CN110067568A - The self-adaptation control method and system of shield correction oil pressure output - Google Patents

The self-adaptation control method and system of shield correction oil pressure output Download PDF

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Publication number
CN110067568A
CN110067568A CN201910460390.3A CN201910460390A CN110067568A CN 110067568 A CN110067568 A CN 110067568A CN 201910460390 A CN201910460390 A CN 201910460390A CN 110067568 A CN110067568 A CN 110067568A
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China
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subregion
oil pressure
correction
jack
equation
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CN201910460390.3A
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CN110067568B (en
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杨宏燕
孙连
李磊
包蓁
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Shanghai Tunnel Engineering Co Ltd
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Shanghai Tunnel Engineering Co Ltd
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
    • E21D9/093—Control of the driving shield, e.g. of the hydraulic advancing cylinders

Abstract

The present invention relates to the self-adaptation control methods and system of a kind of correction oil pressure output of shield, and this method comprises the following steps: carrying out subregion to the jack on shield machine；Subregion according to jack establishes the transformation model of the correction oil pressure of correction torque and each subregion jack；Obtain the practical oil pressure of each subregion jack；The correction oil pressure that each subregion jack of the corresponding correction torque for working as front ring is obtained by the transformation model sets oil pressure as correction；Self-adaptive processing is carried out to obtain the correction output oil pressure of each subregion jack and export to correction setting oil pressure according to the practical oil pressure of acquired each subregion jack.The present invention, which realizes, is accurately realized shield plane torque and the decoupling of elevation torque and the actual load feature for accurately meeting notch elevation pressure gradient, it realizes actual loading and sets the effect that oil pressure adapts to cooperation automatically, reduce risk of rectifying a deviation caused by the fault of oil pressure map caused by manual operation.

Description

The self-adaptation control method and system of shield correction oil pressure output
Technical field
The present invention relates to shield-tunneling construction engineering field, refer in particular to a kind of shield correction oil pressure output self-adaptation control method and System.
Background technique
The target of constructing tunnel correction is to make constructing tunnel axis as close possible to Tunnel Design axis (DTA).Practical tunnel Road construct axis generally in quality control clearance in " snake " shape close to DTA.The prior art is the correction of manual operation shield, manually The principle of correction control partition oil pressure strategy is " frequently entangling slow entangle ", actually a kind of side for trying to gather repeatedly with practical subregion oil pressure Method.The experience level of operator determines " snake " shape amplitude and frequency in manual deviation rectification.It rectifies a deviation in shield and controls output element people There are following technological difficulties for work correction:
One, the decoupling of shield plane torque Yu elevation torque can not be accurately realized.Jack on shield machine, because taking into account tunnel The barometric gradient of road axis buried depth, the jack quantity for being usually arranged as lower half are greater than the jack quantity of the upper half, are adjusting When the jack of whole top and bottom, the elevation torque for adjusting jack can be realized without influencing plane torque, but adjusting When the jack of both sides, it is difficult to avoid influencing elevation torque when adjusting plane torque, so manual adjustment jack When oil pressure, it is difficult accurately to realize adjusting plane torque and avoid the influence to elevation torque.
Two, the actual load feature of notch elevation pressure gradient can not be closely conformed to.Driving oil pressure map value should meet shield The elevation soil pressure gradient feature of structure notch, but manual deviation rectification operates the more difficult practical soil body pressure of accurate judgement shield notch elevation Force gradient.
Three, the problem of can not accurately realizing actual loading and setting oil pressure cooperation, oil pressure map value is subregion overflow valve Limit value, the overflow valve off-load when actual resistance load is more than setting value, oil pressure do not increase；When actual resistance is less than setting value, Current oil pressure reflection is actual resistance load.Therefore promoting oil pressure map value is not necessarily actual torque.When certain area sets oil pressure When loading for a long time greater than the area, the excessive substantially a kind of operability of the difference of setting correction torque and practical torque of rectifying a deviation is disturbed Reason element.
Manual deviation rectification is difficult the above-mentioned technological difficulties of accurate judgement, often may be hidden while adjusting the process of current pose The new disturbance factor of generation is contained, and can gradually show with operating condition.This situation in cycles, is difficult to keep the steady of shield correction It is qualitative.
So-called " snake " the shape amplitude of constructing tunnel axis and the effect of frequency depend on the practical work experience of operator And ability, therefore, the quality control effect of manual deviation rectification has certain discreteness.
Summary of the invention
It is an object of the invention to overcome the deficiencies of existing technologies, a kind of the self-adaptive controlled of shield correction oil pressure output is provided Method and system processed solve the solution that shield plane torque Yu elevation torque can not be accurately realized existing for existing manual deviation rectification Coupling, the actual load feature that notch elevation pressure gradient can not be closely conformed to and can not accurately realize actual loading and setting oil pressure The problem of cooperation brought shield correction stability difference and shield correction quality control effect there is the problem of certain discrete type.
Realizing the technical solution of above-mentioned purpose is:
The present invention provides a kind of self-adaptation control methods of shield correction oil pressure output, include the following steps:
S11: subregion is carried out to the jack on shield machine to form top subregion, bottom subregion, upper left waist subregion, a left side Lower waist subregion, upper right waist subregion and bottom right waist subregion jack；
S12: the subregion according to jack establishes the transformation model of the correction oil pressure of correction torque and each subregion jack；
S13: the practical oil pressure of each subregion jack is obtained；
S14: obtaining the correction oil pressure of each subregion jack of the corresponding correction torque for working as front ring by the transformation model, Oil pressure is set as correction；And
S15: correction setting oil pressure is adaptively located according to the practical oil pressure of acquired each subregion jack Reason is to obtain the correction output oil pressure of each subregion jack and export.
Self-adaptation control method of the invention establishes correction torque and each subregion jack by the subregion of jack The transformation model of correction oil pressure, the transformation model established can be accurately realized shield plane torque and the decoupling of elevation torque and standard The actual load feature for really meeting notch elevation pressure gradient overcomes the accuracy that artificial experience is unable to reach.It is rectifying a deviation Before setting oil pressure output, self-adaptive processing is carried out to correction setting oil pressure using practical oil pressure, realizes actual loading and setting Oil pressure adapts to the effect of cooperation automatically, reduces risk of rectifying a deviation caused by the fault of oil pressure map caused by manual operation.
The self-adaptation control method of shield of the present invention correction oil pressure output further improvement lies in that, step 15: according to institute It is very heavy to obtain each subregion that the practical oil pressure of each subregion jack obtained carries out self-adaptive processing to correction setting oil pressure The correction output oil pressure on top simultaneously exports, comprising:
S151: the difference of correction the setting oil pressure and practical oil pressure of each subregion jack is calculated, and obtains maximum difference；
S152: whether the corresponding subregion of the maximum difference judged is top subregion or bottom subregion,
If so, it is defeated as rectifying a deviation that the correction of top subregion and bottom subregion jack setting oil pressure is subtracted maximum difference It oil pressure and exports out, by entangling for upper left waist subregion, lower-left waist subregion, upper right waist subregion and bottom right waist subregion jack Setting oil pressure as correction output oil pressure and is exported plus the half of maximum difference partially；
If it is not, then using the practical oil pressure of the corresponding subregion jack of maximum difference as fixed value feedback in step S14 Transformation model sets oil pressure to recalculate the correction of each subregion jack, and executes step S151 to step S152.
The self-adaptation control method of shield of the present invention correction oil pressure output further improvement lies in that, establish correction torque with The step of transformation model of the correction oil pressure of each subregion jack, comprising:
The equation of the correction oil pressure of each subregion jack and resultant force of rectifying a deviation is established as equation one, the equation one Are as follows:
In equation one, FIt closesFor correction resultant force, PAOil pressure, P are set for the correction of top subregionDFor the correction of bottom subregion Set oil pressure, PBFFor the pressure of upper right waist subregion and the correction setting oil pressure of upper left waist subregion, PBF=(PB+PF)/2, PB Oil pressure, P are set for the correction of upper right waist subregionFOil pressure, P are set for the correction of upper left waist subregionCEFor bottom right waist subregion With the pressure of the correction setting oil pressure of lower-left waist subregion, PCE=(PC+PE)/2, PCOil is set for the correction of bottom right waist subregion Pressure, PECorrection for the distribution of lower-left waist sets oil pressure, n1For the quantity of the jack in addition to the subregion of bottom in remaining subregion, n2 For the quantity of the jack of bottom subregion, S is the piston area of jack；
The equation of the correction oil pressure of elevation torque and each subregion jack is established as equation two, the equation two Are as follows:
In equation two, MzFor elevation torque, R is distance of the shield center to jack center, θ1For upper right waist subregion Center line and horizontal angle, θ2For the center line and horizontal angle of bottom right waist subregion；
The equation of the correction oil pressure of plane torque and each subregion jack is established as equation three, the equation three Are as follows:
My=n1SR[cosθ1(PB-PF)+cosθ2(PC-PE)] equation three
In equation three, MyFor plane torque；
It is pressed into etc. according to each subregion jack oil and establishes equation four, the equation four than relationship are as follows:
The self-adaptation control method of shield of the present invention correction oil pressure output further improvement lies in that, pass through the modulus of conversion The step of type obtains the correction oil pressure of each subregion of the corresponding correction torque for working as front ring, sets oil pressure as correction, comprising:
According to described when the correction Calculating Torque during Rotary of front ring obtains plane torque and elevation torque；
Equation one to equation four is iterated and is solved to obtain the correction of each subregion and set oil pressure.
The self-adaptation control method of shield of the present invention correction oil pressure output further improvement lies in that, further includes:
The oil pressure of the jack of each subregion is controlled using the correction output oil pressure of each subregion.
The present invention also provides a kind of adaptive control systems of shield correction oil pressure output, comprising:
Model foundation unit, for carrying out subregion to the jack on shield machine to form top subregion, bottom subregion, a left side Upper waist subregion, lower-left waist subregion, upper right waist subregion and bottom right waist subregion jack；It is also used to point according to jack Area establishes the transformation model of the correction oil pressure of correction torque and each subregion jack；
Oil pressure acquisition unit, for obtaining the practical oil pressure of each subregion jack；And
The correction hydraulic pressure setting means being connect with the model foundation unit and the oil pressure acquisition unit, for passing through The correction oil pressure for stating each subregion jack that transformation model obtains the corresponding correction torque for working as front ring is used as correction setting oil pressure；Also For carrying out self-adaptive processing to correction setting oil pressure according to the practical oil pressure of each subregion jack to obtain each point The correction output oil pressure of area's jack simultaneously exports.
The adaptive control system of shield of the present invention correction oil pressure output further improvement lies in that, the correction oil pressure is set Order member includes the correction oil pressure computing module connecting with the model foundation unit and the correction oil pressure computing module and institute The difference calculating module for stating the connection of oil pressure acquisition unit, the judgment module that is connect with the difference calculating module and sentence with described Disconnected module connects adaptive adjustment module；
The correction oil pressure computing module is used to obtain each of the corresponding correction torque for working as front ring by the transformation model The correction oil pressure of subregion jack is as correction setting oil pressure；
The difference calculating module is used to obtain the difference for calculating correction the setting oil pressure and practical oil pressure of each subregion jack Value；
The judgment module judges most for finding out maximum difference from the calculated difference of the difference calculating module Whether the corresponding subregion of big difference is top subregion or bottom subregion；
The adaptive adjustment module when the judgment result of the judgment module is yes, by top subregion and bottom subregion The correction setting oil pressure of jack subtracts maximum difference as correction output oil pressure and exports, by upper left waist subregion, lower-left waist The correction setting oil pressure in part area, upper right waist subregion and bottom right waist subregion jack is used as plus the half of maximum difference to be entangled Inclined output oil pressure simultaneously exports；Judgment module judge structure for it is no when, by the reality of the corresponding subregion jack of maximum difference Oil pressure is as fixed value feedback to correction oil pressure computing module so that its correction for recalculating each subregion jack sets oil pressure.
The adaptive control system of shield of the present invention correction oil pressure output further improvement lies in that, the model foundation list Member includes the first computation model, the second computation model, third computation model and the 4th computation model；
First computation model is used to establish the equation conduct of the correction oil pressure of each subregion jack and resultant force of rectifying a deviation Equation one, the equation one are as follows:
In equation one, FIt closesFor correction resultant force, PAOil pressure, P are set for the correction of top subregionDFor the correction of bottom subregion Set oil pressure, PBFFor the pressure of upper right waist subregion and the correction setting oil pressure of upper left waist subregion, PBF=(PB+PF)/2, PB Oil pressure, P are set for the correction of upper right waist subregionFOil pressure, P are set for the correction of upper left waist subregionCEFor bottom right waist subregion With the pressure of the correction setting oil pressure of lower-left waist subregion, PCE=(PC+PE)/2, PCOil is set for the correction of bottom right waist subregion Pressure, PECorrection for the distribution of lower-left waist sets oil pressure, n1For the quantity of the jack in addition to the subregion of bottom in remaining subregion, n2 For the quantity of the jack of bottom subregion, S is the piston area of jack；
Second computation model is used to establish the equation conduct of the correction oil pressure of elevation torque and each subregion jack Equation two, the equation two are as follows:
In equation two, MzFor elevation torque, R is distance of the shield center to jack center, θ1For upper right waist subregion Center line and horizontal angle, θ2For the center line and horizontal angle of bottom right waist subregion；
The third computation model is used to establish the equation conduct of the correction oil pressure of plane torque and each subregion jack Equation three, the equation three are as follows:
My=n1SR[cosθ1(PB-PF)+cosθ2(PC-PE)] equation three
In equation three, MyFor plane torque；
4th computation model, which is used to be pressed into etc. according to each subregion jack oil, establishes equation four, the side than relationship Formula four are as follows:
The adaptive control system of shield of the present invention correction oil pressure output further improvement lies in that, the correction oil pressure is set Correction Calculating Torque during Rotary of the order member for foundation to work as front ring obtains plane torque and elevation torque, and to first computation model It is iterated and is solved to obtain the correction of each subregion and set oil pressure to the 4th computation model.
The adaptive control system of shield of the present invention correction oil pressure output further improvement lies in that, further include being entangled with described The control unit of inclined hydraulic pressure setting means connection, controls the jack of each subregion for the correction output oil pressure using each subregion Oil pressure.
Detailed description of the invention
Fig. 1 is the flow chart in the self-adaptation control method of shield of the present invention correction oil pressure output.
Fig. 2 is the signal of the self-adaptation control method and the jack subregion in system of shield of the present invention correction oil pressure output Figure.
Fig. 3 is the oil pressure of each subregion jack in the self-adaptation control method and system of shield of the present invention correction oil pressure output With the proportionate relationship figure of buried depth.
Fig. 4 is the distribution of each subregion jack in the self-adaptation control method and system of shield of the present invention correction oil pressure output Schematic diagram.
Fig. 5 is the regression figure of the relational expression of jack of the present invention correction torque and jack stroke declinate.
Fig. 6 is the non-linear relation figure of jack traveled distance declinate value of the present invention and jack actual torque value.
Fig. 7 is the schematic diagram that the present invention calculates jack stroke declinate.
Fig. 8 be the present invention calculate correction apart from when YOX coordinate system structural schematic diagram.
Fig. 9 be the present invention calculate correction apart from when XOZ coordinate system structural schematic diagram.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples.
Refering to fig. 1, the present invention provides the self-adaptation control methods and system of a kind of correction oil pressure output of shield, for solving Certainly the effect of " snake " row amplitude of constructing tunnel axis and frequency depends on the practical work experience and ability of operator, so that Quality control effect of rectifying a deviation has certain discreteness.Self-adaptation control method and system of the invention can realize plane torque and The automatic decoupling of elevation torque realizes that the subregion thrust for meeting notch elevation soil body load gradient feature is distributed automatically, realizes real Border load adapts to fiting effect with setting oil pressure automatically, reduces wind of rectifying a deviation caused by the fault of oil pressure map caused by manual operation Danger.The present invention solves the control problem of control oil pressure feature and notch soil property difference of flowability feature, is to realize artificial intelligence One of the technical foundation of shield correction.With reference to the accompanying drawing to shield of the present invention correction oil pressure output self-adaptation control method and System is illustrated.
The adaptive control system of shield correction oil pressure output of the invention includes model foundation unit, oil pressure acquisition unit And correction hydraulic pressure setting means, correction hydraulic pressure setting means are connect with model foundation unit and oil pressure acquisition unit；
Model foundation unit therein is used to carry out subregion to the jack on shield machine to form top subregion, bottom point Area, upper left waist subregion, lower-left waist subregion, upper right waist subregion and bottom right waist subregion jack；It is also used to according to very heavy The subregion on top establishes the transformation model of the correction oil pressure of correction torque and each subregion jack；As shown in Fig. 2, to shield machine section Six regions are marked off in the direction of the clock, and respectively region A to region F, correspondingly, region A are top subregion, and region D is Bottom subregion, region B are upper right waist subregion, and region C is bottom right waist subregion, and region F is upper left waist subregion, and region E is Six regions of lower-left waist subregion, division are symmetric.When dividing each area, the jack quantity in the D of region is enabled to be more than The quantity of jack in remaining region, to resist the biggish soil pressure of bottom section, it can be ensured that shield machine held stationary Driving.By taking 19 groups of jack as an example, the jack quantity in the D of region is 4 groups, and the jack quantity in remaining region is 3 Group.
Oil pressure acquisition unit, for obtaining the practical oil pressure of each subregion jack；During shield machine promotes, shield The PLC of machine can record the oil pressure of jack on shield machine in real time, and oil pressure acquisition unit can be connect with the PLC of shield machine, from shield The practical oil pressure of each subregion jack is obtained at the PLC of machine；Or pressure sensor is installed at each subregion jack, utilize pressure The oil pressure of each jack of force snesor real-time detection, and it is sent to oil pressure acquisition unit.
Correction hydraulic pressure setting means, it is corresponding when each subregion of the correction torque of front ring is very heavy for being obtained by transformation model The correction oil pressure on top is as correction setting oil pressure；Be also used to according to the practical oil pressure of each subregion jack to correction setting oil pressure into Row self-adaptive processing is to obtain the correction output oil pressure of each subregion jack and export.Hydraulic pressure setting means of rectifying a deviation are calculating each point When the correction oil pressure of area's jack, transformation model is read and according to corresponding each subregion jack at known correction Calculating Torque during Rotary Correction oil pressure as correction setting oil pressure, the corresponding correction setting oil pressure that obtains of hydraulic pressure setting means of then rectifying a deviation is according to practical oil Pressure carries out self-adaptive processing, because of the actual loading of practical oil pressure reaction, so self-adaptive processing is carried out using practical oil pressure, it can be real Existing actual loading and setting oil pressure adapt to the effect of cooperation automatically.
As a better embodiment of the invention, hydraulic pressure setting means of rectifying a deviation include entangling with what model foundation unit was connect Inclined oil pressure computing module, the difference calculating module connecting with correction oil pressure computing module and oil pressure acquisition unit are calculated with difference The judgment module and connect adaptive adjustment module with judgment module that module connects；
Oil pressure computing module of rectifying a deviation is used to obtain by transformation model corresponding when each subregion of the correction torque of front ring is very heavy The correction oil pressure on top is as correction setting oil pressure；
Difference calculating module is used to obtain the difference for calculating correction the setting oil pressure and practical oil pressure of each subregion jack；
Judgment module judges maximum difference pair for finding out maximum difference from the calculated difference of difference calculating module Whether the subregion answered is top subregion or bottom subregion；
Adaptive adjustment module is when the judging result of judgment module is to be, by top subregion and bottom subregion jack Correction setting oil pressure subtracts maximum difference as correction output oil pressure and exports, by upper left waist subregion, lower-left waist subregion, the right side The correction setting oil pressure of upper waist subregion and bottom right waist subregion jack is used as correction output oil plus the half of maximum difference It presses and exports；Judgment module judge structure for it is no when, using the practical oil pressure of the corresponding subregion jack of maximum difference as Fixed value feedback is to correction oil pressure computing module so that its correction setting oil pressure for recalculating each subregion jack.In correction oil pressure After computing module calculates the correction setting oil pressure of trip, difference calculating module, judgment module and adaptive adjustment module are to new Correction setting oil pressure is recalculated, until obtaining each subregion jack correction output oil pressure and exporting.
Correction oil pressure computing module, difference calculating module, judgment module and adaptive adjustment module form a meter Circulation is calculated, is upper left waist subregion, lower-left waist subregion, upper right waist subregion or the right side in the corresponding subregion of maximum difference obtained When in lower waist subregion, feeds back the maximum difference and correspond to the practical oil pressure of subregion and give correction oil pressure computing module, it is enabled to count again Correction setting oil pressure is calculated, realizes and self-adaptive processing is constantly carried out to correction setting oil pressure using practical oil pressure, until maximum Until the corresponding subregion of difference is top subregion or bottom subregion.The correction output oil pressure of each subregion is so just exported, it is maximum poor When value falls in top subregion or bottom subregion, plane torque can not be influenced, it, will when exporting the correction output oil pressure of each subregion (it is maximum poor to be subtracted using the correction setting oil pressure of top subregion and bottom subregion for the reduction of the oil pressure of top subregion and bottom subregion Value), the oil pressure of waist jack is increased and (utilizes upper left waist subregion, lower-left waist subregion, upper right waist subregion or bottom right The correction setting oil pressure of waist subregion adds the half of maximum difference), it does so and has reached in the case where gross thrust inconvenience, top The oil pressure of the jack of portion and bottom subregion reduces, and the oil pressure of the jack of two sides uniformly increases, so that the jacking force of jack It does not restrain, has the characteristics that uniformly to dissipate, and improve the stability of progradation.
Further, model foundation unit includes the first computation model, the second computation model, third computation model and the Four computation models；
Wherein the first computation model is used to establish the equation conduct of the correction oil pressure of each subregion jack and resultant force of rectifying a deviation Equation one, equation one are as follows:
In equation one, FIt closesFor correction resultant force, PAOil pressure, P are set for the correction of top subregionDFor the correction of bottom subregion Set oil pressure, PBFFor the pressure of upper right waist subregion and the correction setting oil pressure of upper left waist subregion, PBF=(PB+PF)/2, PB Oil pressure, P are set for the correction of upper right waist subregionFOil pressure, P are set for the correction of upper left waist subregionCEFor bottom right waist subregion With the pressure of the correction setting oil pressure of lower-left waist subregion, PCE=(PC+PE)/2, PCOil is set for the correction of bottom right waist subregion Pressure, PECorrection for the distribution of lower-left waist sets oil pressure, n1For the quantity of the jack in addition to the subregion of bottom in remaining subregion, n2 For the quantity of the jack of bottom subregion, S is the piston area of jack；By taking 19 groups of jack as an example, n therein1It is 3, n2For 4.For equation one according to resultant moment formula proving, resultant moment calculation formula is F=∑ nipiS, F therein indicate to close Torque, niIndicate the quantity of i-th group of jack, piIndicate that the oil pressure of i-th group of jack, S indicate the piston area of i-th group of jack Product.
Second computation model is used to establish the equation of the correction oil pressure of elevation torque and each subregion jack as equation Formula two, equation two are as follows:
In equation two, MzFor elevation torque, R is distance of the shield center to jack center, θ1For upper right waist subregion Center line and horizontal angle, θ2For the center line and horizontal angle of bottom right waist subregion；Angle theta1And θ2It refers to Shown in Fig. 4；
Third computation model is used to establish the equation of the correction oil pressure of plane torque and each subregion jack as equation Formula three, equation three are as follows:
My=n1SR[cosθ1(PB-PF)+cosθ2(PC-PE)] equation three
In equation three, MyFor plane torque；
The plane torque calculation formula and the elevation Calculating Torque during Rotary derivation of equation of equation two and equation three according to jack , plane torque calculation formula is MIt is flat=∑ nipiS cosθi, elevation Calculating Torque during Rotary formula is MIt is high=∑ nipiS sinθi, In θiFor the corresponding central angle (being positive clockwise) of i-th group of jack.
4th computation model, which is used to be pressed into etc. according to each subregion jack oil, establishes equation four, equation four than relationship Are as follows:
As shown in figure 3, consider soil property barometric gradient, top, upper waist, lower waist and bottom jack oil pressure at Trapezoidal profile, the h in Fig. 3 indicate depth, and P indicates oil pressure, P thereinAFor the oil pressure of top subregion jack, PBFIt is left and right The oil pressure mean value of upper waist subregion jack, PCEFor the oil pressure mean value of left and right lower waist subregion jack, PDFor bottom subregion thousand The oil pressure on jin top, oil pressure distribution present the variation being gradually incremented by from top to bottom, and the distribution thus according to oil pressure can obtain Equation four.When carrying out oil pressure distribution calculating using equation four, the trapezoidal profile of oil pressure can satisfy, meet soil property pressure ladder Degree, enables the oil pressure map value for each subregion jack being calculated to meet the notch elevation soil body and meets gradient feature.
Still further, correction hydraulic pressure setting means be used for according to when front ring correction Calculating Torque during Rotary obtain plane torque and Elevation torque, and the first computation model to the 4th computation model is iterated and is solved to obtain the correction of each subregion and set oil Pressure.Specifically, the correction oil pressure computing module rectified a deviation in hydraulic pressure setting means is according to plane torque calculation formula, elevation torque meter Formula and resultant moment calculation formula are calculated, the relationship of plane torque and elevation torque and resultant moment is conversed, is laid because of jack Central angle is it is known that jack is usually to lay along the sectional uniform of shield machine, so can calculate each thousand according to the quantity of jack The central angle of the laying on jin top, so as to calculate plane torque and elevation power according to the known correction torque for working as front ring Square.Oil pressure computing module of rectifying a deviation reads four equations of first computation model into the 4th computation model, equation therein Equation there are two four, i.e. 5 equations, 6 unknown numbers, correction oil pressure computing module are that one of those is unknown using iterative solution Number one numerical value of setting, to solve other values.Preferably, when the numerical value of one unknown number of setting, according to corresponding reality Border oil pressure is chosen.When adaptive adjustment module feeds back a practical oil pressure as definite value, correction calculations module is by the definite value Correction as corresponding subregion jack sets oil pressure, and calculates the correction setting oil pressure of other subregion jack.
As another better embodiment of the invention, adaptive control system of the invention further includes setting with correction oil pressure The control unit of order member connection, the oil pressure of the jack of each subregion is controlled for the correction output oil pressure using each subregion.
In adaptive control system of the invention when the correction torque of front ring can be by being manually entered, can also be by other systems Or module is sent.
In a better embodiment, correction power is provided for adaptive control system by a correction torque predicting subsystem Square, the correction torque predicting subsystem include real-time acquisition unit, self study unit and predicting unit, real-time acquisition unit with The connection of self study unit, self study unit are connect with predicting unit；Wherein real-time acquisition unit is used in Shield Construction Method Used In the process, jack actual torque value and jack traveled distance declinate value are obtained in real time；Self study unit reads acquisition in real time The jack actual torque value and jack traveled distance declinate value that unit obtains, utilize the jack actual torque obtained in real time Value and jack traveled distance declinate value solve the relationship expression of corresponding jack correction torque and jack stroke declinate Formula；The predicting unit jack stroke declinate predicted value for receiving input when front ring, which is predicted Value is updated in the relational expression of jack correction torque and jack stroke declinate, obtains corresponding jack correction torque It is worth as the jack correction torque predicted value when front ring.The jack correction torque predicted value for deserving front ring is sent to adaptively Control system is as the correction torque for working as front ring.
Further, real-time acquisition unit includes stroke declinate computing module；Stroke declinate computing module by walking as follows It is rapid to calculate jack traveled distance declinate:
Step 1: calculating each jack stroke sensor locational space coordinate (xi,yi,zi):
xi=li
yi=Rsin θi
zi=Rcos θi
Wherein: liIt is the length of jack stroke sensor, θiIt is the corresponding angle of circumference of circle where jack, i is jack Sequence number, R are the radiuses of circle where jack；
Step 2: solving following ternary linear function:
Wherein,
a12=a21=∑ xiyi,a13=a31=∑ xizi,a32=a23=∑ ziyi,
c1=∑ xi,c2=∑ yi,c3=∑ zi,
It solves
Step 3: calculating the angle of jack projection and reference axis:
Wherein: αyIt is the stroke declinate of in-plane, αzIt is the stroke declinate in elevation direction.
Jack is shored between shield machine and section of jurisdiction, and the pushing tow of jack can push shield machine to move forward, in tunnel The design axis of construction is the row of the jack of the left and right sides in the case that curve or two ring shield attitude of front and back deflect Journey will be different, so that the jack of two endless tube loop of front and back produces stroke declinate.
Preferably, the PLC connection of the first acquisition module and the second acquisition module and shield machine, direct from the PLC of shield machine Construction data needed for reading.Or the mounting distance sensor at each jack, the moving distance of each jack is measured, thus It can obtain progressive error；The diameter of shield axis is crossed between the jack being arranged circumferentially about needed for second acquisition module according to shield The size and model of machine can determine, the diameter that shield axis is crossed between the jack being arranged circumferentially about can be input to the in advance In two acquisition modules.
Further, real-time acquisition module further includes thrust acquisition module and the Calculating Torque during Rotary that connect with thrust acquisition module Module；Thrust acquisition module is used to obtain the thrust magnitude of each jack；Calculating Torque during Rotary module is for the thrust according to each jack Value calculates the moment values of each jack and summation obtains jack actual torque value.Preferably, thrust acquisition module and shield The PLC connection of machine directly reads the derived value to each jack from the PLC of shield machine；Or pressure is installed at each jack Sensor, the jacking force for each jack of real-time detection.Calculating Torque during Rotary module need to be known when calculating the moment values of each jack Know the arm of force size of each jack, and the arm of force of each jack by the setting position of jack it is found that the arm of force can pre-enter Into Calculating Torque during Rotary module.
The correction torque predicting subsystem further includes the tables of data connecting with real-time acquisition unit and self study unit, the number Pairs of storage jack actual torque value and jack traveled distance declinate value, real-time acquisition unit and self study are used for according to table Unit is stored and is read to the data in tables of data according to first-in first-out rule.Real-time acquisition unit therein is according to setting Sampling number of rings acquire nearest practice of construction data, i.e. jack actual torque value and jack traveled distance declinate value, compared with Goodly, sampling number of rings is set as 3 rings, that is, acquires the construction away from the nearest tricyclic section of jurisdiction constructed of current construction section of jurisdiction ring Data can obtain the total amount of data of acquisition data according to the period of real-time sampling in this way, and the amount of storage of tables of data is according to the sum It is established according to amount.
Self study unit includes the first computing module connecting with tables of data and the second meter connecting with the first computing module Module is calculated, which reads jack actual torque value and jack traveled distance declinate value from tables of data, and It is updated in formula two and solves a0And a1Value, formula two are as follows:
In formula two, yiFor jack actual torque value, n is sampling number of rings, xiValue be jack traveled distance declinate Value；First computing module is by calculated a0And a1Value be sent to the second computing module；
Second computing module receives a that the first computing module solves0And a1Value, and substitute into formula one and obtain jack The relational expression for the torque and jack stroke declinate of rectifying a deviation, formula one are as follows:
yj=a0+a1xiFormula one
In formula one, yjFor jack correction torque；xiFor jack stroke declinate.As shown in Figure 5, it is shown that formula one is expressed The regression figure of formula, x-axis indicates that jack traveled distance declinate value, y-axis indicate jack actual torque value in Fig. 5.
The Computing Principle of self study unit are as follows: the jack actual torque value and jack traveled distance declinate obtained in real time The relationship of value be it is nonlinear, to the two carry out Separate Fit can obtain relationship shown in fig. 6, as shown in fig. 6, x-axis indicate thousand Jin top traveled distance declinate value, y-axis indicate jack actual torque value, and curve e indicates the elevation component of jack actual torque, The plane, component of curve P expression jack actual torque.Self study unit is by jack actual torque value and the practical row of jack The non-linear relation of path difference angle value is using piecewise function method migration as the approximate broken line linear dependence in sectional area, in tables of data The data of nearest several rings, i.e. jack actual torque value and jack traveled distance declinate value are stored with, if every ring is 10 controls Period processed, then the total amount of data in tables of data is 10* number of rings.Study jack actual torque value and jack traveled distance declinate When the relationship of value, jack actual torque value and jack traveled distance declinate value are a series of pairs of data, in small range The interior relationship by jack actual torque value and jack traveled distance declinate value sees linear relation as, just there is the relationship of formula one Expression formula is set up, and is then determined by least square method: with the jack actual torque value and jack correction torque Difference quadratic sum ∑ (yi-yj)2Minimum judgment basis, with function ∑ (yi-yj)2To a0And a1Derivation, and enable the partial derivative be Zero, then obtain formula two, thus according to the data in tables of data can calculate the corresponding jack correction torque when front ring with it is very heavy The relational expression at top row path difference angle, the relational expression are suitable for calculating the jack correction torque when front ring.
Further, during Shield Construction Method Used, self study unit utilizes the jack actual forces obtained in real time Square value and jack traveled distance declinate value constantly solve a0And a1Value and update jack correction torque and jack stroke The relational expression of declinate.It is illustrated for sampling number of rings and being 3 rings, in prediction when the jack of front ring rectifies a deviation torque, The data of 3 rings are it is known that jack actual torque value and jack using known preceding 3 ring are practical before adjacent with front ring is deserved Progressive error angle value solves corresponding a0And a1Value then update jack correction torque and jack stroke declinate relation table Up to formula, the predicted value of jack correction torque is obtained using the relational expression of update.
Predicting unit is received when the jack stroke declinate predicted value of front ring can be manually entered, and can also pass through other systems Or module provides.
In a better embodiment, it is manually entered, the jack stroke declinate predicted value of other systems or module input It can be calculated in the following way: if the design axis of shield is curve, when the jack stroke declinate predicted value of front ring It is shield attitude corner changing value plus the corner changing value of design axis.As shown in fig. 7, curve DTA is design axis, scheming In example shown in 7, when the jack stroke declinate predicted value of front ring is shield attitude corner changing value plus design axis Corner changing value.Point Ci-1 in Fig. 7 is that the open center of the (i-1)-th endless tube piece is located at the location point on design axis DTA, point Ti-1 is location point of the shield tail center of the (i-1)-th endless tube piece on design axis DTA, so the line of point Ci-1 and point Ti-1 Indicate the shield axis A1 when notch of shield machine and shield tail are respectively positioned on curve DTA at the stroke of corresponding (i-1)-th endless tube piece；Point Ci is that the open center of the i-th endless tube piece is located at the location point on curve DTA, and point Ti is that the shield tail center of the i-th endless tube piece is located at song Location point on line DTA, so at the stroke of point Ci the i-th endless tube piece corresponding with the expression of the line of point Ti shield machine notch and shield Shield axis A2 when tail is respectively positioned on curve DTA；The angle d θ 0 of shield axis A1 and shield axis A2 is corresponding i-th endless tube The corner changing value of the design axis of piece；Point dCi-1 is that the section of jurisdiction axis centre of the (i-1)-th endless tube piece is cut when being located on curve DTA The location point at mouth center, point dTi-1 are that the section of jurisdiction axis centre of the (i-1)-th endless tube piece is located at the position at shield tail center when on curve DTA It sets a little, section of jurisdiction axis centre is located on curve DTA at point dCi-1 the (i-1)-th endless tube piece stroke corresponding with the expression of the line of point dTi-1 When shield axis A3；Point dCi is that the section of jurisdiction axis centre of the i-th endless tube piece is located at the position of open center when on design axis DTA It sets a little, point dTi is that the section of jurisdiction axis centre of the i-th endless tube piece is located at the location point at shield tail mouth center when on design axis DTA, point Shield axis when section of jurisdiction axis centre is located on curve DTA at dCi the i-th endless tube piece stroke corresponding with the expression of the line of point dTi A4；The angle d θ 1 of shield axis A1 and shield axis A2 is shield attitude corner changing value.Curve DTA is the design axis of shield Line, the coordinate value of all location points thereon is it is known that which above-mentioned angle d θ 0 and d θ 1 can be calculated, thus by two Angle is added as the jack stroke declinate predicted value when front ring.
In another better embodiment, predicting unit connects with one when the jack of front ring forms declinate predicting subsystem It connects, the jack for deserving front ring forms declinate predicting subsystem and is used to export when the jack of front ring forms declinate predicted value to pre- Survey unit.Deserve front ring jack formed declinate predicting subsystem include training data acquiring unit, it is model training unit, pre- Measured data acquiring unit and target prediction execution unit, training data acquiring unit are connect with model training unit；Target is pre- Execution unit is surveyed to connect with model training unit and prediction data acquiring unit；Wherein training data acquiring unit is for obtaining the One training dataset and the second training dataset, first training dataset include the opposite of the shield machine of corresponding current section of jurisdiction ring The jack stroke declinate of deviation information and previous section of jurisdiction ring；Second training dataset includes the jack of corresponding current section of jurisdiction ring Stroke declinate；First training dataset and the second training dataset can set up corresponding relationship by identical section of jurisdiction ring.Mould Type training unit receives the first training dataset and the second training dataset of training data acquiring unit, the model training unit For the neural network correction prediction model using the first training dataset of Establishment of Neural Model and the second training dataset； Prediction data acquiring unit during shield-tunneling construction for obtaining the relative deviation information for corresponding to current section of jurisdiction ring and previous pipe The jack stroke declinate of loop is as prediction input data；Target prediction execution unit receives the pre- of prediction data acquiring unit Input data is surveyed, prediction input data is input in neural network correction prediction model and then obtains neural network correction prediction The jack stroke declinate of model output forms declinate predicted value as current section of jurisdiction ring jack.
Specifically, training data acquiring unit includes parameter input module, action computing module and calculation processing mould Block；Preferably, including storage unit when the jack of front ring forms declinate predicting subsystem, by applying for shield machine tunneling construction The construction parameter of work parameter and/or existing tunnel is deposited in storage unit；Parameter input module, correction distance calculation module and Calculation processing module connect with storage unit and the construction parameter stored in storage unit can be read.Parameter therein inputs mould Block is used to input the design axis of constructing tunnel, the real-time offsets information of shield machine during constructing tunnel and shield machine Current stroke；Action computing module is used for the current stroke according to shield machine, and the open center of shield machine and shield tail center is equal When on the design axis, the position of segment assembly axis centre calculates institute as axial reference position point of rectifying a deviation State action of the reference position point away from the design axis；Calculation processing module is used to set corresponding ratio according to the size of shield machine Action is converted to the steady-state target bias of shield machine according to proportionality coefficient by example coefficient, further according to steady-state target bias with The relative deviation information of shield machine is calculated in real-time offsets information.To which action computing module and calculation processing module are by shield The action of machine and the steady-state target bias of shield machine feed back to training data acquiring unit, should by training data acquiring unit The action of shield machine and the relative deviation information of shield machine are stored according to corresponding section of jurisdiction ring.
Preferably, the action that action computing module is calculated includes plane action and elevation action, in conjunction with Fig. 8 and Fig. 9 Shown, action computing module finds out the open center of corresponding shield machine according to the current stroke of shield machine on design axis And the design coordinate value at shield tail center；In fig. 8 it is shown that the coordinate in X-axis and Y-axis define in earth coordinates plane Figure, curve DTA are the design axis of constructing tunnel, and point C is the open center of shield machine, and point T is the shield tail center of shield machine, Point C and point T are respectively positioned on curve DTA, and the line of point C and point T are shield axis, also illustrate that shield attitude, defeated according to parameter Enter the current stroke that unit obtains shield machine, to know current section of jurisdiction ring number, the notch mileage and shield tail mileage of shield machine are connect Find out open center and when shield tail center is all fallen on design axis corresponding design coordinate value, obtain the coordinate (x of point Cc, yc,zc) and point T coordinate (xt,yt,zt).Searching module is also used to the corresponding coordinate value (x for calculating reference position point M1,y1, z1), reference position point M is the axis centre of corresponding segment assembly on shield axis.
Action computing module is sat according to the design of the coordinate value of reference position point, the open center of shield machine and shield center Scale value in the plane that X-axis and Y-axis in the earth coordinates of constructing tunnel define, calculates the subpoint of reference position point Action away from design axis is as plane action；Plane action is distance of the midpoint Fig. 8 M away from point P, and midpoint P is passing point M And with straight line that point C and point T are linked to be perpendicular straight line and design axis intersection point, which indicates segment assembly axis centre It falls on design axis, specifically, calculation formula is as follows:
Ph=(y1-yt)cosα-(x1-xt)sinα
In above formula, ph is plane correction distance, and α is the angle of point C and point the T straight line being linked to be and X-axis.Coordinate value in formula It is known that so plane action ph can be calculated in plane action computing module.
The action computing module is set also according to the coordinate value of reference position point, the open center of shield machine and shield center Coordinate value is counted, in the plane that X-axis and Z axis in the earth coordinates of constructing tunnel define, calculates the throwing of reference position point Action of the shadow point in the Z-axis direction away from design axis is as elevation action.As shown in connection with fig. 9, elevation action is point M vertical The distance of point P is arrived on direction namely Z-direction, specifically, calculation formula is as follows:
In above formula, eh is elevation action.Coordinate value in formula is it is known that so height can be calculated in elevation action computing module Journey action eh.
The calculated action of action computing module of the invention includes elevation action and plane action, and elevation action indicates The deviation of shield machine short transverse (namely Z-direction) in practice of construction, plane action indicate that shield machine exists in practice of construction The deviation in (namely X-axis and Y-axis line direction) in plane.
Proportionality coefficient, plane action, elevation action and shield machine size are substituted into one and of formula group by calculation processing module Formula group two, be calculated the plane bias value of shield machine notch and the plane bias value of elevation bias and shield machine shield tail and Elevation bias.Formula group one are as follows:
In formula group one, dpcut is the plane bias value of shield machine notch, and decut is that the elevation of shield machine notch biases Value, k are proportionality coefficient, and ph is plane action, and eh is elevation action；
Formula group two are as follows:
In formula group two, dptail is the plane bias value of shield machine shield tail, and detail is that the elevation of shield machine shield tail is inclined Value is set, k is proportionality coefficient, and ph is plane action, and eh is elevation action, and L is the length of shield machine, l0For in segment assembly axis Distance of the heart away from shield tail center；
Wherein shield machine size includes the length of shield machine, distance of the segment assembly axis centre away from shield tail center, the shield Structure machine dimension information is inputted by parameter input unit, and it is single that the steady-state target biasing conversion module of processing unit reads parameter input The shield machine size of member input, and it is updated to the plane bias value and elevation bias that shield tail is calculated in formula group two.
Calculation processing module obtains after obtaining plane bias value and elevation bias in conjunction with the real-time offsets information of shield machine To the relative deviation information of shield machine, specifically, by the plane of the plane real-time offsets value of shield machine notch and shield machine notch Bias summation, the plane relative standard deviation values as shield machine notch；By the elevation real-time offsets value and shield of shield machine notch The elevation bias of machine-cut mouth is summed, the elevation relative standard deviation values as shield machine notch；The plane of shield machine shield tail is real-time The plane bias value of deviation and shield machine shield tail is summed, the plane relative standard deviation values as shield machine shield tail；By shield machine shield The elevation real-time offsets value of tail and the elevation bias of shield machine shield tail are summed, the elevation relative deviation as shield machine shield tail Value.
Training data acquiring unit obtains the method for the stroke declinate of jack and the real-time acquisition unit in the present invention obtains The method for taking jack traveled distance declinate value is identical.For details, reference can be made to the first acquisition module of real-time acquisition unit, second to adopt Collect the description at module and stroke declinate computing module.
Input data of the model training unit using the first training dataset as neural network model, with the second training data Collect the output data as neural network model, training neural network model obtains neural network correction prediction model.
Prediction data acquiring unit gets the shield of corresponding current endless tube piece according to the construction parameter during shield-tunneling construction The jack stroke declinate of the relative deviation information of structure machine and previous section of jurisdiction ring is as prediction input data, and shield machine is opposite The acquisition methods and the acquisition methods phase of training data acquiring unit of the jack stroke declinate of deviation information and previous section of jurisdiction ring Together, for details, reference can be made to the descriptions of above-mentioned training data acquiring unit.
The self-adaptation control method of shield correction oil pressure output of the invention is illustrated below.
The self-adaptation control method of shield correction oil pressure output of the invention, includes the following steps:
As shown in Figure 1, executing step S11: carrying out subregion to the jack on shield machine to form top subregion, bottom point Area, upper left waist subregion, lower-left waist subregion, upper right waist subregion and bottom right waist subregion jack；Then step is executed S12；
Execute step S12: the subregion according to jack establishes turning for the correction oil pressure of correction torque and each subregion jack Mold changing type；Then step S13 is executed；
It executes step S13: obtaining the practical oil pressure of each subregion jack；Then step S14 is executed；
It executes step S14: obtaining the correction of each subregion jack of the corresponding correction torque for working as front ring by transformation model Oil pressure sets oil pressure as correction；Then step S15 is executed；
It executes step S15: correction setting oil pressure being carried out according to the practical oil pressure of acquired each subregion jack adaptive It should handle to obtain the correction output oil pressure of each subregion jack and export.
As shown in Fig. 2, six regions are marked off in the direction of the clock to shield machine section, respectively region A to region F, Correspondingly, region A is top subregion, and region D is bottom subregion, and region B is upper right waist subregion, and region C is bottom right waist portions Area, region F are upper left waist subregion, and region E is lower-left waist subregion, and six regions of division are symmetric.It is each dividing Qu Shi enables the jack quantity in the D of region more than the quantity of the jack in remaining region, to resist the biggish soil of bottom section Body pressure, it can be ensured that the driving of shield machine held stationary.By taking 19 groups of jack as an example, the jack quantity in the D of region is 4 Group, the jack quantity in remaining region is 3 groups.During shield machine promotes, the PLC of shield machine can record shield in real time The oil pressure of jack on structure machine, therefore step S13 can be connect by the PLC with shield machine, and each subregion is obtained from the PLC of shield machine The practical oil pressure of jack；Or pressure sensor is installed at each subregion jack, it is each using pressure sensor real-time detection The oil pressure of jack.
Self-adaptation control method of the invention establishes correction torque and each subregion jack by the subregion of jack The transformation model of correction oil pressure, the transformation model established can be accurately realized shield plane torque and the decoupling of elevation torque and standard The actual load feature for really meeting notch elevation pressure gradient overcomes the accuracy that artificial experience is unable to reach.It is rectifying a deviation Before setting oil pressure output, self-adaptive processing is carried out to correction setting oil pressure using practical oil pressure, realizes actual loading and setting Oil pressure adapts to the effect of cooperation automatically, reduces risk of rectifying a deviation caused by the fault of oil pressure map caused by manual operation.
As a better embodiment of the invention, step 15: according to the practical oil pressure of acquired each subregion jack Self-adaptive processing is carried out to obtain the correction output oil pressure of each subregion jack and export to correction setting oil pressure, comprising:
S151: the difference of correction the setting oil pressure and practical oil pressure of each subregion jack is calculated, and obtains maximum difference；
S152: whether the corresponding subregion of the maximum difference judged is top subregion or bottom subregion,
If so, it is defeated as rectifying a deviation that the correction of top subregion and bottom subregion jack setting oil pressure is subtracted maximum difference It oil pressure and exports out, by entangling for upper left waist subregion, lower-left waist subregion, upper right waist subregion and bottom right waist subregion jack Setting oil pressure as correction output oil pressure and is exported plus the half of maximum difference partially；
If it is not, then using the practical oil pressure of the corresponding subregion jack of maximum difference as fixed value feedback in step S14 Transformation model sets oil pressure to recalculate the correction of each subregion jack, and executes step S151 to step S152.
Further, the step of establishing the transformation model of the correction oil pressure of correction torque and each subregion jack, comprising:
The equation of the correction oil pressure of each subregion jack and resultant force of rectifying a deviation is established as equation one, equation one are as follows:
In equation one, FIt closesFor correction resultant force, PAOil pressure, P are set for the correction of top subregionDFor the correction of bottom subregion Set oil pressure, PBFFor the pressure of upper right waist subregion and the correction setting oil pressure of upper left waist subregion, PBF=(PB+PF)/2, PB Oil pressure, P are set for the correction of upper right waist subregionFOil pressure, P are set for the correction of upper left waist subregionCEFor bottom right waist subregion With the pressure of the correction setting oil pressure of lower-left waist subregion, PCE=(PC+PE)/2, PCOil is set for the correction of bottom right waist subregion Pressure, PECorrection for the distribution of lower-left waist sets oil pressure, n1For the quantity of the jack in addition to the subregion of bottom in remaining subregion, n2 For the quantity of the jack of bottom subregion, S is the piston area of jack；By taking 19 groups of jack as an example, n therein1It is 3, n2For 4；
The equation of the correction oil pressure of elevation torque and each subregion jack is established as equation two, equation two are as follows:
In equation two, MzFor elevation torque, R is distance of the shield center to jack center, θ1For upper right waist subregion Center line and horizontal angle, θ2For the center line and horizontal angle of bottom right waist subregion；Angle theta1And θ2It refers to Shown in Fig. 4；
The equation of the correction oil pressure of plane torque and each subregion jack is established as equation three, equation three are as follows:
My=n1SR[cosθ1(PB-PF)+cosθ2(PC-PE)] equation three
In equation three, MyFor plane torque；
It is pressed into etc. according to each subregion jack oil and establishes equation four, equation four than relationship are as follows:
As shown in figure 3, consider soil property barometric gradient, top, upper waist, lower waist and bottom jack oil pressure at Trapezoidal profile, the h in Fig. 3 indicate depth, and P indicates oil pressure, P thereinAFor the oil pressure of top subregion jack, PBFIt is left and right The oil pressure mean value of upper waist subregion jack, PCEFor the oil pressure mean value of left and right lower waist subregion jack, PDFor bottom subregion thousand The oil pressure on jin top, oil pressure distribution present the variation being gradually incremented by from top to bottom, and the distribution thus according to oil pressure can obtain Equation four.When carrying out oil pressure distribution calculating using equation four, the trapezoidal profile of oil pressure can satisfy, meet soil property pressure ladder Degree, enables the oil pressure map value for each subregion jack being calculated to meet the notch elevation soil body and meets gradient feature.
Still further, obtaining the correction oil pressure of each subregion of the corresponding correction torque for working as front ring by transformation model, make The step of setting oil pressure for correction, comprising:
Plane torque and elevation torque are obtained according to the correction Calculating Torque during Rotary when front ring；
Equation one to equation four is iterated and is solved to obtain the correction of each subregion and set oil pressure.
Specifically, it according to plane torque calculation formula, elevation Calculating Torque during Rotary formula and resultant moment calculation formula, converses flat The relationship of moment of area and elevation torque and resultant moment, the central angle laid by jack is it is known that jack is usually along shield machine Sectional uniform lay, so according to the quantity of jack the central angle of the laying of each jack can be calculated, so as to basis It is known when the correction torque of front ring calculates plane torque and elevation torque.Four above-mentioned equations, equation therein Equation there are two four, i.e. 5 equations, 6 unknown numbers set a numerical value using iterative solution for one of unknown number, To solve other values.Preferably, being chosen when the numerical value of one unknown number of setting according to corresponding practical oil pressure.? When feeding back a practical oil pressure as definite value, oil pressure is set using the definite value as the correction of corresponding subregion jack, and calculate The correction of other subregion jack sets oil pressure.
As another better embodiment of the invention, further includes:
The oil pressure of the jack of each subregion is controlled using the correction output oil pressure of each subregion.
In self-adaptation control method of the invention when the correction torque of front ring can be by being manually entered, can also be by other systems Or module is sent.
In a better embodiment,
In another better embodiment, during the prediction technique of shield correction torque includes Shield Construction Method Used, Jack actual torque value and jack traveled distance declinate value are obtained in real time；Utilize the jack actual torque value obtained in real time The relational expression of corresponding jack correction torque and jack stroke declinate is solved with jack traveled distance declinate value； The jack stroke declinate predicted value for working as front ring is obtained, jack stroke declinate predicted value is substituted into jack correction torque and thousand The relational expression at jin top row path difference angle obtains corresponding jack correction moment values as the jack correction torque when front ring Predicted value.Corresponding jack is solved using the jack actual torque value and jack traveled distance declinate that obtain in real time to entangle The step of relational expression of inclined torque and jack stroke declinate, comprising: setting sampling number of rings, according to set sampling ring Several data volumes establishes corresponding tables of data；By the jack actual torque value obtained in real time and jack traveled distance declinate value Pairs of is stored in tables of data, and the data in tables of data are stored and read according to first-in first-out rule；It will be very heavy Top correction torque and jack stroke declinate are fitted to linear relation, then obtain following expression:
yj=a0+a1xiFormula one
In formula one, yjFor jack correction torque；xiFor jack stroke declinate；a0And a1For undetermined parameter；
With the quadratic sum ∑ (y of jack actual torque value and the difference of jack correction torquei-yj)2It is minimum judgement according to According to function ∑ (yi-yj)2To a0And a1Derivation, and enabling partial derivative is zero, then obtains:
In formula two, yiFor jack actual torque value, n is sampling number of rings, xiValue be jack traveled distance declinate Value；
The jack actual torque value stored in tables of data and jack progressive error angle value are substituted into formula two and solve a0 And a1Value；The a that will be solved0And a1Value be updated to formula and obtained jack correction torque and jack progressive error in The relational expression at angle.
Specifically, the calculation method phase of the prediction technique and above-mentioned correction torque predicting subsystem of shield correction torque Together, therefore calculation method and principle can be found in the description of above-mentioned correction torque predicting subsystem, and details are not described herein.
The present invention has been described in detail with reference to the accompanying drawings, those skilled in the art can be according to upper It states and bright many variations example is made to the present invention.Thus, certain details in embodiment should not constitute limitation of the invention, this Invention will be using the range that the appended claims define as protection scope of the present invention.

Claims (10)

1. a kind of self-adaptation control method of shield correction oil pressure output, which comprises the steps of:
S11: subregion is carried out to the jack on shield machine to form top subregion, bottom subregion, upper left waist subregion, lower-left waist Part area, upper right waist subregion and bottom right waist subregion jack；
S12: the subregion according to jack establishes the transformation model of the correction oil pressure of correction torque and each subregion jack；
S13: the practical oil pressure of each subregion jack is obtained；
S14: obtaining the correction oil pressure of each subregion jack of the corresponding correction torque for working as front ring by the transformation model, as Correction setting oil pressure；And
S15: according to the practical oil pressure of acquired each subregion jack to the correction setting oil pressure carry out self-adaptive processing with It obtains the correction output oil pressure of each subregion jack and exports.
2. the self-adaptation control method of shield correction oil pressure output as described in claim 1, which is characterized in that step 15: root Self-adaptive processing is carried out to obtain each subregion to correction setting oil pressure according to the practical oil pressure of acquired each subregion jack The correction output oil pressure of jack simultaneously exports, comprising:
S151: the difference of correction the setting oil pressure and practical oil pressure of each subregion jack is calculated, and obtains maximum difference；
S152: whether the corresponding subregion of the maximum difference judged is top subregion or bottom subregion,
If so, the correction of top subregion and bottom subregion jack setting oil pressure is subtracted maximum difference as correction output oil It presses and exports, the correction of upper left waist subregion, lower-left waist subregion, upper right waist subregion and bottom right waist subregion jack is set Stand oil pressure as correction output oil pressure and is exported plus the half of maximum difference；
If it is not, then using the practical oil pressure of the corresponding subregion jack of maximum difference as fixed value feedback to the conversion in step S14 Model sets oil pressure to recalculate the correction of each subregion jack, and executes step S151 to step S152.
3. the self-adaptation control method of shield correction oil pressure output as described in claim 1, which is characterized in that establish correction power The step of transformation model of the correction oil pressure of square and each subregion jack, comprising:
The equation of the correction oil pressure of each subregion jack and resultant force of rectifying a deviation is established as equation one, the equation one are as follows:
In equation one, FIt closesFor correction resultant force, PAOil pressure, P are set for the correction of top subregionDIt is set for the correction of bottom subregion Oil pressure, PBFFor the pressure of upper right waist subregion and the correction setting oil pressure of upper left waist subregion, PBF=(PB+PF)/2, PBFor the right side The correction of upper waist subregion sets oil pressure, PFOil pressure, P are set for the correction of upper left waist subregionCEFor bottom right waist subregion and a left side The pressure of the correction setting oil pressure of lower waist subregion, PCE=(PC+PE)/2, PCOil pressure, P are set for the correction of bottom right waist subregionE Correction for the distribution of lower-left waist sets oil pressure, n1For the quantity of the jack in addition to the subregion of bottom in remaining subregion, n2For bottom The quantity of the jack of subregion, S are the piston area of jack；
The equation of the correction oil pressure of elevation torque and each subregion jack is established as equation two, the equation two are as follows:
In equation two, MzFor elevation torque, R is distance of the shield center to jack center, θ1For in upper right waist subregion Heart line and horizontal angle, θ2For the center line and horizontal angle of bottom right waist subregion；
The equation of the correction oil pressure of plane torque and each subregion jack is established as equation three, the equation three are as follows:
My=n1SR[cosθ1(PB-PF)+cosθ2(PC-PE)] equation three
In equation three, MyFor plane torque；
It is pressed into etc. according to each subregion jack oil and establishes equation four, the equation four than relationship are as follows:
4. the self-adaptation control method of shield correction oil pressure output as claimed in claim 3, which is characterized in that pass through described turn The step of mold changing type obtains the correction oil pressure of each subregion of the corresponding correction torque for working as front ring, sets oil pressure as correction, comprising:
According to described when the correction Calculating Torque during Rotary of front ring obtains plane torque and elevation torque；
Equation one to equation four is iterated and is solved to obtain the correction of each subregion and set oil pressure.
5. the self-adaptation control method of shield correction oil pressure output as described in claim 1, which is characterized in that further include:
The oil pressure of the jack of each subregion is controlled using the correction output oil pressure of each subregion.
6. a kind of adaptive control system of shield correction oil pressure output characterized by comprising
Model foundation unit, for carrying out subregion to the jack on shield machine to form top subregion, bottom subregion, upper left waist Part area, lower-left waist subregion, upper right waist subregion and bottom right waist subregion jack；It is also used to build according to the subregion of jack The transformation model of the correction oil pressure of vertical correction torque and each subregion jack；
Oil pressure acquisition unit, for obtaining the practical oil pressure of each subregion jack；And
The correction hydraulic pressure setting means being connect with the model foundation unit and the oil pressure acquisition unit, for being turned by described Mold changing type obtains corresponding when the correction oil pressure of each subregion jack of the correction torque of front ring is used as correction setting oil pressure；It is also used to Self-adaptive processing is carried out to obtain each subregion thousand to correction setting oil pressure according to the practical oil pressure of each subregion jack The correction output oil pressure on jin top simultaneously exports.
7. the adaptive control system of shield correction oil pressure output as claimed in claim 6, which is characterized in that the correction oil Pressure setup unit includes the correction oil pressure computing module connecting with the model foundation unit and the correction oil pressure computing module The difference calculating module that is connected with the oil pressure acquisition unit, the judgment module being connect with the difference calculating module and with institute State judgment module connection adaptive adjustment module；
The correction oil pressure computing module is used to obtain each subregion of the corresponding correction torque for working as front ring by the transformation model The correction oil pressure of jack is as correction setting oil pressure；
The difference calculating module is used to obtain the difference for calculating correction the setting oil pressure and practical oil pressure of each subregion jack；
The judgment module judges that maximum is poor for finding out maximum difference from the calculated difference of the difference calculating module It is worth whether corresponding subregion is top subregion or bottom subregion；
The adaptive adjustment module is when the judgment result of the judgment module is yes, very heavy by top subregion and bottom subregion The correction setting oil pressure on top subtracts maximum difference as correction output oil pressure and exports, by upper left waist subregion, lower-left waist portions The correction setting oil pressure in area, upper right waist subregion and bottom right waist subregion jack is defeated as rectifying a deviation plus the half of maximum difference It oil pressure and exports out；Judgment module judge structure for it is no when, by the practical oil pressure of the corresponding subregion jack of maximum difference As fixed value feedback to correction oil pressure computing module so that its correction for recalculating each subregion jack sets oil pressure.
8. the adaptive control system of shield correction oil pressure output as claimed in claim 6, which is characterized in that the model is built Vertical unit includes the first computation model, the second computation model, third computation model and the 4th computation model；
First computation model is used to establish the equation of the correction oil pressure of each subregion jack and resultant force of rectifying a deviation as equation Formula one, the equation one are as follows:
In equation one, FIt closesFor correction resultant force, PAOil pressure, P are set for the correction of top subregionDIt is set for the correction of bottom subregion Oil pressure, PBFFor the pressure of upper right waist subregion and the correction setting oil pressure of upper left waist subregion, PBF=(PB+PF)/2, PBFor the right side The correction of upper waist subregion sets oil pressure, PFOil pressure, P are set for the correction of upper left waist subregionCEFor bottom right waist subregion and a left side The pressure of the correction setting oil pressure of lower waist subregion, PCE=(PC+PE)/2, PCOil pressure, P are set for the correction of bottom right waist subregionE Correction for the distribution of lower-left waist sets oil pressure, n1For the quantity of the jack in addition to the subregion of bottom in remaining subregion, n2For bottom The quantity of the jack of subregion, S are the piston area of jack；
Second computation model is used to establish the equation of the correction oil pressure of elevation torque and each subregion jack as equation Formula two, the equation two are as follows:
In equation two, MzFor elevation torque, R is distance of the shield center to jack center, θ1For in upper right waist subregion Heart line and horizontal angle, θ2For the center line and horizontal angle of bottom right waist subregion；
The third computation model is used to establish the equation of the correction oil pressure of plane torque and each subregion jack as equation Formula three, the equation three are as follows:
My=n1SR[cosθ1(PB-PF)+cosθ2(PC-PE)] equation three
In equation three, MyFor plane torque；
4th computation model, which is used to be pressed into etc. according to each subregion jack oil, establishes equation four, the equation than relationship Four are as follows:
9. the adaptive control system of shield correction oil pressure output as claimed in claim 8, which is characterized in that the correction oil Pressure setup unit is used to obtain plane torque and elevation torque according to the correction Calculating Torque during Rotary when front ring, and calculates described first Model to the 4th computation model, which is iterated, to be solved to obtain the correction of each subregion and set oil pressure.
10. the adaptive control system of shield as claimed in claim 6 correction oil pressure output, which is characterized in that further include with The control unit of the correction hydraulic pressure setting means connection, for controlling the thousand of each subregion using the correction output oil pressure of each subregion The oil pressure on jin top.
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