CN110500100B - Electro-hydraulic control system for self-adaptive adjustment of propelling load of shield tunneling machine - Google Patents
Electro-hydraulic control system for self-adaptive adjustment of propelling load of shield tunneling machine Download PDFInfo
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- CN110500100B CN110500100B CN201910819686.XA CN201910819686A CN110500100B CN 110500100 B CN110500100 B CN 110500100B CN 201910819686 A CN201910819686 A CN 201910819686A CN 110500100 B CN110500100 B CN 110500100B
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- 230000005641 tunneling Effects 0.000 title claims abstract description 13
- 239000003921 oil Substances 0.000 claims abstract description 129
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 33
- 238000006243 chemical reaction Methods 0.000 claims abstract description 24
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 11
- 238000012544 monitoring process Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 7
- 238000010276 construction Methods 0.000 description 3
- 239000010727 cylinder oil Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000010729 system oil Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Classifications
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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
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
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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
- E21D9/0621—Shield advancing devices
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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
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Environmental & Geological Engineering (AREA)
- Examining Or Testing Airtightness (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention discloses an electro-hydraulic control system for self-adaptive adjustment of a thrust load of a shield tunneling machine, which comprises a signal control assembly, an oil way control assembly and a load assembly, wherein the signal control assembly comprises an A/D conversion module, a PLC control unit, a D/A conversion module and a signal amplifier; the oil way control assembly comprises a hydraulic pump, a main control motor for driving the hydraulic pump and a three-position four-way electromagnetic directional valve communicated with an oil outlet of the hydraulic pump; the load assembly comprises at least one group of hydraulic oil cylinder load units, a main oil way flow sensor and an oil cylinder flow sensor are respectively and correspondingly electrically connected with the A/D conversion module, and a signal amplifier is correspondingly and electrically connected with the control end of the three-position four-way electromagnetic reversing valve. The invention realizes the self-adaptive adjustment control of the shield hydraulic propulsion system, ensures that the whole shield propulsion control system has more stability, can provide convenience for daily monitoring and maintenance of the system, and has strong operability and outstanding application technical effect.
Description
Technical Field
The invention relates to the technical field of shield machine electro-hydraulic control, in particular to an electro-hydraulic control system for self-adaptive adjustment of a shield machine propulsion load.
Background
The 21 st century is the century of tunnel underground space, China is used as the largest tunnel and underground engineering construction market in the world, market potential is rapidly released, and the shield industry has wide market prospect. The shield machine is widely applied to tunnel projects such as urban subway tunnels, water diversion and supply tunnels, river crossing and sea crossing and the like in China as a tool for tunnel underground engineering construction. The shield propulsion electrohydraulic control system is one of key core subsystems of the shield, and the quality of the control propulsion performance of the shield propulsion electrohydraulic control system not only determines whether the engineering progress is efficient, but also determines the success or failure of the whole engineering.
The control parameters of the existing shield machine electro-hydraulic propulsion control system are mostly controlled by open-loop design, the control and adjustment of the propulsion speed are generally judged by the experience of an experienced operation driver, namely, the working condition of the shield machine during the tunneling is indirectly sensed by the stress state of a shield hydraulic oil cylinder, but when the shield machine is in some composite stratums, such as uneven hardness and propulsion in upper and lower hard stratums, the propulsion of the hydraulic oil cylinder is suddenly unstable due to sudden load change, the propulsion speed of the system suddenly changes, the deviation of the whole shield posture can be caused once the problems occur, the shield machine is required to frequently correct the deviation, the engineering line can be changed even in serious conditions, and great engineering loss can be caused. On the other hand, a plurality of shield engineering application examples show that the conventional shield hydraulic propulsion system lacks a whole set of parameters for monitoring the leakage amount of the system, the leakage detection is more dependent on manual inspection, and the system is damaged due to shutdown maintenance because hydraulic oil leakage is not found in time, so that great resource waste is caused and the tunnel construction period is seriously influenced.
Disclosure of Invention
The invention provides an electro-hydraulic control system for self-adaptive adjustment of a shield machine propelling load, which solves the problem that the shield propelling electro-hydraulic control system in the prior art is unstable in propelling due to external load change in the propelling process, avoids the problem of shield attitude deviation due to sudden change of the propelling speed of the system, and perfects the problem of safe operation and maintenance monitoring of the conventional shield hydraulic system.
In order to solve the technical problems, the invention adopts the following technical scheme:
an electro-hydraulic control system for self-adaptive adjustment of the thrust load of a shield tunneling machine is designed, and comprises a signal control assembly, an oil way control assembly and a load assembly,
the signal control assembly comprises an A/D conversion module, a PLC control unit, a D/A conversion module and a signal amplifier which are correspondingly and electrically connected in sequence;
the oil way control assembly comprises a hydraulic pump, a main control motor for driving the hydraulic pump and a three-position four-way electromagnetic directional valve communicated with an oil outlet of the hydraulic pump, and an oil inlet of the hydraulic pump is communicated into an oil tank through a filter;
the load assembly comprises at least one group of hydraulic oil cylinder load units, an oil inlet of a propulsion oil cylinder of each hydraulic oil cylinder load unit is communicated with an oil outlet of the three-position four-way electromagnetic directional valve, and a main oil way flow sensor is arranged on an oil way close to an oil outlet of the three-position four-way electromagnetic directional valve; an oil return port of a propulsion oil cylinder of the hydraulic oil cylinder load unit is communicated to an oil return port of the three-position four-way electromagnetic directional valve, and an oil cylinder flow sensor is arranged on an oil way close to the oil return port of the hydraulic oil cylinder load unit;
the main oil path flow sensor and the oil cylinder flow sensor are respectively and correspondingly electrically connected with the A/D conversion module, and the signal amplifier is correspondingly and electrically connected with the control end of the three-position four-way electromagnetic reversing valve; each flow signal is collected into the PLC control unit in real time through the A/D conversion module, the PLC control unit sends out a control signal after operation, and the control signal is transmitted to the three-position four-way electromagnetic reversing valve through the D/A conversion module and the signal amplifier to control the action of the three-position four-way electromagnetic reversing valve.
Preferably, a pressure gauge, a maintenance valve and a one-way valve are sequentially arranged on an oil path between the hydraulic pump and the three-position four-way electromagnetic directional valve.
Preferably, an overflow valve is further arranged between the hydraulic pump and the pressure gauge; and an overload oil return port of the overflow valve is communicated to the oil tank.
Preferably, an oil return port of the three-position four-way electromagnetic reversing valve is communicated to the oil tank; and an oil return port of a propulsion oil cylinder of the hydraulic oil cylinder load unit is communicated to the oil tank through an oil return port of the three-position four-way electromagnetic reversing valve.
Preferably, the hydraulic pump is a variable displacement pump.
In the technical scheme, a main control motor drives a hydraulic pump to execute hydraulic action of a system, and a three-position four-way electromagnetic directional valve is connected to a hydraulic oil cylinder load unit and supplies oil to a hydraulic oil cylinder in the hydraulic oil cylinder load unit; the main oil way flow sensor monitors the hydraulic flow of the main oil way, namely the sum of the flows supplied to oil inlets of all hydraulic oil cylinders; and the oil cylinder flow sensor monitors the hydraulic flow of the return flow of each hydraulic oil cylinder oil return port. Flow signals monitored by the main oil way flow sensor and the oil cylinder flow sensor are subjected to signal conversion through the A/D conversion module and then transmitted to the PLC control unit, and the PLC control unit sends out control signals after processing and operation so as to control the action of the three-position four-way electromagnetic directional valve. The change of instantaneous flow in the oil circuit can be monitored through the main oil circuit flow sensor and the oil cylinder flow sensor, when the flow is abnormal, the change is fed back to the PLC control unit in time, and the PLC control unit responds according to the situation to execute corresponding actions.
The invention has the beneficial effects that:
1. the main oil circuit flow sensor and the oil cylinder flow sensor constantly monitor the hydraulic flow of the main oil circuit and each hydraulic oil cylinder, and flow signals are fed back to the PLC control unit to judge subsequent actions. When the large flow fluctuation of the hydraulic oil cylinder load unit is detected to deviate from the allowable flow value set by the system, the fact that the whole propulsion system is unstable or the oil cylinders are not synchronous in clamping is shown, the opening degree of the three-position four-way electromagnetic reversing valve is adjusted through the PLC control unit, the flow of the inlet of the system is controlled until the actual value is the same as the set allowable flow value, and the phenomenon of unstable propulsion control caused by sudden change of the load in the shield propulsion process can be effectively avoided through the flow supply control mode.
And 2, comparing the flow of the main oil way with the sum of the hydraulic flow of the oil return port of each hydraulic oil cylinder by the PLC control unit, and not performing any execution action when the deviation value of the main oil way flow and the hydraulic flow of the oil return port of each hydraulic oil cylinder is within the leakage allowable range. And otherwise, when the deviation value is outside the leakage allowable range, a feedback control three-signal is given through the PLC control unit, the D/A conversion module and the signal amplifier, the opening of the control position four-way electromagnetic directional valve is directly closed, the propulsion of the system is stopped, and the maintenance valve is closed to detect the leakage point of the system. By the method, the system damage phenomenon caused by the fact that shutdown maintenance is not found in time due to hydraulic oil leakage can be effectively avoided.
3. The invention judges the self-adapting adjustment system oil supply quantity through the detection and operation of each flow sensor signal of the system, solves the unstable propelling phenomenon caused by the external load change in the propelling process of the shield machine, and realizes the self-adapting adjustment of the propelling process of the system. The leakage rate of the shield tunneling machine propulsion hydraulic system is monitored in real time through the feedback comparison of the main oil way flow sensor and each hydraulic cylinder oil return port flow sensor; the invention not only realizes the safe operation and maintenance monitoring of the shield hydraulic system, but also improves the stability and the dynamic response characteristic of the shield propulsion electrohydraulic control system.
Drawings
FIG. 1 is a control schematic diagram of an electro-hydraulic control system for self-adaptive adjustment of a thrust load of a shield tunneling machine according to the invention;
reference numbers in the figures: the system comprises an A/D conversion module 1, a PLC control unit 2, a D/A conversion module 3, a signal amplifier 4, an oil tank 5, a filter 6, a main control motor 7, a hydraulic pump 8, an overflow valve 9, a pressure gauge 10, a maintenance valve 11, a main check valve 12, a three-position four-way electromagnetic directional valve 13, a main oil path flow sensor 14, oil cylinder flow sensors 15, 17, 18 and 19, a propulsion oil cylinder 16 and hydraulic oil cylinder load units 201, 202, 203 and 204, wherein the main oil path flow sensor is a main oil path flow sensor;
a is an oil outlet of a hydraulic pump, T1 is an oil inlet of a three-position four-way electromagnetic directional valve, T2 is an oil return port of the three-position four-way electromagnetic directional valve, T is the flow rate of a main oil path, and P1, P2, P3 and P4 are the flow rates of the oil return ports of the propulsion oil cylinders respectively.
Detailed Description
The following examples are given to illustrate specific embodiments of the present invention, but are not intended to limit the scope of the present invention in any way. The apparatus elements referred to in the following examples are, unless otherwise specified, conventional apparatus elements; the industrial raw materials are all conventional industrial raw materials which are sold on the market, if not specifically mentioned.
Example 1: an electro-hydraulic control system for self-adaptive adjustment of a thrust load of a shield tunneling machine is shown in figure 1 and comprises a signal control assembly, an oil way control assembly and a load assembly. The signal control assembly comprises an A/D conversion module 1, a PLC control unit 2, a D/A conversion module 3 and a signal amplifier 4 which are correspondingly and electrically connected in sequence.
The oil way control assembly comprises a hydraulic pump 8, a main control motor 7 for driving the hydraulic pump 8 and a three-position four-way electromagnetic directional valve 13 communicated with an oil outlet of the hydraulic pump 8, and an oil inlet of the hydraulic pump 8 is communicated into the oil tank 5 through a filter 6; the hydraulic pump 8 is a variable displacement pump.
The load assembly comprises at least one group of hydraulic oil cylinder load units, and the hydraulic oil cylinder load units in the embodiment are four groups. The hydraulic oil cylinder load unit comprises a propulsion oil cylinder 16, an oil inlet of the propulsion oil cylinder 16 is communicated with an oil outlet of the three-position four-way electromagnetic directional valve 13, and a main oil path flow sensor 14 is arranged on an oil path close to an oil outlet of the three-position four-way electromagnetic directional valve 13; an oil return port of the propulsion oil cylinder 16 is communicated to an oil return port of the three-position four-way electromagnetic directional valve 13, and an oil cylinder flow sensor is arranged on an oil way close to the oil return port of the hydraulic oil cylinder load unit; and a pressure gauge 10, an overhaul valve 11 and a one-way valve 12 are sequentially arranged on an oil path between the hydraulic pump 8 and the three-position four-way electromagnetic directional valve 13. An overflow valve 9 is also arranged between the hydraulic pump 8 and the pressure gauge 10; the overload oil return port of the overflow valve is communicated to the oil tank 5. An oil return port of the three-position four-way electromagnetic directional valve 13 is communicated to the oil tank 5; the oil flowing out from the oil return port of the propulsion oil cylinder 16 flows to the oil tank 5 through the oil return port of the three-position four-way electromagnetic directional valve 13.
The main oil path flow sensor 14 and the oil cylinder flow sensor are respectively and correspondingly electrically connected with the A/D conversion module 1, and the signal amplifier 4 is correspondingly and electrically connected with the control end of the three-position four-way electromagnetic directional valve 13; each flow signal is collected into the PLC control unit 2 in real time through the A/D conversion module 1, the PLC control unit 2 sends out a control signal after operation, and the control signal is transmitted to the three-position four-way electromagnetic reversing valve 13 through the D/A conversion module 3 and the signal amplifier 4 to control the action of the three-position four-way electromagnetic reversing valve 13.
The main oil way flow sensor and the oil cylinder flow sensor constantly monitor the hydraulic flow of the main oil way and each oil cylinder, and signals are fed back to the PLC control unit to judge subsequent actions. And the PLC control unit compares the flow T of the main oil way with the sum of hydraulic flow P1, P2, P3 and P4 of oil return ports of all the hydraulic oil cylinders, and does not perform any action when the deviation value of the two is within the leakage allowable range. When the deviation value is outside the leakage allowable range, a feedback control signal is given through the PLC control unit, the D/A conversion module and the signal amplifier, the opening of the three-position four-way electromagnetic directional valve is controlled to be directly closed, the propulsion of the system is stopped, and the maintenance valve is closed to detect the leakage point of the system. By the method, the system damage phenomenon caused by the fact that shutdown maintenance is not found in time due to hydraulic oil leakage can be effectively avoided.
When the flow values P1, P2, P3 and P4 of each hydraulic oil cylinder load unit fluctuate greatly and deviate from the allowable flow value set by the system, the situation that the whole propulsion system is unstable or the oil cylinders are not synchronous in clamping is indicated at the moment, the propulsion system feeds back the values to the PLC control unit to send a control command, the control voltage in the three-position four-way electromagnetic directional valve is adjusted in a self-adaptive mode, the opening degree of a valve core of the three-position four-way electromagnetic directional valve is increased or reduced in a self-adaptive mode according to a feedback signal, the throttling effect of the valve group is enhanced or weakened until the actual feedback value is the same as the allowable flow value, and the unstable phenomenon of the hydraulic oil cylinder load units caused by sudden load change in the shield propulsion process can be effectively avoided through the flow.
The invention realizes the self-adaptive adjustment control of the shield hydraulic propulsion system, ensures that the whole shield propulsion control system has more stability, can provide convenience for daily monitoring and maintenance of the system, and has strong operability and outstanding application technical effect.
While the present invention has been described in detail with reference to the embodiments, those skilled in the art will appreciate that various changes can be made in the specific parameters of the embodiments without departing from the spirit of the present invention, and that various specific embodiments can be made, which are common variations of the present invention and will not be described in detail herein.
Claims (5)
1. An electro-hydraulic control system for self-adaptive adjustment of a thrust load of a shield tunneling machine is characterized by comprising a signal control assembly, an oil way control assembly and a load assembly,
the signal control assembly comprises an A/D conversion module (1), a PLC control unit (2), a D/A conversion module (3) and a signal amplifier (4) which are correspondingly and electrically connected in sequence;
the oil way control assembly comprises a hydraulic pump (8), a main control motor (7) for driving the hydraulic pump (8) and a three-position four-way electromagnetic directional valve (13) communicated with an oil outlet of the hydraulic pump (8), and an oil inlet of the hydraulic pump (8) is communicated into an oil tank (5) through a filter (6);
the load assembly comprises at least one group of hydraulic oil cylinder load units, an oil inlet of a propulsion oil cylinder of each hydraulic oil cylinder load unit is communicated with an oil outlet of the three-position four-way electromagnetic directional valve (13), and a main oil way flow sensor (14) is arranged on an oil way close to an oil outlet of the three-position four-way electromagnetic directional valve (13); an oil return port of a propulsion oil cylinder of the hydraulic oil cylinder load unit is communicated to an oil return port of a three-position four-way electromagnetic directional valve (13), and an oil cylinder flow sensor is arranged on an oil way close to the oil return port of the hydraulic oil cylinder load unit;
the main oil path flow sensor (14) and the oil cylinder flow sensor are respectively and correspondingly electrically connected with the A/D conversion module (1), and the signal amplifier (4) is correspondingly and electrically connected with the control end of the three-position four-way electromagnetic directional valve (13); each flow signal is collected into the PLC control unit (2) in real time through the A/D conversion module (1), the PLC control unit (2) sends out a control signal after operation, and the control signal is transmitted to the three-position four-way electromagnetic directional valve (13) through the D/A conversion module (3) and the signal amplifier (4) to control the action of the three-position four-way electromagnetic directional valve (13).
2. The electro-hydraulic control system for self-adaptive adjustment of the thrust load of the shield tunneling machine according to claim 1, wherein a pressure gauge (10), a service valve (11) and a check valve (12) are sequentially arranged on an oil path between the hydraulic pump (8) and the three-position four-way electromagnetic directional valve (13).
3. The electro-hydraulic control system for self-adaptive adjustment of the thrust load of the shield tunneling machine according to claim 2, characterized in that an overflow valve (9) is further arranged between the hydraulic pump (8) and the pressure gauge (10); and an overload oil return port of the overflow valve is communicated to the oil tank (5).
4. The electro-hydraulic control system for self-adaptive adjustment of the thrust load of the shield tunneling machine according to claim 1, wherein an oil return port of the three-position four-way electromagnetic reversing valve (13) is communicated to the oil tank (5); and an oil return port of a propulsion oil cylinder of the hydraulic oil cylinder load unit is communicated to the oil tank (5) through an oil return port of a three-position four-way electromagnetic directional valve (13).
5. The electro-hydraulic control system for self-adaptive adjustment of thrust load of a shield tunneling machine according to claim 1, wherein the hydraulic pump (8) is a variable displacement pump.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910819686.XA CN110500100B (en) | 2019-08-31 | 2019-08-31 | Electro-hydraulic control system for self-adaptive adjustment of propelling load of shield tunneling machine |
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| CN201910819686.XA CN110500100B (en) | 2019-08-31 | 2019-08-31 | Electro-hydraulic control system for self-adaptive adjustment of propelling load of shield tunneling machine |
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| CN110500100B true CN110500100B (en) | 2020-11-17 |
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| CN111594191B (en) * | 2020-05-25 | 2022-03-15 | 中铁隧道局集团有限公司 | Multi-mode fusion intelligent control device for earth pressure balance shield compressed air system |
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|---|---|---|---|---|
| CN1587644A (en) * | 2004-07-09 | 2005-03-02 | 浙江大学 | Full power self adaptive shield cutter disc driving electrohydraulic control system |
| CN201679504U (en) * | 2010-05-17 | 2010-12-22 | 浙江大学 | Energy-saving type shield propulsion system compositely and synchronously controlling pressure and flow |
| CN203050723U (en) * | 2012-12-21 | 2013-07-10 | 浙江大学 | Variable frequency driving shield thrust hydraulic system |
| CN206206323U (en) * | 2016-11-04 | 2017-05-31 | 燕山大学 | Hydraulic pump motor reliability TT＆C system |
| CN108331589A (en) * | 2017-12-21 | 2018-07-27 | 北方重工装备（沈阳）有限公司 | A kind of shield machine propulsion energy-saving control system |
-
2019
- 2019-08-31 CN CN201910819686.XA patent/CN110500100B/en active Active
Patent Citations (5)
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|---|---|---|---|---|
| CN1587644A (en) * | 2004-07-09 | 2005-03-02 | 浙江大学 | Full power self adaptive shield cutter disc driving electrohydraulic control system |
| CN201679504U (en) * | 2010-05-17 | 2010-12-22 | 浙江大学 | Energy-saving type shield propulsion system compositely and synchronously controlling pressure and flow |
| CN203050723U (en) * | 2012-12-21 | 2013-07-10 | 浙江大学 | Variable frequency driving shield thrust hydraulic system |
| CN206206323U (en) * | 2016-11-04 | 2017-05-31 | 燕山大学 | Hydraulic pump motor reliability TT＆C system |
| CN108331589A (en) * | 2017-12-21 | 2018-07-27 | 北方重工装备（沈阳）有限公司 | A kind of shield machine propulsion energy-saving control system |
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| Title |
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| 盾构电液控制系统实验平台液压系统设计与研究;陈馈;《液压气动与密封》;20130228;第37-40页 * |
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