CN112178010B - Control algorithm for regulation in submarine tunnel - Google Patents
Control algorithm for regulation in submarine tunnel Download PDFInfo
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- CN112178010B CN112178010B CN202011155202.5A CN202011155202A CN112178010B CN 112178010 B CN112178010 B CN 112178010B CN 202011155202 A CN202011155202 A CN 202011155202A CN 112178010 B CN112178010 B CN 112178010B
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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]
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention relates to the technical field of submarine tunnel construction, in particular to an in-submarine tunnel regulation and control algorithm. In the process, if the sensor of the displacement 1 of the pushing end does not report errors after the system is started, the actual displacement value L0 of the oil cylinder of the pushing end = the actual displacement value L1 of the oil cylinder of the pushing end; if the sensor of the pushing end displacement 1 reports errors, the actual value L0 of the displacement of the oil cylinder of the pushing end = the actual value L2 of the displacement of the oil cylinder of the pushing end; after the operation, if L0> = the set pushing stroke L, the system stops; if L0< set pushing stroke L, the system runs until L0> = L when the system has no error report, and if the system reports the error, the system stops. The system error reporting comprises | L0-L3| > = D1, | L0-L4| > = D1, if the pushing end displacement 1 sensor fails to report errors, L7-L5< = D2, if the pushing end displacement 1 sensor reports errors, L7-L6< = D2, F > = F1 and F < = F2. 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 the field work.
Description
Technical Field
The invention relates to the technical field of submarine tunnel construction, in particular to an in-submarine tunnel regulation and control algorithm.
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 the 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 section of immersed tube is installed, the accumulated error is very large, whether the butt joint can be finally completed or not, and whether the whole project can be successfully completed or not, and huge hidden dangers can be brought.
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 elongation 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, the actual displacement value of the pushing end oil cylinder 1 as L1, the actual displacement value of the pushing end oil cylinder 2 as L2, the actual displacement value of the un-pushing end oil cylinder 1 as L3, the actual displacement value of the un-pushing end oil cylinder 2 as L4, the actual piston elongation value of the pushing end oil cylinder 1 as L5, the actual piston elongation value of the pushing end oil cylinder 2 as L6 and the actual system top thrust value as F;
after the system is started, if the sensor of the displacement 1 of the pushing end does not report an error, the actual displacement value L0 of the oil cylinder of the pushing end = the actual displacement value L1 of the oil cylinder of the pushing end; if the sensor of the pushing end displacement 1 reports errors, the actual value L0 of the displacement of the oil cylinder of the pushing end = the actual value L2 of the displacement of the oil cylinder of the pushing end;
after the operation, if L0> = the set pushing stroke L, the system stops; if L0< set pushing stroke L, the system runs until L0> = L when the system has no error report, and if the system reports the error, the system stops.
Further, the system error report includes | L0-L3| > = D1, | L0-L4| > = D1.
Further, the sensor of the pushing end displacement 1 is not error-reported by L7-L5< = D2, and the sensor of the pushing end displacement 1 is error-reported by L7-L6< = D2, F > = F1, 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 designed in a redundant mode.
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, are used in an orientation or positional relationship based on that shown in the drawings, merely for convenience in describing the present invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and thus, are not to 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 submarine tunnel internal regulation control algorithm provided by the embodiment of the present invention, the following description is given 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 elongation 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, recording the actual displacement value of the pushing end oil cylinder, recording the actual displacement value of 1 of the pushing end oil cylinder, recording the actual displacement value of 2 of the pushing end oil cylinder, recording the actual displacement value of 1 of an un-pushing end oil cylinder, recording the actual displacement value of 2 of the un-pushing end oil cylinder, recording the actual piston elongation value of 1 of the pushing end oil cylinder, recording the actual piston elongation value of 2 of the pushing end oil cylinder as L5, recording the actual piston elongation value of L6 of the pushing end oil cylinder and recording the actual system top thrust value as F in the pushing process of the system;
in the embodiment, 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 pushing end of the pushing end is larger than the error D1 between the pushing end and the pushing end, or the difference value between the maximum elongation of the oil cylinder and the elongation of the piston of the pushing end is larger than the stroke error D2 between the pushing end and the oil cylinder, or the pushing force is larger than the upper limit F1 of the pushing force, or the pushing force is smaller than the lower limit F2 of the pushing force, the system can automatically perform pressure alarm indication, and the pushing end displacement sensor reports errors, so that the system is shut down.
In this embodiment, if the push end displacement 1 sensor does not report an error after the system is started, the actual displacement value L0 of the push end oil cylinder = the actual displacement value L1 of the push end oil cylinder; if the sensor of the pushing end displacement 1 reports errors, the actual value L0 of the displacement of the oil cylinder of the pushing end = the actual value L2 of the displacement of the oil cylinder of the pushing end;
after the operation, if L0> = the set pushing stroke L, the system stops; if L0< set pushing stroke L, the system runs until L0> = L when the system has no error report, and if the system reports the error, the system stops.
The system error reporting comprises | L0-L3| > = D1, | L0-L4| > = D1, if the pushing end displacement 1 sensor fails to report errors, L7-L5< = D2, if the pushing end displacement 1 sensor reports errors, L7-L6< = D2, F > = F1 and F < = F2.
As shown in fig. 2 to 3, in this embodiment, hardware of the whole system corresponding to the regulation and control algorithm in the submarine tunnel 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 mutually, one displacement sensor is out of order, and the other displacement sensor can be put into use at once. The system in the embodiment adopts the arrangement of redundant sensors, the pushing end is provided with two displacement sensors for control, if one displacement sensor goes wrong, the other displacement sensor can be put into use immediately, and the two sensors are adopted, so that the error of the feedback value of the underwater displacement can be avoided, and the safe operation during pushing is ensured.
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 elongation 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, the actual displacement value of the pushing end oil cylinder 1 as L1, the actual displacement value of the pushing end oil cylinder 2 as L2, the actual displacement value of the un-pushing end oil cylinder 1 as L3, the actual displacement value of the un-pushing end oil cylinder 2 as L4, the actual piston elongation value of the pushing end oil cylinder 1 as L5, the actual piston elongation value of the pushing end oil cylinder 2 as L6 and the actual system top thrust value as F;
after the system is started, if the pushing end displacement 1 sensor does not report an error, the actual displacement value L0 of the pushing end oil cylinder = the actual displacement value L1 of the pushing end oil cylinder; if the sensor of the pushing end displacement 1 reports errors, the actual value L0 of the displacement of the oil cylinder of the pushing end = the actual value L2 of the displacement of the oil cylinder of the pushing end;
after the operation, if L0> = the set pushing stroke L, the system stops; if L0< set pushing stroke L, the system runs until L0> = L when the system has no error report, and if the system reports the error, the system stops.
2. The subsea intra-tunnel regulation control algorithm of claim 1, wherein: the system error reporting comprises | L0-L3| > = D1, | L0-L4| > = D1.
3. The subsea control algorithm in tunnel according to claim 1, wherein the push end displacement 1 sensor is L7-L5< = D2 if it is not error-reported, and the push end displacement 1 sensor is L7-L6< = D2 if it is error-reported, 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.
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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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| CN202011155202.5A CN112178010B (en) | 2020-10-26 | 2020-10-26 | Control algorithm for regulation in submarine tunnel |
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| CN112178010B true CN112178010B (en) | 2023-03-14 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0658082A (en) * | 1992-08-11 | 1994-03-01 | Yoshida Tekkosho:Kk | Excavation correcting device with double header drill |
| WO2010046975A1 (en) * | 2008-10-22 | 2010-04-29 | 川崎重工業株式会社 | Prealigner |
| CN103835329B (en) * | 2014-03-14 | 2016-02-24 | 徐工集团工程机械股份有限公司 | Automatic correction method and device |
| EP2957674B1 (en) * | 2014-06-18 | 2017-10-11 | HP3 Real GmbH | Method for operating a movable superstructure machine on a railway track |
| CN105382629B (en) * | 2015-11-30 | 2019-01-18 | 厦门厦芝科技工具有限公司 | A kind of position correction apparatus |
| CN111101860B (en) * | 2019-11-05 | 2021-06-01 | 遵义师范学院 | Drilling rod clamping device that rectifies for geotechnical engineering |
| CN111779720B (en) * | 2020-06-22 | 2023-03-31 | 中国地质大学（北京） | Hydraulic system and high-temperature high-pressure synthesis equipment |
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