CN104196540B - Shield machine divides into groups arbitrarily propulsion control system automatically - Google Patents
Shield machine divides into groups arbitrarily propulsion control system automatically Download PDFInfo
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- CN104196540B CN104196540B CN201410184999.XA CN201410184999A CN104196540B CN 104196540 B CN104196540 B CN 104196540B CN 201410184999 A CN201410184999 A CN 201410184999A CN 104196540 B CN104196540 B CN 104196540B
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Abstract
The invention discloses a kind of shield machine automatically to divide into groups arbitrarily propulsion control system, comprise one group of propelling cylinder control device for reversing and many group propelling cylinder thrust control device, many groups propelling cylinder thrust control device is connected with shield machine host computer with the signal control end of one group of propelling cylinder control device for reversing, and host computer sends signal to many group oil cylinders thrust control device and one group of propelling cylinder control device for reversing real-time adjustment by regulating the maximum thrust of oil cylinder to realize shield machine propelling attitude.The present invention can realize shield machine and advance along planned course accurately, can improve construction quality, improves efficiency of construction.
Description
Technical field
The present invention relates to shield machine field, particularly relate to a kind of shield machine and automatically to divide into groups arbitrarily propulsion control system.
Background technology
At present, shield machine there will be the problem advancing track to depart from working design track in progradation, and more serious even there will be the problem that engineering redesigns Subway station position.Because shield machine equipment is huge, the propulsion system of current shield structure industry design complete shield attitude depart from after the process need one section of correction longer time so that Fertilizer Test of Regression Design track needs tens meters even distance of up to a hundred meters.This has just had a strong impact on the quality of construction, increases construction period, reduces efficiency of construction.
Summary of the invention
The object of this invention is to provide a kind of shield machine automatically to divide into groups arbitrarily propulsion control system, effectively can 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 divides into groups arbitrarily propulsion control system automatically, comprise one group of propelling cylinder control device for reversing and many group propelling cylinder thrust control device, many groups propelling cylinder thrust control device is connected with shield machine host computer with the signal control end of one group of propelling cylinder control device for reversing, and host computer sends signal to many group oil cylinders thrust control device and one group of propelling cylinder control device for reversing real-time adjustment by regulating the maximum thrust of oil cylinder to realize shield machine propelling attitude.
Described propelling cylinder control device for reversing is reversing control valve group, include reversing control valve block, 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 control 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 block, first liang of logical cartridge valve, second liang of logical cartridge valve, proportional pressure-reducing valve, Solenoid ball valve, 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 control end of proportional pressure-reducing valve is connected with host computer, pressure sensor is arranged on the valve block 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 controls each root cylinder thrust separately or jointly controls all cylinder thrusts.
Described host computer passing ratio reducing valve calculates every root oil cylinder thrust setting value when controlling each root cylinder thrust is separately 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 advancing the line between track centers, sets the angle θ of every root 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 root 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 root oil cylinder
difference;
Calculate the thrust setting value P of every root oil cylinder
n:
Wherein
p: under this geological conditions, the average of propelling pressure, relevant with fltting speed, this value is an empirical value, and constructing tunnel personnel obtain according to construction experience;
p*: the maximum difference of adjustment, be empirical value;
p * n: offset the deadweight of shield body, fixed value.
Present invention employs propelling cylinder control device and propelling cylinder control device for reversing, when shield attitude off-design attitude, carry out attitude that is effective, quick adjustment shield machine by the thrust of stream oriented device associating shield machine host computer adjustment portion or whole propelling cylinder, realize shield machine and advance along planned course accurately.Automatically grouping propulsion control system effectively can control the propelling attitude of shield machine arbitrarily, has very great help, can improve construction quality, improve efficiency of construction to attitude of shield machine adjustment.
Wherein the action of every root oil cylinder can realize jointly controlling with thrust and carry out separately independence and control two kinds of patterns, more contributes to the adjustment to attitude of shield machine in shield-tunneling construction.
Accompanying drawing explanation
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 automatically to divide into groups arbitrarily propulsion control system (oil cylinder control can divide into groups arbitrarily), comprise many group propelling cylinder thrust control device and one group of propelling cylinder control device for reversing, many groups propelling cylinder thrust control device is connected with shield machine host computer with the signal control end of one group of propelling cylinder control device for reversing, host computer sends signal to many group oil cylinders thrust control device and one group of propelling cylinder control device for reversing, realizes by regulating the maximum thrust of oil cylinder the real-time adjustment that shield machine advances attitude.
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 block, 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 oil cylinder and reclaims on the branch road of oil circuit, shunt a part of oil return fluid, reduce oil cylinder and reclaim and pressed.The signal control 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, and when oil cylinder reclaims, rod chamber pressure oil and safety valve 02 conducting are played the effect protecting oil cylinder, when fluid flows 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 realizing oil cylinder, and the effect of safety valve 02 is restriction system maximum pressure, with components and parts each in protection system.
Described propelling cylinder thrust control device is thrust control valve group, thrust control valve group includes cylinder thrust control valve block, 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, described 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 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 control end of proportional pressure-reducing valve 07 is all connected with host computer.When oil cylinder reclaims, two pilot solenoid valves leading to cartridge valve 05,06 obtain electric, two logical cartridge valves 05,06 are opened, the two pilot solenoid valve dead electricity of leading to cartridge valve 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 are opened, and (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 block 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 is to host computer, host computer can by calculating the pressure acted on oil cylinder, host computer is calculated by inverse to be needed to be applied to the control voltage on proportional pressure-reducing valve 07, control voltage and proportional pressure-reducing valve outlet pressure one_to_one corresponding, the pressure acting on each propelling cylinder shows at host computer.
Shield machine has two kinds of Solid rocket engine patterns in progradation: (1) selects the adaptive control scheme of the quantity participating in the oil cylinder advanced; (2) pressure control mode.
Operating principle under Solid rocket engine pattern (1) is: the left position work of electro-hydraulic reversing valve 01, fluid distributes to 16 groups of thrust control valve groups behind the left position of electro-hydraulic reversing valve 01, by select the pilot control electromagnetic valve of two of thrust control valve group logical cartridge valves 06 the whether electric oil cylinder selecting to participate in advancing.One way valve 03 under this control model, the logical cartridge valve 05 of one way valve 04, two, proportional pressure-reducing valve 07, Solenoid ball valve 08, unloader 09 all do not participate in the control advanced.Shield attitude can be presented on host computer by guidance system.Shield structure operation driver by regulate that host computer shows with quantity that the is propelling cylinder on shield machine shield body offset direction rightabout to control the attitude of shield machine.
Operating principle under Solid rocket engine pattern (2) is: under this control model, and one way valve 03, the logical cartridge valve 06 of the logical cartridge valve of one way valve 04, two 05, two, unloader 09 do not participate in Solid rocket engine.Fluid is through the work of the left position of electro-hydraulic reversing valve 01, and fluid distributes 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 in lower 16 the thrust control valve groups of this control model and Solenoid ball valve 08 all participate in oil cylinder and control.By the power output regulating the control voltage of the proportional pressure-reducing valve 07 in each thrust control valve group to control corresponding oil cylinder, thus realize the adjustment that shield machine advances attitude.
Oil cylinder is when 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 gets 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, after Solenoid ball valve 09 obtains and the pressure of propulsion cylinder rodless cavity dropped to safe pressure in electric 2 seconds, two logical cartridge valves 06 obtain electric-opening).
Under Solid rocket engine pattern (2), every root oil cylinder can regulate pressure separately 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, 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 advancing the line between track centers, measures the distance between Liang Ge center and is presented on the display interface of host computer, set the angle θ of every root oil cylinder in a program by host computer
n.
That is: T
1to T
16corresponding θ respectively
1to θ
16(T
1to T
16be the pressure of every root oil cylinder, this pressure is Real-Time Monitoring value, is also the reference value of pressure adjusting)
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 root oil cylinder
difference;
Calculate the thrust setting value P of every root oil cylinder
n:
;
Wherein
p: under this geological conditions, the average of propelling pressure, relevant with fltting speed, this value is an empirical value, and constructing tunnel personnel are 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
p* value.When offset distance L exceedes certain value, system alarm, proceeds to manual propelling pattern.
When Solid rocket engine pattern (2) uses, maximum allowable offset distance is set in shield machine host computer, shield machine is configured with guidance system, this guidance system detects the attitude of shield machine constantly, when the propelling track of shield machine and planned course offset differences reach maximum allowable offset distance value, shield machine host computer starts the propulsion control system that automatically divides into groups arbitrarily, host computer is by calculating, judge oil cylinder numbering near solstics, host computer gives every root oil cylinder setting correction pressure respectively according to oil cylinder distance solstics gradient thus passing ratio reducing valve 07 controls each root oil cylinder separately or jointly controls the maximum thrust of all oil cylinders.The control of cylinder thrust is by regulating the proportional pressure-reducing valve 07 in each group to realize, and controls separately to refer to set the pressure of proportional pressure-reducing valve 07 corresponding to each root oil cylinder, and the pressure that can set each root oil cylinder is different; Jointly control and refer to and a few adjacent oil cylinders first can be selected to be one group by host computer, and then setting is unified, to reach the object making shield machine return Tunnel Design track fast to the pressure of the proportional pressure-reducing valve 07 of this group oil cylinder.
Confirm that the method is feasible by concrete hydraulic test, meet the design of compact between the shield machine air in constructing tunnel; The action of every root oil cylinder and thrust can realize jointly controlling and carry out separately and independently control two kinds of patterns, contribute to the adjustment to attitude of shield machine in shield-tunneling construction.
Claims (4)
1. a shield machine divides into groups arbitrarily 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, many groups propelling cylinder thrust control device is connected with shield machine host computer with the signal control end of one group of propelling cylinder control device for reversing, and host computer sends signal to many group oil cylinders thrust control device and one group of propelling cylinder control device for reversing real-time adjustment by regulating the maximum thrust of oil cylinder to realize shield machine propelling attitude.
2. shield machine according to claim 1 divides into groups arbitrarily 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 block, 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 control 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 block, first liang of logical cartridge valve, second liang of logical cartridge valve, proportional pressure-reducing valve, Solenoid ball valve, 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 control end of proportional pressure-reducing valve is connected with host computer, pressure sensor is arranged on the valve block outlet side of each control cylinder action, the signal output part of pressure sensor is connected with host computer.
3. shield machine according to claim 2 divides into groups arbitrarily propulsion control system automatically, it is characterized in that: described host computer passing ratio reducing valve controls each root cylinder thrust separately or jointly controls all cylinder thrusts.
4. shield machine according to claim 3 divides into groups arbitrarily propulsion control system automatically, it is characterized in that: the thrust setting value calculating every root oil cylinder when described host computer passing ratio reducing valve controls each root cylinder thrust is separately 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 advancing the line between track centers, sets the angle θ of every root 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 root 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 root oil cylinder
difference;
Calculate the thrust setting value P of every root oil cylinder
n:
;
Wherein
p: under this geological conditions, the average of propelling pressure, relevant with fltting speed, this value is an empirical value, and constructing tunnel personnel obtain according to construction experience;
p*: the maximum difference of adjustment, be 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 |
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| CN104196540A CN104196540A (en) | 2014-12-10 |
| CN104196540B true CN104196540B (en) | 2016-04-20 |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107060797B (en) * | 2017-04-10 | 2019-01-18 | 浙江大学 | Hard rock mole horizontal attitude adjusts hydraulic 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 |
| 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 |
| CN108266197B (en) * | 2018-02-02 | 2019-07-09 | 中铁隧道局集团有限公司 | A kind of Thrust System of Shield Tunneling Machines |
| 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 |
| CN109026041B (en) * | 2018-08-06 | 2020-06-30 | 湖南科技大学 | Control method of shield propulsion system for resisting unbalance loading |
| CN109026042B (en) * | 2018-09-14 | 2020-07-10 | 湖南科技大学 | Propulsion system for shield anti-unbalance-loading automatic distribution |
| 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 |
| CN111306130B (en) * | 2020-04-01 | 2022-06-03 | 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101864965B (en) * | 2010-05-17 | 2012-08-08 | 浙江大学 | Pressure flow rate composite synchronization control energy-saving type shield propelling system |
| CN201679504U (en) * | 2010-05-17 | 2010-12-22 | 浙江大学 | Energy-saving type shield propulsion system compositely and synchronously controlling pressure and flow |
| CN102278124B (en) * | 2011-06-24 | 2014-02-26 | 北京市三一重机有限公司 | Energy-saving hydraulic shield propulsion system |
| CN202707069U (en) * | 2012-06-27 | 2013-01-30 | 三一重工股份有限公司 | Shield tunneling machine and thrust hydraulic system thereof |
| CN203867578U (en) * | 2014-05-04 | 2014-10-08 | 中铁工程装备集团有限公司 | Shield tunneling machine automatic arbitrary grouping advancing control system |
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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. |