CN104196540A - Automatic and random grouping push control system of shield tunneling machine - Google Patents
Automatic and random grouping push control system of shield tunneling machine Download PDFInfo
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- CN104196540A CN104196540A CN201410184999.XA CN201410184999A CN104196540A CN 104196540 A CN104196540 A CN 104196540A CN 201410184999 A CN201410184999 A CN 201410184999A CN 104196540 A CN104196540 A CN 104196540A
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Abstract
The invention discloses an automatic and random grouping push control system of a shield tunneling machine. The automatic and random grouping push control system comprises a push oil cylinder reverse control device set and a plurality of push oil cylinder thrust control device sets, the signal control ends of the push oil cylinder thrust control device sets and the signal control end of the push oil cylinder reverse control device set are connected with an upper computer of the shield tunneling machine, and the upper computer sends signals to the push oil cylinder thrust control device sets and the push oil cylinder reverse control device set to adjust the push posture of the shield tunneling machine in real time by adjusting the maximum thrust of an oil cylinder. The shield tunneling machine can advance precisely along designed tracks, construction quality can be improved, and construction efficiency can be improved.
Description
Technical field
The present invention relates to shield machine field, relate in particular to a kind of shield machine any grouping propulsion control system automatically.
Background technology
At present, shield machine there will be the problem that advances track to depart from working design track in progradation, and the more serious engineering that even there will be redesigns the problem of subway exit position.Because shield machine equipment is huge, the one longer period of process need of the propulsion system of at present shield structure industry design correction after completing shield attitude and departing from, so that Fertilizer Test of Regression Design track needs tens meters of even distances of up to a hundred meters.The quality that this has just had a strong impact on construction, has lengthened construction period, has reduced efficiency of construction.
Summary of the invention
The object of this invention is to provide a kind of shield machine any grouping propulsion control system automatically, can effectively control the propelling attitude of shield machine, improve construction quality, improve efficiency of construction.
The present invention adopts following technical proposals: a kind of shield machine is any grouping propulsion control system automatically, comprise one group of propelling cylinder control device for reversing and many group propelling cylinder thrust control device, the signal controlling ends of many group propelling cylinder thrust control device and one group of propelling cylinder control device for reversing are connected with shield machine host computer, and host computer sends signal realizes the real-time adjusting of shield machine propelling attitude by the maximum thrust of adjusting oil cylinder to many group oil cylinders thrust control device and one group of propelling cylinder control device for reversing.
Described propelling cylinder control device for reversing is reversing control valve group, include reversing control valve piece, electro-hydraulic reversing valve, safety valve, the first one way valve and the second one way valve, described electro-hydraulic reversing valve, safety valve, the first one way valve and the second one way valve are arranged on the fluid pressure line of oil cylinder, and the signal controlling end of described electro-hydraulic reversing valve is connected with host computer.
Described cylinder thrust control device is thrust control valve group, include cylinder thrust control valve piece, first liang of logical cartridge valve, second liang of logical cartridge valve, proportional pressure-reducing valve, Solenoid ball valve, the 3rd one way valve, unloader, pressure sensor, first liang of described logical cartridge valve, second liang of logical cartridge valve, proportional pressure-reducing valve, Solenoid ball valve, one way valve, unloader is arranged on the fluid pressure line of oil cylinder, described Solenoid ball valve, first liang of logical cartridge valve, second liang of logical cartridge valve, the signal controlling end of proportional pressure-reducing valve is connected with host computer, pressure sensor is arranged on the valve piece outlet side of each control cylinder action, the signal output part of pressure sensor is connected with host computer.
Described host computer passing ratio reducing valve is controlled each root cylinder thrust separately or is jointly controlled all cylinder thrusts.
Described host computer passing ratio reducing valve calculates every oil cylinder thrust when separately each root cylinder thrust control sets value as described below:
Host computer is combined with guidance system, records angle of deviation θ and offset distance L, and angle of deviation θ is the angle of shield machine actual path point and Tunnel Design tracing point line and perpendicular bisector; Offset distance L is planned course center and the actual length that advances the line between track center, sets the angle θ of every oil cylinder
n;
That is: T
1to T
16corresponding θ respectively
1to θ
16; T
1to T
16it is the pressure Real-Time Monitoring value of every oil cylinder;
θ
1＝0°θ
2＝22.5°θ
3＝45°θ
4＝67.5°……θ
16＝337.5°；
Calculate:
value, when
time
the angle of every oil cylinder and the difference of angle of deviation θ;
Calculate the thrust setting value P of every oil cylinder
n:
Wherein p: under this geological conditions, the average of propelling pressure, relevant with fltting speed, this value is an empirical value, constructing tunnel personnel obtain according to construction experience;
P*: the maximum difference of adjustment is empirical value;
P
* n: offset the deadweight of shield body, fixed value.
The present invention has adopted propelling cylinder control device and propelling cylinder control device for reversing, in the time of shield attitude off-design attitude, combine shield machine host computer by stream oriented device and regulate the thrust of part or all of propelling cylinder to carry out attitude effective, quick adjustment shield machine, realize shield machine and advance along planned course accurately.Automatically any grouping propulsion control system can effectively be controlled the propelling attitude of shield machine, and to attitude of shield machine, adjustment has very great help, and can improve construction quality, improves efficiency of construction.
Wherein the action of every oil cylinder and thrust can realize and jointly controls and carry out separately the independent two kinds of patterns of controlling, and more contribute to the adjusting to attitude of shield machine in shield-tunneling construction.
Brief description of the drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is that in the present invention, shield attitude regulates schematic diagram.
Detailed description of the invention
As shown in Figure 1, the invention discloses a kind of shield machine any grouping propulsion control system (oil cylinder control can be divided into groups arbitrarily) automatically, comprise many group propelling cylinder thrust control device and one group of propelling cylinder control device for reversing, the signal controlling end of many group propelling cylinder thrust control device and one group of propelling cylinder control device for reversing is connected with shield machine host computer, host computer sends signal to many group oil cylinders thrust control device and one group of propelling cylinder control device for reversing, advances the real-time adjusting of attitude by regulating the maximum thrust of oil cylinder to realize shield machine.
Shown in Fig. 1 is one group of propelling cylinder control device for reversing, 16 groups of propelling cylinder thrust control device
described propelling cylinder control device for reversing is reversing control valve group, reversing control valve group includes reversing control valve piece, electro-hydraulic reversing valve 01, safety valve 02, one way valve 03, one way valve 04, described electro-hydraulic reversing valve 01, safety valve 02, one way valve 03 are arranged on the fluid pressure line of oil cylinder, one way valve 04 is arranged on the branch road of oil cylinder recovery oil circuit, shunt a part of oil return fluid, the recovery of reduction oil cylinder is pressed.The signal controlling end of described electro-hydraulic reversing valve 01 is connected with host computer, receives the control signal that host computer sends.One way valve 03 is in electro-hydraulic reversing valve 01 right position work, when oil cylinder reclaims, rod chamber pressure oil and safety valve 02 conducting is played to the effect of protecting oil cylinder, and in the time that fluid is flowed through one way valve 04, one way valve 04 can be pushed open by fluid.The effect of electro-hydraulic reversing valve 01 is the switching of stretching out and regaining action that realizes oil cylinder, and the effect of safety valve 02 is restriction system maximum pressure, with each components and parts in protection system.
Described propelling cylinder thrust control device is thrust control valve group, thrust control valve group includes cylinder thrust control valve piece, two logical cartridge valves 05, two logical cartridge valves 06, proportional pressure-reducing valve 07, Solenoid ball valve 08, one way valve 10, unloader 09, pressure sensor 11, two described logical cartridge valves 05, two logical cartridge valves 06, proportional pressure-reducing valve 07, Solenoid ball valve 08, one way valve 10, unloader 09 is all arranged on the fluid pressure line of oil cylinder, Solenoid ball valve 08, two logical cartridge valves 05, 06, unloader 09, the signal controlling end of proportional pressure-reducing valve 07 is all connected with host computer.When oil cylinder reclaims, the pilot solenoid valve of two logical cartridge valves 05,06 obtains electric, two logical cartridge valves 05,06 are opened, the pilot solenoid valve dead electricity of two logical cartridge valves 05 when oil cylinder stretches out, two logical cartridge valves 05 are closed, the pilot solenoid valve of two logical cartridge valves 06 obtains electric, two logical cartridge valves 06 open that (Solenoid ball valve 08 must not electricity, Solenoid ball valve 08 is in closed condition) oil cylinder stretches out, or the pilot solenoid valve of two logical cartridge valves 06 must not be electric, two logical cartridge valves 06 are closed, Solenoid ball valve 08 obtains electric, and fluid is action oil cylinder rodless cavity after proportional pressure-reducing valve 07, Solenoid ball valve 08.Pressure sensor 11 is arranged on the valve piece outlet side of each control cylinder action, the signal output part of pressure sensor 11 is connected with host computer, pressure sensor 11 detection system pressure are to host computer, host computer can be by calculating the pressure acting on oil cylinder, host computer calculates the control voltage that need to be applied on proportional pressure-reducing valve 07 by inverse, control voltage corresponding one by one with proportional pressure-reducing valve outlet pressure, the pressure that acts on each propelling cylinder shows at host computer.
Shield machine has two kinds to advance control model in progradation: (1) selects the adaptive control scheme of the quantity that participates in the oil cylinder advancing; (2) pressure control mode.
Advance the operating principle under control model (1) to be: the left position work of electro-hydraulic reversing valve 01, fluid is distributed to 16 groups of thrust control valve groups behind the left position of electro-hydraulic reversing valve 01, by select thrust control valve group two logical cartridge valves 06 pilot control electromagnetic valve whether electricly select to participate in the oil cylinder that advances.Under this control model, one way valve 03, one way valve 04, two logical cartridge valves 05, proportional pressure-reducing valve 07, Solenoid ball valve 08, unloader 09 all do not participate in the control advancing.Shield attitude can be presented on host computer by guidance system.Shield structure operation driver can be by regulating the quantity of propelling cylinder with on shield machine shield body offset direction rightabout showing on host computer to control the attitude of shield machine.
Advance the operating principle under control model (2) to be: under this control model, one way valve 03, one way valve 04, two logical cartridge valves 05, two logical cartridge valves 06, unloader 09 do not participate in advancing and control.Fluid is through the left position work of electro-hydraulic reversing valve 01, and fluid is distributed to 16 thrust control valve groups after electro-hydraulic reversing valve 01, and fluid acts on the rodless cavity of oil cylinder through proportional pressure-reducing valve 07, Solenoid ball valve 08.Proportional pressure-reducing valve 07 and Solenoid ball valve 08 in lower 16 the thrust control valve groups of this control model all participate in oil cylinder control.Control the power output of corresponding oil cylinder by the control voltage that regulates the proportional pressure-reducing valve 07 in each thrust control valve group, thereby realize the adjusting of shield machine propelling attitude.
Oil cylinder is in the time reclaiming, the right position work of electro-hydraulic reversing valve 01, fluid acts on the rod chamber of oil cylinder through the right position of electro-hydraulic reversing valve 01, rodless cavity fluid is got back to fuel tank (first 2 seconds of electro-hydraulic reversing valve right position work through the right position of two logical cartridge valves 06 and electro-hydraulic reversing valve 01, Solenoid ball valve 09 obtains and the pressure of propulsion cylinder rodless cavity was dropped to after safe pressure in electric 2 seconds, and two logical cartridge valves 06 obtain electric-opening).
Advancing under control model (2), every oil cylinder can regulate separately pressure by passing ratio reducing valve 07.As shown in Figure 2, host computer is combined with guidance system, records angle of deviation θ and offset distance L, and angle of deviation θ is the angle of shield machine actual path point and Tunnel Design tracing point line and perpendicular bisector; Offset distance L is planned course center and the actual length that advances the line between track center, is measured the distance between Liang Ge center and is presented on the display interface of host computer by host computer, sets the angle θ of every oil cylinder in program
n.
That is: T
1to T
16corresponding θ respectively
1to θ
16(T
1to T
16be the pressure of every oil cylinder, this pressure is Real-Time Monitoring value, is also the reference value that pressure is adjusted)
θ
1＝0°θ
2＝22.5°θ
3＝45°θ
4＝67.5°……θ
16＝337.5°
Calculate:
value, when
time
the angle of every oil cylinder and the difference of angle of deviation θ;
Calculate the thrust setting value P of every oil cylinder
n:
Wherein p: under this geological conditions, the average of propelling pressure, relevant with fltting speed, this value is an empirical value, constructing tunnel personnel are known according to construction experience);
P*: the maximum difference of adjustment (maximum difference of adjustment be according to the experience of construction party and previously propulsive parameter come fixed)
P
* n: offset the deadweight of shield body, fixed value.
Start next circulation time, compare offset distance L value, suitably adjust the value of p*.In the time that offset distance L exceedes certain value, system alarm, proceeds to manual propelling pattern.
While advancing control model (2) to use, in shield machine host computer, set maximum allowable offset distance, on shield machine, dispose guidance system, this guidance system detects the attitude of shield machine constantly, in the time that the propelling track of shield machine and planned course depart from difference and reach maximum allowable offset distance value, shield machine host computer starts automatically grouping propulsion control system arbitrarily, host computer is by calculating, judge near oil cylinder numbering solstics, thereby host computer sets the correction pressure passing ratio reducing valve 07 independent maximum thrust of each root oil cylinder being controlled or jointly controlled all oil cylinders to respectively every oil cylinder according to oil cylinder apart from solstics gradient.The control of cylinder thrust is by regulating the proportional pressure-reducing valve 07 in each group to realize, and controls and refers to and can set the pressure of proportional pressure-reducing valve 07 corresponding to each root oil cylinder separately, and the pressure that can set each root oil cylinder is different; Jointly control and refer to that can first select a few adjacent oil cylinders by host computer is one group, and then the pressure of proportional pressure-reducing valve 07 to this group oil cylinder unifies to set, to reach the object that makes shield machine return fast Tunnel Design track.
Confirm that by concrete hydraulic test the method is feasible, meet the design of compact between the shield machine air in constructing tunnel; The action of every oil cylinder and thrust can realize and jointly controls and carry out separately the independent two kinds of patterns of controlling, and contribute to the adjusting to attitude of shield machine in shield-tunneling construction.
Claims (4)
1. a shield machine any grouping propulsion control system automatically, it is characterized in that: comprise one group of propelling cylinder control device for reversing and many group propelling cylinder thrust control device, the signal controlling ends of many group propelling cylinder thrust control device and one group of propelling cylinder control device for reversing are connected with shield machine host computer, and host computer sends signal realizes the real-time adjusting of shield machine propelling attitude by the maximum thrust of adjusting oil cylinder to many group oil cylinders thrust control device and one group of propelling cylinder control device for reversing.
2. shield machine according to claim 1 any grouping propulsion control system automatically, it is characterized in that: described propelling cylinder control device for reversing is reversing control valve group, include reversing control valve piece, electro-hydraulic reversing valve, safety valve, the first one way valve and the second one way valve, described electro-hydraulic reversing valve, safety valve, the first one way valve and the second one way valve are arranged on the fluid pressure line of oil cylinder, and the signal controlling end of described electro-hydraulic reversing valve is connected with host computer.
Described cylinder thrust control device is thrust control valve group, include cylinder thrust control valve piece, first liang of logical cartridge valve, second liang of logical cartridge valve, proportional pressure-reducing valve, Solenoid ball valve, the 3rd one way valve, unloader, pressure sensor, first liang of described logical cartridge valve, second liang of logical cartridge valve, proportional pressure-reducing valve, Solenoid ball valve, one way valve, unloader is arranged on the fluid pressure line of oil cylinder, described Solenoid ball valve, first liang of logical cartridge valve, second liang of logical cartridge valve, the signal controlling end of proportional pressure-reducing valve is connected with host computer, pressure sensor is arranged on the valve piece outlet side of each control cylinder action, the signal output part of pressure sensor is connected with host computer.
3. automatically arbitrarily grouping propulsion control system of shield machine according to claim 2, is characterized in that: described host computer passing ratio reducing valve is controlled each root cylinder thrust separately or jointly controlled all cylinder thrusts.
4. shield machine according to claim 3 any grouping propulsion control system automatically, is characterized in that: described host computer passing ratio reducing valve calculates every oil cylinder thrust when separately each root cylinder thrust control sets value as described below:
Host computer is combined with guidance system, records angle of deviation θ and offset distance L, the angle of deviation
it is the angle of shield machine actual path point and Tunnel Design tracing point line and perpendicular bisector; Offset distance L is planned course center and the actual length that advances the line between track center, sets the angle θ of every oil cylinder
n;
That is: T
1to T
16corresponding θ respectively
1to θ
16; T
1to T
16it is the pressure Real-Time Monitoring value of every oil cylinder;
θ
1=0°θ
2=22.5°θ
3=45°θ
4=67.5°……θ
16=337.5°；
Calculate:
value, when
time;
angle and the angle of deviation of every oil cylinder
difference;
Calculate the thrust setting value P of every oil cylinder
n:
;
Wherein
p: under this geological conditions, the average of propelling pressure, relevant with fltting speed, this value is an empirical value, constructing tunnel personnel obtain according to construction experience;
p*: the maximum difference of adjustment is empirical value;
p * n: offset the deadweight of shield body, fixed value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410184999.XA CN104196540B (en) | 2014-05-04 | 2014-05-04 | Shield machine divides into groups arbitrarily propulsion control system automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410184999.XA CN104196540B (en) | 2014-05-04 | 2014-05-04 | Shield machine divides into groups arbitrarily propulsion control system automatically |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104196540A true CN104196540A (en) | 2014-12-10 |
| CN104196540B CN104196540B (en) | 2016-04-20 |
Family
ID=52081888
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410184999.XA Active CN104196540B (en) | 2014-05-04 | 2014-05-04 | Shield machine divides into groups arbitrarily propulsion control system automatically |
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| CN (1) | CN104196540B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107060797A (en) * | 2017-04-10 | 2017-08-18 | 浙江大学 | Hard rock mole horizontal attitude adjusts hydraulic system |
| CN108204237A (en) * | 2018-02-02 | 2018-06-26 | 中铁隧道局集团有限公司 | A kind of shield machine attitude adjusting method |
| CN108222956A (en) * | 2018-02-02 | 2018-06-29 | 中铁隧道局集团有限公司 | A kind of control method of the Thrust System of Shield Tunneling Machines of complex controll |
| CN108222957A (en) * | 2018-02-02 | 2018-06-29 | 中铁隧道局集团有限公司 | A kind of control method of shield machine form regulation system |
| CN108266197A (en) * | 2018-02-02 | 2018-07-10 | 中铁隧道局集团有限公司 | A kind of Thrust System of Shield Tunneling Machines |
| CN108331589A (en) * | 2017-12-21 | 2018-07-27 | 北方重工装备（沈阳）有限公司 | A kind of shield machine propulsion energy-saving control system |
| CN109026041A (en) * | 2018-08-06 | 2018-12-18 | 湖南科技大学 | A kind of shield propelling system control method for anti-bias load |
| CN109026042A (en) * | 2018-09-14 | 2018-12-18 | 湖南科技大学 | A kind of propulsion system distributed automatically for shield anti-bias load |
| CN109209411A (en) * | 2018-09-14 | 2019-01-15 | 湖南科技大学 | A kind of controllable propulsion system for earth pressure balanced shield, EPBS |
| CN111306130A (en) * | 2020-04-01 | 2020-06-19 | 中钢集团西安重机有限公司 | Control system and control method for valve stand switching |
| CN113586075A (en) * | 2021-07-19 | 2021-11-02 | 上海隧道工程有限公司 | System and method for automatically correcting attitude of shield tunneling machine relative to tunnel axis |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107060797A (en) * | 2017-04-10 | 2017-08-18 | 浙江大学 | Hard rock mole horizontal attitude adjusts hydraulic system |
| CN107060797B (en) * | 2017-04-10 | 2019-01-18 | 浙江大学 | Hard rock mole horizontal attitude adjusts hydraulic system |
| CN108331589A (en) * | 2017-12-21 | 2018-07-27 | 北方重工装备（沈阳）有限公司 | A kind of shield machine propulsion energy-saving control system |
| CN108331589B (en) * | 2017-12-21 | 2019-09-03 | 北方重工装备（沈阳）有限公司 | A kind of shield machine propulsion energy-saving control system |
| CN108222956B (en) * | 2018-02-02 | 2019-03-29 | 中铁隧道局集团有限公司 | A kind of control method of the Thrust System of Shield Tunneling Machines of complex controll |
| CN108204237A (en) * | 2018-02-02 | 2018-06-26 | 中铁隧道局集团有限公司 | A kind of shield machine attitude adjusting method |
| CN108266197A (en) * | 2018-02-02 | 2018-07-10 | 中铁隧道局集团有限公司 | A kind of Thrust System of Shield Tunneling Machines |
| CN108222957A (en) * | 2018-02-02 | 2018-06-29 | 中铁隧道局集团有限公司 | A kind of control method of shield machine form regulation system |
| CN108204237B (en) * | 2018-02-02 | 2019-03-29 | 中铁隧道局集团有限公司 | A kind of shield machine attitude adjusting method |
| CN108222957B (en) * | 2018-02-02 | 2019-03-29 | 中铁隧道局集团有限公司 | A kind of control method of shield machine form regulation system |
| CN108222956A (en) * | 2018-02-02 | 2018-06-29 | 中铁隧道局集团有限公司 | A kind of control method of the Thrust System of Shield Tunneling Machines of complex controll |
| CN109026041A (en) * | 2018-08-06 | 2018-12-18 | 湖南科技大学 | A kind of shield propelling system control method for anti-bias load |
| CN109026041B (en) * | 2018-08-06 | 2020-06-30 | 湖南科技大学 | Control method of shield propulsion system for resisting unbalance loading |
| CN109209411A (en) * | 2018-09-14 | 2019-01-15 | 湖南科技大学 | A kind of controllable propulsion system for earth pressure balanced shield, EPBS |
| CN109026042A (en) * | 2018-09-14 | 2018-12-18 | 湖南科技大学 | A kind of propulsion system distributed automatically for shield anti-bias load |
| CN109026042B (en) * | 2018-09-14 | 2020-07-10 | 湖南科技大学 | Propulsion system for shield anti-unbalance-loading automatic distribution |
| CN111306130A (en) * | 2020-04-01 | 2020-06-19 | 中钢集团西安重机有限公司 | Control system and control method for valve stand switching |
| CN113586075A (en) * | 2021-07-19 | 2021-11-02 | 上海隧道工程有限公司 | System and method for automatically correcting attitude of shield tunneling machine relative to tunnel axis |
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Effective date of registration: 20160824 Address after: 450000 Zhengzhou economic and Technological Development Zone, Henan, No. Sixth Street, No. 99 Patentee after: China Railway Manufacturing Equipment Group Co., Ltd. Patentee after: CHINA RAILWAY ENGINEERING EQUIPMENT GROUP TECHNOLOGY SERVICE CO., LTD. Address before: 450016 Zhengzhou economic and Technological Development Zone, Henan, No. Sixth Street, No. 99 Patentee before: China Railway Manufacturing Equipment Group Co., Ltd. |