm{\Δ}{P}_f\left(t\right)/E_s)---\left(8\right)$

Calculate conveying worm rotating speed V ^L(t), wherein parameter (c d) is calculated by the method for least square fitting.

At last, the coordinated control system in the host computer is with the setting value V of above-mentioned correction _j ^T(t),

V ^D(t), V ^L(t) be transferred to the PLC controller, and then coordinate control propulsion system, cutterhead system and dreg removing system, realized the dynamic equilibrium control of sealed compartment pressure.

Claims (1)

1. the dynamic coordinate control method of a full-face large-scale tunneling equipment; Comprise sealed compartment pressure distribution real time dynamic model, fltting speed setting value model, cutterhead speed setting value model and deslagging speed setting value model; On the basis of sealed compartment pressure distribution real time dynamic model; Provide fltting speed setting value model, cutterhead speed setting value model and the deslagging speed setting value model of development machine, realize that the automatic time of each subsystem is coordinated control; It is characterized in that following steps,

Step 1: provide development machine sealed compartment pressure distribution real time dynamic model by following formula:

$\stackrel{I}{p}\left(t\right)=(p_x\left(t\right),p_y\left(t\right))$

Wherein,

(x _i(t), y _i(t)) be pressure observation value in the sealed compartment;

Step 2: 1 described sealed compartment pressure distribution real time dynamic model provides the setting value model of development machine fltting speed, cutterhead rotating speed, conveying worm deslagging speed set by step:

(1) fltting speed setting value model

The hydraulic cylinder of propulsion system is divided into four districts up and down by circumference, and its corresponding fltting speed is respectively:

$V_j^T\left(t\right)=a_j{p}_x\left(t\right)+b_j{p}_y\left(t\right),$ j＝1，...，4

Parameter (a wherein _j, b _j) provide by least square method;

(2) cutterhead rotary speed setting value model

V ^D(t)＝ap _x(t)+bp _y(t)

Wherein (a b) is provided by least square method parameter;

(3) conveying worm deslagging speed setting value model

Deslagging speed is the following equation of comptability of normal root certificate really:

$V_o^T\left(t\right)/V^L\left(t\right)=A(1-\mathrm{\Δ}{P}_f\left(t\right)/E_s)$

Wherein, V ^L(t) be deslagging speed, average fltting speed

A is the positive cross sectional area of shield structure, Δ P _f(t) pressure of excavation face changes, and

ΔP _f(t)＝cp _x(t)+dp _y(t)

Wherein (c d) is provided by least square method parameter, E _sModulus of compressibility for cutting soil; Through the setting value of real-time correction deslagging speed, realized guaranteeing the dynamic real-time coordination control of the pressure balanced propulsion system of sealed compartment, cutterhead system and dreg removing system.

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