CN111810167A - Control method and system of shield propulsion system - Google Patents
Control method and system of shield propulsion system Download PDFInfo
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- CN111810167A CN111810167A CN202010693844.4A CN202010693844A CN111810167A CN 111810167 A CN111810167 A CN 111810167A CN 202010693844 A CN202010693844 A CN 202010693844A CN 111810167 A CN111810167 A CN 111810167A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000005641 tunneling Effects 0.000 claims abstract description 40
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 230000001276 controlling effect Effects 0.000 claims description 4
- 238000010276 construction Methods 0.000 abstract description 7
- 238000005192 partition Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
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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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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention relates to a control method and a system of a shield propulsion system, comprising the following steps: evenly dividing a plurality of jacks into three areas, and selecting one jack in each area as a target jack; acquiring stroke data of the shield tunneling machine, comparing the acquired stroke data with a preset track of the shield tunneling machine, and calculating to obtain stroke variation of each target jack; and correspondingly adjusting the stroke of the target jack according to the calculated stroke variation, and synchronously adjusting the jacking forces of other jacks in the area where the target jack is located according to the jacking force of the target jack, so that the jacking forces of the jacks in the area are the same. The invention effectively solves the problem that part of jacks are not leaned against the duct piece, so that the acting force of the jacks of each subarea can be in the same plane, thereby realizing the accurate control of the shield machine and ensuring the construction quality.
Description
Technical Field
The invention relates to the field of shield construction, in particular to a control method and a system of a shield propulsion system.
Background
In a partition method of a general shield propulsion system, a small-diameter shield is divided into four areas, an ultra-large-diameter shield propulsion system is divided into six areas, the control of the shield propulsion system is realized by respectively adjusting the jacking force of each area, and the tunneling attitude of the shield is controlled.
However, during actual shield construction, because of the influence of many-sided factors such as soil body environment, segment quality and shield tunneling attitude, taking the shield propulsion system of four divisions as an example, the action point has four, and at the in-process that actually pushes away, partial jack is by not going up the segment, and along with the increase of tunnelling distance, the difference of each district jack is bigger and bigger, and predetermined jacking force does not actually act on the segment, is unfavorable for the accurate control to the shield machine, and the construction quality is difficult to guarantee.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a control method and a control system of a shield propulsion system, which solve the problem that part of jacks are not leaned against segments, so that the acting force of the jacks of all partitions can be always acted on the same plane, the shield machine can be accurately controlled, and the construction quality is ensured.
The technical scheme for realizing the purpose is as follows:
the invention provides a control method of a shield propulsion system, the shield propulsion system comprises a plurality of jacks arranged at intervals along the cross section of a shield machine, and the method comprises the following steps:
evenly dividing a plurality of jacks into three areas, and selecting one jack in each area as a target jack;
acquiring stroke data of the shield tunneling machine, comparing the acquired stroke data with a preset track of the shield tunneling machine, and calculating to obtain stroke variation of each target jack; and
and correspondingly adjusting the stroke of the target jack according to the calculated stroke variable quantity, and synchronously adjusting the jacking forces of other jacks in the area where the target jack is located according to the jacking force of the target jack, so that the jacking forces of the jacks in the area are the same.
The invention provides a control method of a shield tunneling system, which divides a jack of a shield tunneling machine into three regions, selects one jack as a target jack in each region, obtains the stroke variation of each target jack according to stroke data of the shield tunneling machine and a preset track of the shield tunneling machine, further correspondingly adjusts the stroke of each target jack, synchronously gives the jacking force of the target jack to other jacks in the region, ensures that the jacking force of the jacks in one region is the same, and realizes the control of the shield tunneling system by self-adaptive adjustment, because the target jacks are three, the action points of the three target jacks are necessarily in one plane, solves the problem that part of jacks are not close to segments, ensures that the action force of the jacks in each region can be in the same plane, and realizes the accurate control of the shield tunneling machine, the construction quality is ensured.
The further improvement of the control method of the shield propulsion system of the invention is that when a plurality of jacks are divided into three areas, the method also comprises the following steps:
the jacks are evenly divided into three areas along a straight line passing through the center of the shield propulsion system, so that the number of the jacks in each area is equal.
The control method of the shield propulsion system is further improved in that the distances between the three target jacks are equal.
The control method of the shield propulsion system is further improved in that the acquired stroke data comprises the incision posture and the shield tail posture of the shield machine.
The control method of the shield propulsion system is further improved in that the travel variation of the jack in each area is calculated by utilizing a PID algorithm.
The control method of the shield propulsion system is further improved in that the jacking force of the jack in each area is regulated by a pressure proportional valve, and the stroke of each target jack is regulated by a flow proportional valve;
and adjusting the stroke of the corresponding target jack by using the flow proportional valve, and synchronously giving the jacking force of the target jack to other jacks in the corresponding area by using the pressure proportional valve in the corresponding area so that the jacking force of the other jacks in the area is equal to that of the target jack.
The invention also provides a control system of the shield propulsion system, which comprises:
the area dividing module is used for evenly dividing the jacks into three areas and selecting one jack in each area as a target jack;
the data acquisition module is used for acquiring the stroke data of the shield tunneling machine;
the data processing module is used for comparing the acquired stroke data with a preset track of the shield tunneling machine and calculating the stroke variation of each target jack; and
and the controller is used for correspondingly adjusting the stroke of the target jack according to the calculated stroke variable quantity and synchronously giving the jacking force of the target jack to other jacks in the area where the target jack is located.
The control system of the shield propulsion system of the present invention is further improved in that the distances between the three target jacks selected by the zone dividing module are equal.
The control system of the shield propulsion system is further improved in that the stroke data acquired by the data acquisition module comprises a notch posture and a shield tail posture of the shield machine.
A further improvement of the control system of the shield propulsion system of the present invention is that the controller comprises:
three flow proportional valves corresponding to the three target jacks are arranged to adjust the stroke of the target jacks; and
and the three pressure proportional valves are arranged corresponding to the three areas so as to synchronously adjust the jacking forces of other jacks in the areas according to the jacking force of the target jack in the corresponding area, so that the jacking forces of the jacks in the areas are equal.
Drawings
Fig. 1 is a flowchart of a control method of a shield propulsion system of the present invention.
Fig. 2 is a schematic view of a partition in the control method of the shield propulsion system of the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
The invention provides a control method of a shield tunneling system, which divides a jack of a shield tunneling machine into three regions, selects one jack as a target jack in each region, obtains the stroke variation of each target jack according to stroke data of the shield tunneling machine and a preset track of the shield tunneling machine, further correspondingly adjusts the stroke of each target jack, synchronously gives the jacking force of the target jack to other jacks in the region, ensures that the jacking force of the jacks in one region is the same, and realizes the control of the shield tunneling system by self-adaptive adjustment, because the target jacks are three, the action points of the three target jacks are necessarily in one plane, solves the problem that part of jacks are not close to segments, ensures that the action force of the jacks in each region can be in the same plane, and realizes the accurate control of the shield tunneling machine, the construction quality is ensured. The cloud-based remote control method and the system thereof according to the present invention will be described with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a flowchart of a control method of a shield propulsion system according to the present invention. The control method of the shield propulsion system according to the present invention will be described with reference to fig. 1.
As shown in fig. 1, the present invention provides a method for controlling a shield propulsion system, the shield propulsion system including a plurality of jacks spaced along a cross-section of a shield machine, comprising the steps of:
evenly dividing a plurality of jacks into three areas, and selecting one jack in each area as a target jack;
acquiring stroke data of the shield tunneling machine, comparing the acquired stroke data with a preset track of the shield tunneling machine, and calculating to obtain stroke variation of each target jack; and
and correspondingly adjusting the stroke of the target jack according to the calculated stroke variable quantity, and synchronously adjusting the jacking forces of other jacks in the area where the target jack is located according to the jacking force of the target jack, so that the jacking forces of the jacks in the area are the same.
As a preferred embodiment of the present invention, as shown in fig. 2, when the jacks are divided into three areas, the method further includes:
the jacks are evenly divided into three areas along a straight line passing through the center of the shield propulsion system, so that the number of the jacks in each area is equal.
Specifically, the distances between the three target jacks are equal.
Preferably, if the number of the jacks is not an integral multiple of 3, the difference between the numbers of the jacks in each area is less than or equal to 1.
Further, the acquired stroke data comprise a notch posture and a shield tail posture of the shield tunneling machine.
Preferably, the travel variation of the jack in each area is calculated by using a PID algorithm.
Further, the jacking force of the jack in each area is regulated by a pressure proportional valve, and the stroke of each target jack is regulated by a flow proportional valve;
adjusting the stroke of the corresponding target jack by using the flow proportional valve, and synchronously transmitting the jacking force of the target jack to other jacks in the corresponding area by using the pressure proportional valve in the corresponding area so as to enable the jacking force of the other jacks in the area to be equal to the jacking force of the target jack;
the target jack is required to extend out of the set distance, jacking force is inevitably generated on the segment, the jacks in each area are controlled by one pressure proportional valve, namely the hydraulic control systems of the jacks in one area are the same, therefore, the jacking force of the jacks in the area is equal, and if the jacking force of other jacks in the area is equal to that of the target jack, the jacks are inevitably required to jack the segment, so that all the jacks in the shield propulsion system can be ensured to be jacked against the segment.
The specific embodiment of the invention is as follows:
dividing regions according to the number of jacks in the shield propulsion system to divide a plurality of jacks into three regions, so that the number of the jacks in the three regions is equal or similar;
if the number of the jacks is a multiple of 3, the number of the jacks in each area is equal, if the number of the jacks is not a multiple of 3, the difference of the number of the jacks in each area is not more than one, one jack is selected in each area as a target jack, the distances among the three jacks are equal, and the three jacks enclose an equilateral triangle;
acquiring stroke data of the shield tunneling machine, comparing the acquired stroke data with a preset track of the shield tunneling machine, calculating stroke variation of jacks in each region, and setting by using a PID (proportion integration differentiation) algorithm or manually, wherein for example, if the posture of the shield tunneling machine is deviated downwards, the upward deviation correction is needed, the stroke of a target jack below the center of a shield propulsion system is set to be 5 millimeters longer than that of a target jack above the center, and if the posture of the shield tunneling machine is deviated upwards, the downward deviation correction is needed, and the stroke of the target jack above the center of the shield propulsion system is set to be 5 millimeters longer than that of the target jack below the center;
at the moment, the target jack extends outwards and has a corresponding jacking force, and the jacking force of other jacks in the area is equal to that of the target jack through the adjustment of a pressure proportional valve because the target jack and the other jacks in the area are a hydraulic system;
and then, the attitude of the shield tunneling machine can be accurately controlled by utilizing the sensor to realize closed-loop control.
The invention also provides a control system of the shield propulsion system, which comprises:
the area dividing module is used for evenly dividing the jacks into three areas and selecting one jack in each area as a target jack;
the data acquisition module is used for acquiring the stroke data of the shield tunneling machine;
the data processing module is used for comparing the acquired stroke data with a preset track of the shield tunneling machine and calculating the stroke variation of each target jack; and
and the controller is used for correspondingly adjusting the stroke of the target jack according to the calculated stroke variable quantity and synchronously giving the jacking force of the target jack to other jacks in the area where the target jack is located.
Further, the distances between the three target jacks selected by the zone dividing module are equal.
Preferably, if the number of the jacks is not an integral multiple of 3, the difference between the numbers of the jacks in each area is less than or equal to 1.
Further, the stroke data acquired by the data acquisition module comprises a notch posture and a shield tail posture of the shield tunneling machine.
Further, the controller includes:
three flow proportional valves corresponding to the three target jacks are arranged to adjust the stroke of the target jacks; and
and the three pressure proportional valves are arranged corresponding to the three areas so as to synchronously adjust the jacking forces of other jacks in the areas according to the jacking force of the target jack in the corresponding area, so that the jacking forces of the jacks in the areas are equal.
The specific embodiment of the invention is as follows:
the region dividing module divides regions according to the number of jacks in the shield propulsion system so as to divide the jacks into three regions, so that the number of the jacks in the three regions is equal or similar;
if the number of the jacks is a multiple of 3, the number of the jacks in each area is equal, if the number of the jacks is not a multiple of 3, the difference of the number of the jacks in each area is not more than one, one jack is selected in each area as a target jack, the distances among the three jacks are equal, and the three jacks enclose an equilateral triangle;
the method comprises the steps that a data acquisition module acquires stroke data of the shield machine, the acquired stroke data are compared with a preset track of the shield machine, a data processing module calculates stroke variation of jacks in each region, a PID algorithm can be utilized, and manual setting can be carried out, for example, if the posture of the shield machine deviates downwards, upward deviation correction is needed, the stroke of a target jack below the center of a shield propulsion system is set to be 5 millimeters longer than that of a target jack above the center, if the posture of the shield machine deviates upwards, downward correction is needed, and the stroke of the target jack above the center of the shield propulsion system is set to be 5 millimeters longer than that of the target jack below the center;
the controller controls the target jack to perform stroke adjustment, the target jack extends outwards and has corresponding jacking force, the target jack and other jacks in the area are a hydraulic system, so that the jacking force of the other jacks in the area is equal to that of the target jack through pressure proportional valve adjustment, and if the jacking force is the same, the other jacks are inevitably jacked to the segment, so that all the jacks in the shield propulsion system can be guaranteed to be jacked to the segment;
and then, the attitude of the shield tunneling machine can be accurately controlled by utilizing the sensor to realize closed-loop control.
While the present invention has been described in detail and with reference to the embodiments thereof as illustrated in the accompanying drawings, it will be apparent to one skilled in the art that various changes and modifications can be made therein. Therefore, certain details of the embodiments are not to be interpreted as limiting, and the scope of the invention is to be determined by the appended claims.
Claims (10)
1. A control method of a shield propulsion system, wherein the shield propulsion system comprises a plurality of jacks arranged at intervals along the cross section of a shield machine, is characterized by comprising the following steps:
evenly dividing the jacks into three areas, and selecting one jack in each area as a target jack;
acquiring stroke data of the shield tunneling machine, comparing the acquired stroke data with a preset track of the shield tunneling machine, and calculating to obtain stroke variation of each target jack; and
correspondingly adjusting the stroke of the target jack according to the calculated stroke variation, and synchronously adjusting the jacking forces of other jacks in the area where the target jack is located according to the jacking force of the target jack, so that the jacking forces of the jacks in the area are the same.
2. The method of controlling a shield propulsion system according to claim 1, wherein the dividing of the plurality of jacks into three regions further comprises:
and evenly dividing the jacks into three areas along a straight line passing through the center of the shield propulsion system, so that the number of the jacks in each area is equal.
3. The control method of a shield propulsion system according to claim 2, wherein the distances between the three target jacks are equal.
4. The method of controlling a shield tunneling propulsion system according to claim 1, wherein the acquired travel data includes a cut attitude and a tail attitude of the shield tunneling machine.
5. The control method of a shield propulsion system according to claim 1, characterized in that the stroke variation of the jack in each zone is calculated by using a PID algorithm.
6. The method of controlling a shield tunneling propulsion system according to claim 1, wherein the jacking force of the jack in each of the zones is regulated by a pressure proportional valve, and the stroke of each of the target jacks is regulated by a flow proportional valve:
and adjusting the stroke of the corresponding target jack by using the flow proportional valve, and synchronously giving the jacking force of the target jack to other jacks in the corresponding area by using the pressure proportional valve in the corresponding area so as to enable the jacking force of the other jacks in the area to be equal to the jacking force of the target jack.
7. A control system for a shield tunneling system according to claim 1, comprising:
the area dividing module is used for evenly dividing the jacks into three areas and selecting one jack in each area as a target jack;
the data acquisition module is used for acquiring the stroke data of the shield tunneling machine;
the data processing module is used for comparing the acquired stroke data with a preset track of the shield tunneling machine and calculating the stroke variation of each target jack; and
and the controller is used for correspondingly adjusting the stroke of the target jack according to the calculated stroke variable quantity and synchronously giving the jacking force of the target jack to other jacks in the area where the target jack is located.
8. The control system of a shield propulsion system according to claim 7, wherein the distances between the three target jacks selected by the zone dividing module are equal.
9. The control system of a shield propulsion system according to claim 5, wherein the stroke data acquired by the data acquisition module includes a cut attitude and a tail attitude of the shield machine.
10. The control system of a shield propulsion system as claimed in claim 5, wherein the controller comprises:
three flow proportional valves corresponding to the three target jacks are arranged so as to adjust the stroke of the target jack; and
and the three pressure proportional valves are arranged corresponding to the three regions so as to synchronously adjust the jacking forces of other jacks in the regions according to the jacking force of the target jack in the corresponding region, so that the jacking forces of the jacks in the regions are equal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010693844.4A CN111810167B (en) | 2020-07-17 | 2020-07-17 | Control method and system of shield propulsion system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010693844.4A CN111810167B (en) | 2020-07-17 | 2020-07-17 | Control method and system of shield propulsion system |
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| Publication Number | Publication Date |
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| CN111810167A true CN111810167A (en) | 2020-10-23 |
| CN111810167B CN111810167B (en) | 2022-12-20 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1800583A (en) * | 2005-12-05 | 2006-07-12 | 上海市第二市政工程有限公司 | Method and apparatus for real-time automatic correction of shield attitude deviation |
| CN207813618U (en) * | 2018-01-15 | 2018-09-04 | 中铁十六局集团北京轨道交通工程建设有限公司 | A kind of auxiliary propulsion plant for shield-tunneling construction |
| CN110067568A (en) * | 2019-05-30 | 2019-07-30 | 上海隧道工程有限公司 | The self-adaptation control method and system of shield correction oil pressure output |
| CN110067566A (en) * | 2019-05-30 | 2019-07-30 | 上海隧道工程有限公司 | The prediction technique and system of shield correction torque |
| CN110578529A (en) * | 2019-09-20 | 2019-12-17 | 上海隧道工程有限公司 | Shield tunneling machine excavation attitude vector self-adaptive adjustment method and system |
-
2020
- 2020-07-17 CN CN202010693844.4A patent/CN111810167B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1800583A (en) * | 2005-12-05 | 2006-07-12 | 上海市第二市政工程有限公司 | Method and apparatus for real-time automatic correction of shield attitude deviation |
| CN207813618U (en) * | 2018-01-15 | 2018-09-04 | 中铁十六局集团北京轨道交通工程建设有限公司 | A kind of auxiliary propulsion plant for shield-tunneling construction |
| CN110067568A (en) * | 2019-05-30 | 2019-07-30 | 上海隧道工程有限公司 | The self-adaptation control method and system of shield correction oil pressure output |
| CN110067566A (en) * | 2019-05-30 | 2019-07-30 | 上海隧道工程有限公司 | The prediction technique and system of shield correction torque |
| CN110578529A (en) * | 2019-09-20 | 2019-12-17 | 上海隧道工程有限公司 | Shield tunneling machine excavation attitude vector self-adaptive adjustment method and system |
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| CN111810167B (en) | 2022-12-20 |
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