CN112178010A - Control algorithm for regulation in submarine tunnel - Google Patents
Control algorithm for regulation in submarine tunnel Download PDFInfo
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- CN112178010A CN112178010A CN202011155202.5A CN202011155202A CN112178010A CN 112178010 A CN112178010 A CN 112178010A CN 202011155202 A CN202011155202 A CN 202011155202A CN 112178010 A CN112178010 A CN 112178010A
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- displacement
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- oil cylinder
- pushing end
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B9/00—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member
- F15B9/02—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type
- F15B9/08—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor
- F15B9/09—Servomotors with follow-up action, e.g. obtained by feed-back control, i.e. in which the position of the actuated member conforms with that of the controlling member with servomotors of the reciprocatable or oscillatable type controlled by valves affecting the fluid feed or the fluid outlet of the servomotor with electrical control means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to the technical field of submarine tunnel construction, in particular to a regulation and control algorithm in a submarine tunnel. If the pushing end oil cylinder displacement 1 sensor does not report an error after the system is started in the process, the actual pushing end oil cylinder displacement value L0 is equal to the actual pushing end oil cylinder displacement 1 value L1; if the pushing end displacement 1 sensor reports an error, the actual value L0 of the displacement of the pushing end oil cylinder is equal to the actual value L2 of the displacement 2 of the pushing end oil cylinder; after the operation, if the L0> is equal to the set pushing stroke L, stopping the system; if L0< set pushing travel L, the system runs until L0> is equal to L when no error is reported, and if the system reports an error, the system stops. The system error reporting comprises | L0-L3| > < D1, | L0-L4| > < D1, L7-L5< D2 when the pushing end displacement 1 sensor does not report errors, L7-L6< D2, F > < F1 and F < F2 when the pushing end displacement 1 sensor reports errors. The invention adopts position closed-loop control to ensure the deviation rectification and positioning of the component, and the redundant control system realizes the switching operation under any condition and ensures the smoothness of field work.
Description
Technical Field
The invention relates to the technical field of submarine tunnel construction, in particular to a regulation and control algorithm in a submarine tunnel.
Background
The fine adjustment method is a method for realizing deviation correction of the tail end of the immersed tube to be settled by arranging a pushing device and a feedback device on the immersed tube and the side wall of the immersed tube to be settled at the butt joint end of the immersed tube and pushing the side wall of the butt joint end of the immersed tube to be settled by a deviation correcting system arranged at the butt joint end of the immersed tube when the deviation of the axis of the immersed tube needs to be adjusted.
The construction of the submarine tunnel is completed by gradually splicing a plurality of pipe sections in a floating and sinking mode, because the number of sinking pipes is large, if the error is not controlled when each sinking pipe is installed, the accumulated error is very large, and huge hidden dangers are brought to the condition that whether the butt joint can be finally completed and the whole project can be smoothly completed, so that the accurate measurement and the accurate adjustment and the deviation correction are needed to be performed after each sinking pipe is installed.
Disclosure of Invention
Aiming at the defects in the construction process, the application provides a regulation and control algorithm in a submarine tunnel, which solves the technical problems that the number of immersed tubes is large in the current construction process, if the error is not controlled when each immersed tube is installed, the accumulated error is very large, and huge hidden danger is brought to the condition that whether the butt joint can be finally completed and whether the whole project can be successfully completed.
In order to achieve the purpose, the invention provides the following technical scheme:
the control algorithm for the regulation in the submarine tunnel comprises the following steps:
firstly, measuring and estimating the distance to be pushed, and enabling the oil cylinder to return to a zero position before pushing after pre-pushing;
setting a pushing stroke L, the maximum extension of an oil cylinder L7, a pushing end-non-pushing end error D1, a pushing end-oil cylinder stroke error D2, an upper limit of a pushing force F1 and a lower limit of the pushing force F2;
recording the actual displacement value of a pushing end oil cylinder in the pushing process of the system as L0, recording the actual displacement value 1 of the pushing end oil cylinder as L1, recording the actual displacement value 2 of the pushing end oil cylinder as L2, recording the actual displacement value 1 of an un-pushing end oil cylinder as L3, recording the actual displacement value 2 of the un-pushing end oil cylinder as L4, recording the actual elongation value of a piston of the pushing end oil cylinder 1 as L5, recording the actual elongation value of a piston of the pushing end oil cylinder 2 as L6, and recording the actual thrust value of the top of the system as F;
if the pushing end displacement 1 sensor does not report an error after the system is started, the actual value L0 of the displacement of the pushing end oil cylinder is equal to the actual value L1 of the displacement 1 of the pushing end oil cylinder; if the pushing end displacement 1 sensor reports an error, the actual value L0 of the displacement of the pushing end oil cylinder is equal to the actual value L2 of the displacement 2 of the pushing end oil cylinder;
after the operation, if the L0> is equal to the set pushing stroke L, stopping the system; if L0< set pushing travel L, the system runs until L0> is equal to L when no error is reported, and if the system reports an error, the system stops.
Further, the system error reporting includes | L0-L3| > | D1, | L0-L4| > | D1.
Further, the pushing end displacement 1 sensor does not report an error, L7-L5< ═ D2, the pushing end displacement 1 sensor reports an error, L7-L6< ═ D2, F > -F1, and F < ═ F2.
Furthermore, the hardware of the whole system corresponding to the regulation and control algorithm in the submarine tunnel comprises an upper computer, a sub-station PLC, an Ethernet, a motor, an electromagnetic valve, a displacement sensor and a pressure sensor.
Further, the displacement sensor is of a redundant design.
Further, the displacement sensor is arranged at the pushing end.
Further, two displacement sensors are arranged, the two displacement sensors can be replaced mutually, one displacement sensor has a problem, and the other displacement sensor can be put into use immediately.
Compared with the prior art, the invention has the following beneficial effects:
the regulation control algorithm in the submarine tunnel provided by the invention adopts position closed-loop control, ensures the deviation rectification and positioning of the member, adopts a force protection mode, ensures the stress safety in the working process, adopts a redundant control system, realizes the switching operation under any condition and ensures the smoothness of field work.
Drawings
Fig. 1 is a configuration diagram of equipment corresponding to a regulation and control algorithm in a submarine tunnel according to an embodiment of the present invention;
fig. 2 is a control logic diagram of a regulation control algorithm in a submarine tunnel according to an embodiment of the present invention;
fig. 3 is a control schematic diagram of a regulation control algorithm in a submarine tunnel according to an embodiment of the present invention.
Detailed Description
The invention is described in detail below by way of exemplary embodiments. It should be understood, however, that elements, structures and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "bottom", "inner", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In order to more clearly and specifically describe the control algorithm for the subsea tunnel control provided in the embodiment of the present invention, the following description will be made with reference to specific embodiments.
Example 1
As shown in fig. 1, the present embodiment provides a regulation and control algorithm in a submarine tunnel, including the following steps:
firstly, measuring and estimating the distance to be pushed, and enabling the oil cylinder to return to a zero position before pushing after pre-pushing;
setting a pushing stroke L, the maximum extension of an oil cylinder L7, a pushing end-non-pushing end error D1, a pushing end-oil cylinder stroke error D2, an upper limit of a pushing force F1 and a lower limit of the pushing force F2;
recording the actual displacement value of a pushing end oil cylinder in the pushing process of the system as L0, recording the actual displacement value 1 of the pushing end oil cylinder as L1, recording the actual displacement value 2 of the pushing end oil cylinder as L2, recording the actual displacement value 1 of an un-pushing end oil cylinder as L3, recording the actual displacement value 2 of the un-pushing end oil cylinder as L4, recording the actual elongation value of a piston of the pushing end oil cylinder 1 as L5, recording the actual elongation value of a piston of the pushing end oil cylinder 2 as L6, and recording the actual thrust value of the top of the system as F;
after the system starts to push, the displacement is taken as a target, when the displacement L0 of the pushing end is smaller than the set pushing stroke L and the displacement sensor of the pushing end does not report an error, the system runs until the displacement L0 of the pushing end is larger than or equal to the position of L; when the difference value between the pushing end and the non-pushing end is larger than a pushing end-non-pushing end error D1, or the difference value between the maximum extension of the oil cylinder and the extension of the piston at the pushing end is larger than a pushing end-oil cylinder stroke error D2, or the pushing force is larger than a pushing force upper limit F1, or the pushing force is smaller than a pushing force lower limit F2, the system can automatically perform pressure alarm indication, the pushing end displacement sensor reports errors, and the system is stopped.
In this embodiment, if the sensor of the pushing end displacement 1 fails to report an error after the system is started, the actual value L0 of the pushing end oil cylinder displacement is equal to the actual value L1 of the pushing end oil cylinder displacement 1; if the pushing end displacement 1 sensor reports an error, the actual value L0 of the displacement of the pushing end oil cylinder is equal to the actual value L2 of the displacement 2 of the pushing end oil cylinder;
after the operation, if the L0> is equal to the set pushing stroke L, stopping the system; if L0< set pushing travel L, the system runs until L0> is equal to L when no error is reported, and if the system reports an error, the system stops.
The system error reporting comprises | L0-L3| > < D1, | L0-L4| > < D1, L7-L5< D2 when the pushing end displacement 1 sensor does not report errors, L7-L6< D2, F > < F1 and F < F2 when the pushing end displacement 1 sensor reports errors.
As shown in fig. 2-3, the hardware of the whole system corresponding to the regulation and control algorithm in the submarine tunnel in this embodiment includes an upper computer, a sub-station PLC, an ethernet, a motor, an electromagnetic valve, a displacement sensor, and a pressure sensor, where the position control is closed-loop control by valve control, and the force protection is closed-loop control by feedback of the pressure sensor.
In this embodiment, the displacement sensor is designed in a redundant manner, the displacement sensor is arranged at the pushing end, the two displacement sensors are arranged, the two displacement sensors can be replaced with each other, one displacement sensor is out of order, and the other displacement sensor can be put into use at once. In the embodiment, the system adopts the arrangement of redundant sensors, the pushing end is provided with two displacement sensors for control, if one displacement sensor fails, the other displacement sensor can be put into use immediately, and the two sensors can avoid errors in the feedback value of the underwater displacement and ensure safe operation during pushing.
The regulation and control algorithm in the submarine tunnel provided by the embodiment adopts position closed-loop control, ensures the deviation rectification and positioning of the member, adopts a force protection mode, ensures the stress safety in the working process, adopts a redundant control system, realizes the switching operation under any condition, ensures the smoothness of field work, and has good use value.
Claims (7)
1. The regulation control algorithm in the submarine tunnel is characterized in that: the control algorithm for the regulation in the submarine tunnel comprises the following steps:
firstly, measuring and estimating the distance to be pushed, and enabling the oil cylinder to return to a zero position before pushing after pre-pushing;
setting a pushing stroke L, the maximum extension of an oil cylinder L7, a pushing end-non-pushing end error D1, a pushing end-oil cylinder stroke error D2, an upper limit of a pushing force F1 and a lower limit of the pushing force F2;
recording the actual displacement value of a pushing end oil cylinder in the pushing process of the system as L0, recording the actual displacement value 1 of the pushing end oil cylinder as L1, recording the actual displacement value 2 of the pushing end oil cylinder as L2, recording the actual displacement value 1 of an un-pushing end oil cylinder as L3, recording the actual displacement value 2 of the un-pushing end oil cylinder as L4, recording the actual elongation value of a piston of the pushing end oil cylinder 1 as L5, recording the actual elongation value of a piston of the pushing end oil cylinder 2 as L6, and recording the actual thrust value of the top of the system as F;
if the pushing end displacement 1 sensor does not report an error after the system is started, the actual value L0 of the displacement of the pushing end oil cylinder is equal to the actual value L1 of the displacement 1 of the pushing end oil cylinder; if the pushing end displacement 1 sensor reports an error, the actual value L0 of the displacement of the pushing end oil cylinder is equal to the actual value L2 of the displacement 2 of the pushing end oil cylinder;
after the operation, if the L0> is equal to the set pushing stroke L, stopping the system; if L0< set pushing travel L, the system runs until L0> is equal to L when no error is reported, and if the system reports an error, the system stops.
2. The subsea intra-tunnel regulation control algorithm of claim 1, wherein: the system reports errors including | L0-L3| > -D1, | L0-L4| > -D1.
3. The subsea tunnel internal regulation control algorithm of claim 1, wherein the push end displacement 1 sensor error reporting rule is L7-L5< ═ D2, and the push end displacement 1 sensor error reporting rule is L7-L6< ═ D2, F > -F1, F < ═ F2.
4. The subsea intra-tunnel regulation control algorithm of claim 1, wherein: hardware of the whole system corresponding to the regulation and control algorithm in the submarine tunnel comprises an upper computer, a sub-station PLC, an Ethernet, a motor, an electromagnetic valve, a displacement sensor and a pressure sensor.
5. The subsea intra-tunnel regulation control algorithm of claim 4, wherein: the displacement sensor adopts a redundant design.
6. The subsea intra-tunnel regulation control algorithm of claim 5, wherein: the displacement sensor is arranged at the pushing end.
7. The subsea intra-tunnel regulation control algorithm of claim 6, wherein: the displacement sensor is provided with two displacement sensors, the two displacement sensors can be replaced mutually, one displacement sensor has a problem, and the other displacement sensor can be put into use immediately.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011155202.5A CN112178010B (en) | 2020-10-26 | 2020-10-26 | Control algorithm for regulation in submarine tunnel |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011155202.5A CN112178010B (en) | 2020-10-26 | 2020-10-26 | Control algorithm for regulation in submarine tunnel |
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| CN112178010A true CN112178010A (en) | 2021-01-05 |
| CN112178010B CN112178010B (en) | 2023-03-14 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0658082A (en) * | 1992-08-11 | 1994-03-01 | Yoshida Tekkosho:Kk | Excavation correcting device with double header drill |
| US20110218663A1 (en) * | 2008-10-22 | 2011-09-08 | Kawasaki Jukogyo Kabushiki Kaisha | Pre-aligner apparatus |
| CN103835329A (en) * | 2014-03-14 | 2014-06-04 | 徐工集团工程机械股份有限公司 | Automatic inclination correcting method and device |
| CN105200877A (en) * | 2014-06-18 | 2015-12-30 | 系统7-铁路维护有限责任公司 | Railway track calibration system |
| CN105382629A (en) * | 2015-11-30 | 2016-03-09 | 厦门创信亿达精密科技有限公司 | Position correction device |
| CN111101860A (en) * | 2019-11-05 | 2020-05-05 | 遵义师范学院 | Drilling rod clamping device that rectifies for geotechnical engineering |
| CN111779720A (en) * | 2020-06-22 | 2020-10-16 | 中国地质大学（北京） | Hydraulic system and high-temperature high-pressure synthesis equipment |
-
2020
- 2020-10-26 CN CN202011155202.5A patent/CN112178010B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0658082A (en) * | 1992-08-11 | 1994-03-01 | Yoshida Tekkosho:Kk | Excavation correcting device with double header drill |
| US20110218663A1 (en) * | 2008-10-22 | 2011-09-08 | Kawasaki Jukogyo Kabushiki Kaisha | Pre-aligner apparatus |
| CN103835329A (en) * | 2014-03-14 | 2014-06-04 | 徐工集团工程机械股份有限公司 | Automatic inclination correcting method and device |
| CN105200877A (en) * | 2014-06-18 | 2015-12-30 | 系统7-铁路维护有限责任公司 | Railway track calibration system |
| CN105382629A (en) * | 2015-11-30 | 2016-03-09 | 厦门创信亿达精密科技有限公司 | Position correction device |
| CN111101860A (en) * | 2019-11-05 | 2020-05-05 | 遵义师范学院 | Drilling rod clamping device that rectifies for geotechnical engineering |
| CN111779720A (en) * | 2020-06-22 | 2020-10-16 | 中国地质大学（北京） | Hydraulic system and high-temperature high-pressure synthesis equipment |
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| CN112178010B (en) | 2023-03-14 |
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