CN110486029B - Optimization method and device for earth pressure balance control of shield machine - Google Patents
Optimization method and device for earth pressure balance control of shield machine Download PDFInfo
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- 238000005457 optimization Methods 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 title claims abstract description 38
- 239000002689 soil Substances 0.000 claims abstract description 136
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 21
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- 230000005641 tunneling Effects 0.000 claims description 20
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- 230000000694 effects Effects 0.000 description 4
- 238000005192 partition Methods 0.000 description 4
- 238000009412 basement excavation Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
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- 238000007789 sealing Methods 0.000 description 2
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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
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Abstract
The invention discloses an optimization method and device for earth pressure balance control of a shield machine, relates to the technical field of shield machines, and mainly aims to solve the problem that the existing earth pressure balance control of a sealed cabin is only controlled by adopting different control model algorithms for single variables. The method comprises the following steps: carrying out time domain and frequency domain conversion processing on the relation between the variation of the soil pressure of the sealed cabin and the propelling speed and the rotating speed of the screw conveyor respectively, and establishing a prediction model of the shield machine soil pressure balance control prediction function controller by combining a lag time constant; determining an output reference track of the soil pressure of the sealed cabin after the prediction model is operated according to a soil pressure set value of the sealed cabin; performing coefficient optimization correction processing on a step function serving as a basis function in the prediction function controller of the balanced earth pressure shield machine; and determining the optimal control quantity of the propelling speed and the rotating speed of the screw conveyor according to the corresponding lag time when the soil pressure of the sealed cabin obtained after the prediction model operation is matched with the output reference track.
Description
Technical Field
The invention relates to the technical field of shield tunneling machines, in particular to an optimization method and device for earth pressure balance control of a shield tunneling machine.
Background
With the continuous acceleration of the industrialization and urbanization processes, the earth pressure balance shield machine is widely applied to the construction of the underground tunnel in the soft soil stratum. In the tunneling process of the earth pressure balance shield machine, the pressure of the sealed cabin and the water and soil pressure in front are controlled to be balanced mainly by adjusting the rotating speed or the propelling speed of the screw conveyor, so that the stability of a construction excavation surface is ensured. In the shield construction process, in order to prevent catastrophic accidents caused by ground surface subsidence, the soil pressure in the sealed cabin must be maintained to be balanced.
At present, the existing control on the soil pressure balance of the sealed cabin is only controlled by adopting different control model algorithms for single variables, the influence of time lag on the soil pressure balance control effect of the sealed cabin is ignored, the soil pressure balance control precision of the shield machine is reduced, and the tunneling efficiency is influenced.
Disclosure of Invention
In view of the above, the invention provides an optimization method and device for earth pressure balance control of a shield machine, and mainly aims to solve the problems that the existing earth pressure balance control of a sealed cabin is only controlled by adopting different control model algorithms for single variables, and the influence of time lag on the earth pressure balance control effect of the sealed cabin is neglected.
According to one aspect of the invention, an optimization method for earth pressure balance control of a shield machine is provided, which comprises the following steps:
carrying out time domain and frequency domain conversion processing on the relation between the variation of the soil pressure of the sealed cabin and the propelling speed and the rotating speed of the screw conveyor respectively, and establishing a prediction model of the shield machine soil pressure balance prediction function controller by combining a lag time constant;
determining an output reference track of the soil pressure of the sealed cabin after the prediction model is operated according to a soil pressure set value of the sealed cabin;
performing coefficient optimization correction processing on a step function serving as a basis function in the shield machine earth pressure balance prediction function controller according to a rolling optimization mode so as to enable the earth pressure of the sealed cabin obtained after the prediction model operation to be matched with the output reference track;
and determining the optimal control quantity of the propelling speed and the rotating speed of the screw conveyor according to the corresponding lag time when the soil pressure of the sealed cabin obtained after the prediction model operation is matched with the output reference track.
Further, the time domain and frequency domain conversion processing is performed on the relationship between the variation of the soil pressure of the sealed cabin and the propelling speed and the rotating speed of the screw conveyer, and the prediction model of the shield machine soil pressure balance prediction function controller is established by combining the lag time constant, and the prediction model comprises the following steps:
carrying out time domain and frequency domain conversion processing on a relational expression of the variable quantity of the soil pressure entering the sealed cabin, the propelling speed and the rotating speed of the screw conveyer within delta t time, wherein the relational expression is
The Δ pbIs the amount of change in the soil pressure of the sealed cabin, Et(k) Is the deformation modulus of the soil body, A is the cross section area of the shield machine, v is the propulsion speed, and AsIs the effective dumping area of the screw conveyor, ω is the rotational speed of the screw conveyor, η is the dumping efficiency, VcFor sealing the cabinThe volume h is the screw pitch of the screw conveyor;
establishing a prediction model of the shield machine earth pressure balance prediction function controller according to the time domain frequency domain conversion processing and the lag time constant tau, wherein the prediction model is
The above-mentioned
The above-mentioned
The T ismFor propulsion system inertia time, said TnIs the screw conveyor system inertia time.
Further, the determining the output reference trajectory of the calculated soil pressure of the sealed cabin according to the set value of the soil pressure of the sealed cabin by the prediction model comprises:
establishing an output correction relation of the prediction module according to the actual soil pressure output value of the sealed cabin at the current moment and the predicted soil pressure output value of the sealed cabin, and performing first-order exponential processing according to the soil pressure set value of the sealed cabin and the output correction relation to obtain an output reference track, wherein the output correction relation is that
The output reference track is yr(k+i)＝yc(k+i)-λi[yc(k)-yp(k)]And e (k + i) ═ yp(k)-ym(k) Said y isp(k) The actual output value of the soil pressure of the sealed cabin at the current moment is obtained; y ism(k) Predicting an output value for the soil pressure of the sealed cabin at the current moment, yrTo output a reference trajectory; y iscSetting a soil pressure value of the sealed cabin; the lambda is a softening factor, and the softening factor is,
Trto output a reference trajectory time constant.
Further, the performing coefficient optimization correction processing on the step function serving as the basis function in the shield machine earth pressure balance prediction function controller according to the rolling optimization mode comprises:
selecting quadratic performance indexes as target functions by using a rolling optimization mode, and establishing coefficients in a step function by optimizing the square sum minimum of errors of the predicted output value of the soil pressure of the sealed cabin and the output reference track as a basis function, wherein the square sum minimum of errors of the predicted output value of the soil pressure of the sealed cabin and the output reference track is
Further, the determining the optimal control quantity of the propelling speed and the rotating speed of the screw conveyor according to the corresponding lag time when the soil pressure of the sealed cabin obtained after the prediction model operation is matched with the output reference trajectory comprises:
when the square sum of the error of the predicted output value of the soil pressure of the sealed cabin and the output reference track is the minimum value
When the lag time is calculated to be zero, the optimal control quantity of the propulsion speed is calculated to be
The optimum control quantity of the rotating speed of the spiral conveyer is
The above-mentioned
TsIs the sampling time;
when the square sum of the error of the predicted output value of the soil pressure of the sealed cabin and the output reference track is the minimum value
When the lag time is not zero, the actual measurement value of the propelling speed and the actual measurement value of the rotating speed of the spiral conveyor are calculated according to y by utilizing a Smith estimation control methodpav(k)＝yp(k)+ym(k)-ym(k-D) correcting to obtain the optimal control quantity of the propulsion speed as
The optimum control quantity of the rotating speed of the spiral conveyer is
Wherein, said ypav(k) Outputting a value for the corrected process; d ═ τ/Ts。
According to another aspect of the present invention, there is provided an optimization apparatus for earth pressure balance control of a shield tunneling machine, including:
the system comprises an establishing unit, a prediction unit and a prediction unit, wherein the establishing unit is used for performing time domain and frequency domain conversion processing on the relationship between the soil pressure variation of a sealed cabin and the propelling speed and the rotating speed of a spiral conveyor respectively, and establishing a prediction model of a shield machine soil pressure balance prediction function controller by combining a lag time constant;
the first determining unit is used for determining an output reference track of the soil pressure of the sealed cabin after the prediction model is operated according to a set value of the soil pressure of the sealed cabin;
the processing unit is used for performing coefficient optimization correction processing on the step function serving as the basis function in the shield machine earth pressure balance prediction function controller according to a rolling optimization mode so as to enable the earth pressure of the sealed cabin obtained after the prediction model operation to be matched with the output reference track;
and the second determining unit is used for determining the optimal control quantity of the propelling speed and the rotating speed of the screw conveyor according to the corresponding lag time when the soil pressure of the sealed cabin obtained after the prediction model operation is matched with the output reference track.
According to another aspect of the present invention, a storage medium is provided, where at least one executable instruction is stored, and the executable instruction causes a processor to execute operations corresponding to the optimization method for earth pressure balance control of a shield machine.
According to still another aspect of the present invention, there is provided a terminal including: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation corresponding to the optimization method for the earth pressure balance control of the shield machine.
By the technical scheme, the technical scheme provided by the embodiment of the invention at least has the following advantages:
the invention provides an optimization method and a device for earth pressure balance control of a shield machine, compared with the prior art that the earth pressure balance control of a sealed cabin is only controlled by adopting different control model algorithms for single variables and neglecting the influence of time lag on the earth pressure balance control effect of the sealed cabin, the embodiment of the invention carries out time domain and frequency domain conversion processing on the relationship between the earth pressure variation of the sealed cabin and the propelling speed and the rotating speed of a screw conveyer respectively and establishes a prediction model of a shield machine earth pressure balance prediction function controller by combining a lag time constant; determining an output reference track of the soil pressure of the sealed cabin after the prediction model is operated according to a soil pressure set value of the sealed cabin; performing coefficient optimization correction processing on a step function serving as a basis function in the shield machine earth pressure balance prediction function controller according to a rolling optimization mode so as to enable the earth pressure of the sealed cabin obtained after the prediction model operation to be matched with the output reference track; and determining the optimal control quantity of the propelling speed and the rotating speed of the screw conveyer according to the corresponding lag time when the soil pressure of the sealed cabin obtained after the prediction model operation is matched with the output reference track, so that the cooperative optimization control of the soil pressure balance of the shield machine is realized, the overshoot is small, the control precision is high, the set value of the soil pressure of the sealed cabin can be quickly tracked, the influence of time lag on the soil pressure balance of the sealed cabin is effectively overcome, and the control of the soil pressure balance of the sealed cabin is well realized.
The foregoing description is only an overview of the technical solutions of the present invention, and the following detailed description of the present invention is provided to make the technical means of the present invention more clearly understood and to make the technical means more clearly understood.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 shows a flowchart of an optimization method for earth pressure balance control of a shield tunneling machine according to an embodiment of the present invention;
fig. 2 shows a structure diagram of an earth pressure balance shield machine according to an embodiment of the invention;
fig. 3 shows a schematic diagram of a tunneling principle of an earth pressure balance shield tunneling machine according to an embodiment of the present invention;
fig. 4 shows a structural block diagram of a PFC controller for a sealed tank according to an embodiment of the present invention;
FIG. 5 is a graph comparing the pressure variation of a PFC and a PID control sealed cabin provided by the embodiment of the invention;
FIG. 6 is a graph comparing the variation of the propulsion speed with the PFC and PID control provided by the embodiment of the invention;
FIG. 7 is a graph comparing the variation of the rotation speed of the screw conveyer controlled by PFC and PID according to the embodiment of the invention;
fig. 8 shows a block diagram of an optimization device for earth pressure balance control of a shield tunneling machine according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a terminal according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The embodiment of the invention provides an optimization method for earth pressure balance control of a shield machine, which comprises the following steps of:
101. and respectively carrying out time domain and frequency domain conversion processing on the relation between the variation of the soil pressure of the sealed cabin and the propelling speed and the rotating speed of the screw conveyor, and establishing a prediction model of the shield machine soil pressure balance prediction function controller by combining a lag time constant.
In the embodiment of the invention, the earth pressure balance shield machine mainly comprises a shield body, a cutter head and a driving system thereof, a spiral conveyor system, a propulsion system, a duct piece assembling system, a synchronous grouting system, a shield tail sealing device and the like. The structure diagram of the earth pressure balance shield machine is shown in figure 2, and the earth pressure balance shield machine comprises a cutter head 1, a sealed cabin 2, a sealed cabin partition plate 3, a stirring rod 4, a screw conveyor 5, a propulsion hydraulic cylinder 6 and a duct piece 7 which are assembled. The earth pressure balance shield machine is characterized in that a pressure-bearing partition plate is arranged at the front part of a shield body, and forms a closed earth cabin together with a shield shell, a cutter head and a spiral conveyor. The cutter head is arranged at the front end of the sealed cabin, and the spiral conveyor is connected with the partition plate at the bottom of the sealed cabin. During the tunneling process of the shield tunneling machine, a cutter head excavates a front soil layer, all spaces in a sealed cabin and a spiral conveyor are filled with cut soil, a pushing hydraulic cylinder pushes a shield body to move forwards, meanwhile, pushing force is transmitted to the soil in the sealed cabin through a pressure-bearing partition plate, and the soil and the pushing hydraulic cylinder together provide supporting pressure to balance the water and soil pressure of an excavation surface; then, the soil in the sealed cabin is discharged out of the shield body by the screw conveyor, and the balance between the soil inlet amount and the soil outlet amount is maintained, so that the excavation principle of the earth pressure balance shield machine is obtained as shown in fig. 3.
The established prediction model is a part of Prediction Function Control (PFC), and specifically, the prediction function Control mainly includes: the structure block diagram of the PFC controller of the sealed cabin is shown in figure 4.
Further, for specific explanation and refinement, the time domain and frequency domain conversion processing is performed on the relationship between the variation of the soil pressure of the sealed cabin and the propelling speed and the rotating speed of the screw conveyor, and the prediction model of the shield tunneling machine soil pressure balance prediction function controller is established by combining a lag time constant, and the prediction model comprises: carrying out time domain and frequency domain conversion processing on a relational expression of the variable quantity of the soil pressure entering the sealed cabin, the propelling speed and the rotating speed of the screw conveyer within delta t time, wherein the relational expression is
The Δ pbIs the amount of change in the soil pressure of the sealed cabin, Et(k) Is the deformation modulus of the soil body, A is the cross section area of the shield machine, v is the propulsion speed, and AsIs the effective dumping area of the screw conveyor, ω is the rotational speed of the screw conveyor, η is the dumping efficiency, VcThe volume of the sealed cabin is shown, and h is the screw pitch of the screw conveyor; establishing a prediction model of the shield machine earth pressure balance prediction function controller according to the time domain frequency domain conversion processing and the lag time constant tau, wherein the prediction model is
The above-mentioned
The above-mentioned
The T ismFor propulsion system inertia time, said TnIs the screw conveyor system inertia time.
In the embodiment of the invention, the relation between the soil inlet volume of the sealed cabin and the cross sectional area and the propelling speed of the shield tunneling machine in delta t time can be obtained by analyzing the pressure control mechanism of the sealed cabin: vi＝A∫νdt＝AνΔt，ViThe volume of soil in the cabin, A is the cross sectional area of the shield tunneling machine, v is the propelling speed, and the volume of the residue soil discharged from the spiral conveyor in the sealed cabin in delta t time is as follows: vo＝∫qdt＝qΔt，
VoIs the volume of discharged residue soil, q is the soil discharging speed of the screw conveyor,
rsis the radius of the screw conveyor, rfIs the radius of the shaft of the screw conveyor. And in the time delta t, the volume change of the soil in the sealed cabin is as follows: Δ V ═ Vi-VoAccording to the additional internal force born by the soil body on the unit area, the variation of the volume of the sealed cabin and the variation of the soil pressure of the sealed cabin can be expressed as follows: Δ pb＝Et(k)Δε，
The expression formula between the soil pressure variation of the sealed cabin and the propelling speed and the rotating speed of the screw conveyer is obtained as
And performing time domain and frequency domain conversion treatment, wherein a prediction model can be obtained by considering the inertia time of a propulsion system and a slag discharge system and considering the influence of time lag on the soil pressure of the sealed cabin
e-τsIs a lag link, and tau is a lag time constant; t ismAnd TnRespectively a propulsion system and a screwThe inertial time of the rotary conveyor system.
In addition, the process channel of each system is in the form of a transfer function, and the transfer function expression of the process channel can be expressed as:
the predicted output of the model can be expressed as:
ymthe soil pressure value of the sealed cabin is shown; u. of1Indicating the propulsion speed; u. of2The rotational speed of the screw conveyor is indicated. First, a prediction model when τ is 0 is taken, that is:
the prediction output is then:
discretizing the prediction output by adding a zero-order keeper can obtain a difference equation as follows: y'm(k+1)＝(α1+α2)y′m(k)-α1α2y′m(k-1)+km1(1-α2)[u1(k)-α2u2(k-1)]-km2(1-α2)[u2(k)-α1u2(k-1)]，
TsIs the sampling time. When a step function is used as the basis function, the properties of the step function can be found as: u (k + i) ═ u (k) i ═ 1, 2.
102. And determining an output reference track of the soil pressure of the sealed cabin after the prediction model is operated according to the set value of the soil pressure of the sealed cabin.
In an embodiment of the present invention, for further explanation and refinement, the determining an output reference trajectory of the calculated soil pressure of the sealed cabin according to the set value of the soil pressure of the sealed cabin by the prediction model includes: establishing an output correction relation of the prediction module according to the actual soil pressure output value of the sealed cabin at the current moment and the predicted soil pressure output value of the sealed cabin, and performing first-order exponential processing according to the soil pressure set value of the sealed cabin and the output correction relation to obtain an output reference track, wherein the output correction relation is that
The output reference track is yr(k+i)＝yc(k+i)-λi[yc(k)-yp(k)]And e (k + i) ═ yp(k)-ym(k) Said y isp(k) The actual output value of the soil pressure of the sealed cabin at the current moment is obtained; y ism(k) Predicting an output value for the soil pressure of the sealed cabin at the current moment, yrTo output a reference trajectory; y iscSetting a soil pressure value of the sealed cabin; the lambda is a softening factor, and the softening factor is,
Trto output a reference trajectory time constant.
Because the prediction model and the actual output have errors, the difference between the actual output at the current moment and the predicted output at the current moment represents the prediction error, namely: e (k + i) ═ yp(k)-ym(k)，yp(k) The actual output value at the current moment; y ism(k) For the predicted output value at the current time, the future predicted output value is modified to: y isr(k+i)＝yc(k+i)-λi[yc(k)-yp(k)]，yrIs a reference track; y iscIs a set value; the lambda is a softening factor, and the softening factor is,
Tris a reference track time constant.
103. And performing coefficient optimization correction processing on the step function serving as the basis function in the shield machine earth pressure balance prediction function controller according to a rolling optimization mode.
In the embodiment of the invention, for further optimization, the coefficient optimization correction treatment is carried out on the step function serving as the basis function in the shield machine earth pressure balance prediction function controller according to a rolling optimization mode, so that the earth pressure of the sealed cabin obtained after the prediction model operation is matched with the output reference track.
For further explanation and refinement, the performing, according to a rolling optimization manner, coefficient optimization correction processing on the step function serving as the basis function in the prediction function controller of the balanced earth pressure shield machine includes:
selecting quadratic performance indexes as target functions by using a rolling optimization mode, and establishing coefficients in a step function by optimizing the square sum minimum of errors of the predicted output value of the soil pressure of the sealed cabin and the output reference track as a basis function, wherein the square sum minimum of errors of the predicted output value of the soil pressure of the sealed cabin and the output reference track is
Wherein the objective of the rolling optimization in the prediction function control is to find the coefficient mu of each basis function1,μ2,…μMMake the prediction output ym(k + i) as close as possible to the reference trajectory yr(k + i), a quadratic performance indicator is usually selected as an objective function in the PFC optimization algorithm, i.e. the square sum of the errors of the predicted output and the reference trajectory is minimized to represent:
respectively order
The propulsion speed at which τ is 0 can be obtainedAnd an optimum control amount of the rotation speed of the screw conveyor.
104. And determining the optimal control quantity of the propelling speed and the rotating speed of the screw conveyor according to the corresponding lag time when the soil pressure of the sealed cabin obtained after the prediction model operation is matched with the output reference track.
For further explanation and refinement, the determining the optimal control quantities of the propulsion speed and the rotation speed of the screw conveyor according to the corresponding lag time when the soil pressure of the sealed cabin obtained after the prediction model operation is matched with the output reference trajectory includes: when the square sum of the error of the predicted output value of the soil pressure of the sealed cabin and the output reference track is the minimum value
When the lag time is calculated to be zero, the optimal control quantity of the propulsion speed is calculated to be
The optimum control quantity of the rotating speed of the spiral conveyer is
The above-mentioned
TsIs the sampling time; when the square sum of the error of the predicted output value of the soil pressure of the sealed cabin and the output reference track is the minimum value
When the lag time is not zero, the actual measurement value of the propelling speed and the actual measurement value of the rotating speed of the spiral conveyor are calculated according to y by utilizing a Smith estimation control methodpav(k)＝yp(k)+ym(k)-ym(k-D) correcting to obtain the optimal control quantity of the propulsion speed as
The optimum control quantity of the rotating speed of the spiral conveyer is
Wherein, said ypav(k) Outputting a value for the corrected process; d ═ τ/Ts。
Specifically, order
The optimal control law of the advancing speed and the rotation speed of the screw conveyor when τ is 0 can be found to be:
when tau is not equal to 0, the actual measurement value is still corrected by prediction function control according to the idea of Smith prediction control, and the correction method is as follows: y ispav(k)＝yp(k)+ym(k)-ym(k-D)，ypav(k) Outputting a value for the corrected process; d ═ τ/Ts. Will yp(k) From a correction value ypav(k) Instead, the optimal control quantity considering the lag-in-time advancing speed and the screw conveyor rotation speed is:
for the embodiment of the present invention, specific application scenarios may be as follows, but are not limited to the following scenarios, including: because the pressure of the sealed cabin is closely related to parameters such as the rotating speed of a cutter head, the propelling force, the propelling speed, the rotating speed of a screw conveyer and the like, the soil pressure balance of the sealed cabin is controlled only by adjusting the propelling speed and the rotating speed of the screw conveyer on the assumption that the rotating speed of the cutter head and the propelling force are not changed, and the matlab adopts a PID (proportion integration differentiation) controller to compare with a designed prediction function controller to carry out simulation experiments, for example, the parameters of the shield tunneling machine in the table 1, the prediction time domain p is 20, the control time domain m is 2, and the sampling time T iss1, propulsion speed u1(k) The value range of (a) is 0-80mm/min, and the rotating speed u of the screw conveyer2(k) The value range of (A) is 0-15 r/min. Firstly, in the process of prediction function control simulation, the soil pressure balance of the sealed cabin is cooperatively controlled by adjusting the propelling speed and the rotating speed of the screw conveyor, the first 600s soil pressure balance shield machine tunnels forwards at the speed of 10mm/min, at the moment, the sealed cabin pressure of the shield machine is kept stable at 0.15MPa, and the rotating speed of the screw conveyor is 3 r/min. At the 600s, as the working condition changes in the shield tunneling process, the pressure of the sealed cabin rises from 0.15MPa to 0.18MPa step by step, the prediction function controller can quickly track the soil pressure set value of the sealed cabin as shown in FIG. 5, the optimal propelling speed smoothly rises to 15mm/min at the moment as shown in FIG. 6, the rotating speed of the screw conveyor also changes along with the change of the propelling speed and rises from 3r/min to 5r/min, and the rotating speed of the screw conveyor quickly returns to be stable in a short time as shown in FIG. 7. It can be seen from fig. 5 that under conventional PID control, the upper capsule pressure setpoint is tracked only after a large overshoot of the controller has just begun, at the firstWhen the working condition changes in the tunneling process and the pressure set value of the sealed cabin changes in a step mode at 600s, the PID controller can track the soil pressure set value again after a long time, the propelling speed can reach the optimal propelling speed of 15mm/min after small fluctuation from 10mm/min as shown in figure 6, and the rotating speed of the screw conveyor can reach a stable state after long-time fluctuation as shown in figure 7. As can be seen from the comparison of the simulation of PFC control and PID control in FIGS. 5-7, the prediction function controller has the advantages of small overshoot, high control precision, good effect, and capability of effectively and rapidly tracking the pressure set value of the sealed cabin, and can reduce the accidents of ground uplift and collapse.
TABLE 1 Shield tunneling machine parameters
The invention provides an optimization method for earth pressure balance control of a shield machine, which is characterized in that time domain and frequency domain conversion processing is carried out on the relationship between the earth pressure variation of a sealed cabin and the propelling speed and the rotating speed of a screw conveyer respectively, and a prediction model of a shield machine earth pressure balance prediction function controller is established by combining a lag time constant; determining an output reference track of the soil pressure of the sealed cabin after the prediction model is operated according to a soil pressure set value of the sealed cabin; performing coefficient optimization correction processing on a step function serving as a basis function in the shield machine earth pressure balance prediction function controller according to a rolling optimization mode so as to enable the earth pressure of the sealed cabin obtained after the prediction model operation to be matched with the output reference track; and determining the optimal control quantity of the propelling speed and the rotating speed of the screw conveyer according to the corresponding lag time when the soil pressure of the sealed cabin obtained after the prediction model operation is matched with the output reference track, so that the cooperative optimal control of the soil pressure balance of the shield machine is realized, the overshoot is small, the control precision is high, the set value of the soil pressure of the sealed cabin can be quickly tracked, the influence of time lag on the soil pressure balance of the sealed cabin is effectively overcome, and the pressure balance control of the sealed cabin is well realized.
Further, as an implementation of the method shown in fig. 1, an embodiment of the present invention provides an optimization apparatus for controlling soil pressure balance of a shield machine, as shown in fig. 8, the apparatus includes: a establishing unit 21, a first determining unit 22, a processing unit 23, a second determining unit 24.
The establishing unit 21 is used for performing time domain and frequency domain conversion processing on the relationship between the variation of the soil pressure of the sealed cabin and the propelling speed and the rotating speed of the screw conveyor respectively, and establishing a prediction model of the shield machine soil pressure balance prediction function controller by combining a lag time constant;
the first determining unit 22 is used for determining an output reference track of the soil pressure of the sealed cabin after the prediction model is operated according to a set value of the soil pressure of the sealed cabin;
the processing unit 23 is configured to perform coefficient optimization correction processing on the step function serving as the basis function in the shield machine earth pressure balance prediction function controller according to a rolling optimization manner, so that the earth pressure of the sealed cabin obtained after the prediction model operation is matched with the output reference trajectory;
and a second determining unit 24, configured to determine an optimal control amount of the propulsion speed and the rotation speed of the screw conveyor according to a corresponding lag time when the soil pressure of the sealed cabin obtained after the prediction model operation matches the output reference trajectory.
The invention provides an optimization device for earth pressure balance control of a shield machine, which carries out time domain and frequency domain conversion processing on the relationship between the earth pressure variation of a sealed cabin and the propelling speed and the rotating speed of a screw conveyer respectively, and establishes a prediction model of a shield machine earth pressure balance prediction function controller by combining a lag time constant; determining an output reference track of the soil pressure of the sealed cabin after the prediction model is operated according to a soil pressure set value of the sealed cabin; performing coefficient optimization correction processing on a step function serving as a basis function in the shield machine earth pressure balance prediction function controller according to a rolling optimization mode so as to enable the earth pressure of the sealed cabin obtained after the prediction model operation to be matched with the output reference track; and determining the optimal control quantity of the propelling speed and the rotating speed of the screw conveyer according to the corresponding lag time when the soil pressure of the sealed cabin obtained after the prediction model operation is matched with the output reference track, so that the cooperative optimal control of the soil pressure balance of the shield machine is realized, the overshoot is small, the control precision is high, the set value of the soil pressure of the sealed cabin can be quickly tracked, the influence of time lag on the soil pressure balance of the sealed cabin is effectively overcome, and the pressure balance control of the sealed cabin is well realized.
According to an embodiment of the present invention, a storage medium is provided, where the storage medium stores at least one executable instruction, and the computer executable instruction may execute the optimization method for the earth pressure balance control of the shield tunneling machine in any method embodiment described above.
Fig. 9 is a schematic structural diagram of a terminal according to an embodiment of the present invention, and the specific embodiment of the present invention does not limit the specific implementation of the terminal.
As shown in fig. 9, the terminal may include: a processor (processor)302, a communication Interface 304, a memory 306, and a communication bus 308.
Wherein: the processor 302, communication interface 304, and memory 306 communicate with each other via a communication bus 308.
A communication interface 304 for communicating with network elements of other devices, such as clients or other servers.
The processor 302 is configured to execute the program 310, and may specifically execute relevant steps in the above-described optimization method embodiment of the earth pressure balance control of the shield machine.
In particular, program 310 may include program code comprising computer operating instructions.
The processor 302 may be a central processing unit CPU, or an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement an embodiment of the present invention. The terminal comprises one or more processors, which can be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.
And a memory 306 for storing a program 310. Memory 306 may comprise high-speed RAM memory and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 310 may specifically be configured to cause the processor 302 to perform the following operations:
carrying out time domain and frequency domain conversion processing on the relation between the variation of the soil pressure of the sealed cabin and the propelling speed and the rotating speed of the screw conveyor respectively, and establishing a prediction model of the shield machine soil pressure balance prediction function controller by combining a lag time constant;
determining an output reference track of the soil pressure of the sealed cabin after the prediction model is operated according to a soil pressure set value of the sealed cabin;
performing coefficient optimization correction processing on a step function serving as a basis function in the shield machine earth pressure balance prediction function controller according to a rolling optimization mode so as to enable the earth pressure of the sealed cabin obtained after the prediction model operation to be matched with the output reference track;
and determining the optimal control quantity of the propelling speed and the rotating speed of the screw conveyor according to the corresponding lag time when the soil pressure of the sealed cabin obtained after the prediction model operation is matched with the output reference track.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The optimization method for the earth pressure balance control of the shield machine is characterized by comprising the following steps:
carrying out time domain and frequency domain conversion processing on the relation between the variation of the soil pressure of the sealed cabin and the propelling speed and the rotating speed of the screw conveyor respectively, and establishing a prediction model of the shield machine soil pressure balance control prediction function controller by combining a lag time constant;
determining an output reference track of the soil pressure of the sealed cabin after the prediction model is operated according to a soil pressure set value of the sealed cabin;
performing coefficient optimization correction processing on a step function serving as a basis function in the shield machine earth pressure balance control prediction function controller according to a rolling optimization mode so as to enable the earth pressure of the sealed cabin obtained after the prediction model operation to be matched with the output reference track;
determining the optimal control quantity of the propelling speed and the rotating speed of the screw conveyor according to the corresponding lag time when the soil pressure of the sealed cabin obtained after the prediction model operation is matched with the output reference track;
the method comprises the following steps of carrying out time domain and frequency domain conversion processing on the relation between the soil pressure variation of the sealed cabin and the propelling speed and the rotating speed of the screw conveyer, and establishing a prediction model of the shield machine soil pressure balance prediction function controller by combining a lag time constant, wherein the prediction model comprises the following steps:
carrying out time domain and frequency domain conversion processing on a relational expression of the variable quantity of the soil pressure entering the sealed cabin, the propelling speed and the rotating speed of the screw conveyer within delta t time, wherein the relational expression is
The Δ pbIs the amount of change in the soil pressure of the sealed cabin, Et(k) Is the deformation modulus of the soil body, A is the cross section area of the shield machine, v is the propulsion speed, and AsIs the effective dumping area of the screw conveyor, omega is the rotation speed of the screw conveyor, eta is the dumping efficiencySaid V iscThe volume of the sealed cabin is shown, and h is the screw pitch of the screw conveyor;
establishing a prediction model of the shield machine earth pressure balance prediction function controller according to the time domain frequency domain conversion processing and the lag time constant tau, wherein the prediction model is
The above-mentioned
The above-mentioned
The T ismFor propulsion system inertia time, said TnThe method comprises the following steps of (1) calculating inertia time of a spiral conveyor system, wherein s is a complex variable in time domain and frequency domain conversion, and e is the base of a natural logarithm;
the step of determining the output reference track of the calculated soil pressure of the sealed cabin according to the set value of the soil pressure of the sealed cabin by the prediction model comprises the following steps:
establishing an output correction relation of the prediction model according to the actual soil pressure output value of the sealed cabin at the current moment and the predicted soil pressure output value of the sealed cabin, and performing first-order exponential processing according to the soil pressure set value of the sealed cabin and the output correction relation to obtain an output reference track, wherein the output correction relation is that
The output reference track is yr(k+i)＝yc(k+i)-λi[yc(k)-yp(k)]And e (k + i) ═ yp(k)-ym(k) Said y isp(k) The actual output value of the soil pressure of the sealed cabin at the current moment is obtained; y ism(k) Predicting an output value for the soil pressure of the sealed cabin at the current moment, yrTo output a reference trajectory; y iscSetting a soil pressure value of the sealed cabin; the lambda is a softening factor, and the softening factor is,
Trfor outputting a reference track time constant, TsK is a discrete sampling time point, and i is a sampling time after the kth time.
2. The method according to claim 1, wherein the performing coefficient optimization correction processing on the step function as the basis function in the shield machine earth pressure balance prediction function controller according to a rolling optimization mode comprises:
selecting quadratic performance indexes as target functions by using a rolling optimization mode, and establishing coefficients in a step function by optimizing the square sum minimum of errors of the predicted output value of the soil pressure of the sealed cabin and the output reference track as a basis function, wherein the square sum minimum of errors of the predicted output value of the soil pressure of the sealed cabin and the output reference track is
Said u is1(k) For propulsion speed, u2(k) The rotational speed of the screw conveyor.
3. A storage medium having at least one executable instruction stored therein, the executable instruction causing a processor to execute operations corresponding to the optimization method for earth pressure balance control of a shield tunneling machine according to any one of claims 1-2.
4. A terminal, comprising: the system comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete mutual communication through the communication bus;
the memory is used for storing at least one executable instruction, and the executable instruction causes the processor to execute the operation corresponding to the optimization method of the earth pressure balance control of the shield machine according to any one of claims 1-2.
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