CN112922620A - Shield type TBM tracking control method and system - Google Patents

Shield type TBM tracking control method and system Download PDF

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Publication number
CN112922620A
CN112922620A CN202110181993.7A CN202110181993A CN112922620A CN 112922620 A CN112922620 A CN 112922620A CN 202110181993 A CN202110181993 A CN 202110181993A CN 112922620 A CN112922620 A CN 112922620A
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interval
section
propulsion
shield
oil cylinder
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CN112922620B (en
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程永亮
侯昆洲
任赛楠
黄春霞
张兵锋
赵威
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China Railway Construction Heavy Industry Group Co Ltd
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China Railway Construction Heavy Industry Group Co Ltd
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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
    • E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
    • E21D9/087—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines
    • 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
    • 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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  • 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)
  • Lining And Supports For Tunnels (AREA)

Abstract

The invention discloses a shield type TBM tracking control method and a system, which comprises the steps of obtaining the advancing track of a tightening shield and a rear matching trolley advancing towards a stabilizer cylinder; segmenting the advancing track according to the stroke of any one of a plurality of propulsion oil cylinders arranged along the circumferential direction of the telescopic shield to obtain a plurality of segmented intervals; and obtaining the retraction speed of each propulsion oil cylinder in each subsection interval according to the subsection interval and the preset synchronous retraction time of the propulsion oil cylinders, and controlling each propulsion oil cylinder to retract in sections at the retraction speed in each subsection interval. Compared with the situation that the thrust cylinder retracts directly during direction adjustment and the tightening shield cannot advance according to the preset track and collide with the wall of the hole in the prior art, the method and the system correct the movement speed of each thrust cylinder in real time and ensure that the running time of the thrust cylinders in each subsection interval is synchronous, so that the tightening shield can accurately follow the advancing track to run; the service life of the TBM is prolonged, the construction efficiency is improved, and the construction period is shortened.

Description

Shield type TBM tracking control method and system
Technical Field
The invention relates to the technical field of shield machine advancing control, in particular to a shield type TBM tracking control method and system.
Background
The full-section hard rock Tunnel Boring Machine (TBM) is large tunnel construction equipment integrating machine, electricity, liquid, light, gas and other systems into a whole, comprises a single shield TBM, a double shield TBM and an open type TBM, can be used for construction procedures of boring, supporting, slag tapping and the like and continuous operation, has the advantages of high boring speed, environmental protection, high comprehensive benefit and the like, and is rapidly increased in application in tunnel engineering of China railways, hydropower, traffic, mines, municipal works and the like.
FIG. 1 is a schematic diagram of a TBM in the prior art; wherein, 01 front shield, 02 telescopic shield, 03 bracing shield, 04 back matching trolley, 05 cutterhead, 06 stabilizer cylinder, 07 propelling cylinder, 08 bracing shoe and 09 guiding system. In the tunneling process of the TBM, the tunneling attitude changes and deviates from a target axis due to the inevitable influence of dead weight, geological conditions, human factors and the like, so that position deviation and angle deviation are generated, and the TBM needs to return to a target track through deviation correction and direction adjustment to ensure the tunnel construction quality. However, in the existing shield type TBM deviation-rectifying direction-adjusting method, tracking control of a tightening shield after direction adjustment is not considered, if a tunneling route has a large turn, the direction adjustment is performed after the direction adjustment, and a propulsion oil cylinder is directly retracted during step change, the tightening shield may collide with a tunnel wall, adverse effects such as TBM damage, blocking and the like are caused, the service life of equipment is reduced, the construction efficiency is influenced, and the construction period is delayed. And with the successive appearance of the multi-branch tunnel, the requirement for the TBM to back and replace the tunneling route is continuously increased, and how to ensure that the TBM can return along the original path of the tunneling track is a problem to be researched urgently.
Disclosure of Invention
In view of the above, a first object of the present invention is to provide a shield-type TBM tracking control method, which performs a segment-by-segment synchronous control according to an advancing track, so as to realize following advancement of a tightening shield and a rear supporting trolley after jumping a wire, and prevent the problem of TBM damage and jamming caused by collision between the tightening shield and a tunnel wall.
In order to achieve the first object, the invention provides the following technical scheme:
a tracking control method of a shield-type TBM comprises the following steps:
acquiring an advancing track of the tightening shield and the rear matching trolley advancing towards the stabilizer cylinder;
segmenting the advancing track according to the stroke of any one of a plurality of propulsion oil cylinders arranged along the circumferential direction of the telescopic shield to obtain a plurality of segmented intervals;
and obtaining the retraction speed of each propulsion oil cylinder in each subsection interval according to the subsection interval and the preset synchronous retraction time of the propulsion oil cylinders, and controlling each propulsion oil cylinder to retract in a subsection mode at the retraction speed in each subsection interval.
Preferably, the obtaining of the retraction speed of each propulsion cylinder in each segment interval according to the segment interval and the preset synchronous retraction time of the propulsion cylinder includes:
acquiring the center coordinate of the section of the starting point of each segmented interval, the center coordinate of the section of the terminal point of each segmented interval and the preset distance r between the section of the tightening shield and any one thrust cylinder;
obtaining the start point coordinate and the end point coordinate of each propulsion oil cylinder in each subsection interval according to the center coordinate of the start point section of each subsection interval, the center coordinate of the end point section of each subsection interval and the preset distance r between the section of the tightening shield and any propulsion oil cylinder;
calculating the stroke of each propulsion oil cylinder in each subsection interval according to the starting point coordinate and the end point coordinate of each propulsion oil cylinder in each subsection interval;
and obtaining the retraction speed of each propulsion oil cylinder in each subsection interval according to the stroke of each propulsion oil cylinder in each subsection interval and the preset synchronous retraction time of the propulsion oil cylinder.
Preferably, the starting point coordinates and the end point coordinates of each propulsion cylinder in each segment interval are obtained according to the central coordinates of the starting point cross section of each segment interval, the central coordinates of the end point cross section of each segment interval and the preset distance r between the cross section of the tightening shield and any propulsion cylinder; the method comprises the following steps:
according to the central coordinate (x) of each segment interval0j(n),y0j(n),z0j(n)) The preset distance r between the cross section of the tightening shield and any one of the propulsion cylinders and a formula
(xij(n),yij(n),zij(n))＝(x0j(n)+rsinθij(n)cosαij(n),y0j(n)+rsinθij(n)sinαij(n)+rcosθij(n)sinβij(n),z0j(n)+rcosθij(n)cosβij(n)) Calculating the starting point coordinate/end point coordinate of the ith propulsion oil cylinder in the nth segment of the segmentation interval;
j is 1 and 2, which are respectively a center coordinate corresponding to a starting point section of each segmented interval and a center coordinate corresponding to an end point section of each segmented interval, and n is the number of segments of the segmented interval; thetaij(n)The clockwise rotation angle between the vertical axis of the cross section of the tightening shield and the ith propulsion oil cylinder of the tightening shield is adopted; alpha is alphaij(n)The turning angle of the section of the starting point/the section of the end point in the nth segment interval takes the anticlockwise direction as the positive direction; beta is aij(n)The pitch angle of the starting point section/the end point section in the nth segment interval is in the clockwise direction.
Preferably, before the acquiring of the advancing track of the tightening shield and the rear matching trolley advancing towards the stabilizer cylinder, the method further comprises:
and judging whether the stroke of any one of the propulsion oil cylinders is equal to the maximum propulsion stroke, if so, executing the step of acquiring the advancing track of the tightening shield and the rear supporting trolley advancing towards the stabilizer oil cylinder.
Preferably, after the controlling the respective propulsion cylinders to retract sectionally at the retraction speed in each section of the sectionalized interval, the method further comprises:
and judging whether the strokes of all the propulsion oil cylinders are 0, if so, executing the step of judging whether the stroke of any one of the propulsion oil cylinders is equal to the maximum propulsion stroke.
A shield-style TBM tracking control system, comprising:
the advancing track acquiring module is used for acquiring an advancing track of the tightening shield and the rear matching trolley advancing towards the stabilizer cylinder;
the segmentation interval processing module is used for segmenting the advancing track according to the stroke of any one of a plurality of propulsion oil cylinders arranged along the circumferential direction of the telescopic shield to obtain a plurality of segmentation intervals;
the oil cylinder retraction speed processing module is used for obtaining the retraction speed of each propulsion oil cylinder in each subsection interval according to the subsection interval and the preset synchronous retraction time of the propulsion oil cylinder and triggering the propulsion oil cylinder control module to start;
and the propulsion oil cylinder control module is used for controlling each propulsion oil cylinder to retreat in sections at the retraction speed in each section of section interval.
Preferably, the cylinder retraction speed processing module includes:
the parameter acquisition unit is used for acquiring the center coordinates of the section of the starting point of each segmented interval, the center coordinates of the section of the terminal point of each segmented interval and the preset distance r between the section of the tightening shield and any one propulsion cylinder;
the propulsion cylinder coordinate calculation unit is used for obtaining the starting point coordinate and the end point coordinate of each propulsion cylinder in each subsection interval according to the central coordinate of the starting point section of each subsection interval, the central coordinate of the end point section of each subsection interval and the preset distance r between the section of the tightening shield and any propulsion cylinder;
the propulsion oil cylinder stroke calculation unit is used for calculating the stroke of each propulsion oil cylinder in each subsection interval according to the starting point coordinate and the end point coordinate of each propulsion oil cylinder in each subsection interval;
and the retraction speed calculation unit is used for obtaining the retraction speed of each propulsion oil cylinder in each subsection interval according to the stroke of each propulsion oil cylinder in each subsection interval and the preset synchronous retraction time of the propulsion oil cylinder.
Preferably, the propulsion cylinder coordinate calculation unit is configured to:
according to the central coordinate (x) of each segment interval0j(n),y0j(n),z0j(n)) The preset distance r between the cross section of the tightening shield and any one of the propulsion cylinders and a formula
(xij(n),yij(n),zij(n))＝(x0j(n)+rsinθij(n)cosαij(n),y0j(n)+rsinθij(n)sinαij(n)+rcosθij(n)sinβij(n),z0j(n)+rcosθij(n)cosβij(n)) Calculating the starting point coordinate/end point coordinate of the ith propulsion oil cylinder in the nth segment of the segmentation interval;
j is 1 and 2, which are respectively a center coordinate corresponding to a starting point section of each segmented interval and a center coordinate corresponding to an end point section of each segmented interval, and n is the number of segments of the segmented interval; thetaij(n)The clockwise rotation angle between the vertical axis of the cross section of the tightening shield and the ith propulsion oil cylinder of the tightening shield is adopted; alpha is alphaij(n)The turning angle of the section of the starting point/the section of the end point in the nth segment interval takes the anticlockwise direction as the positive direction; beta is aij(n)The pitch angle of the starting point section/the end point section in the nth segment interval is in the clockwise direction.
Preferably, the system further comprises:
and the maximum stroke judging module is used for judging whether the stroke of any one of the propulsion oil cylinders is equal to the maximum propulsion stroke, and if so, triggering the advancing track acquiring module to start.
Preferably, the system further comprises:
and the minimum stroke judging module is used for judging whether all strokes of the propulsion oil cylinders are 0, and if so, triggering the maximum stroke judging module to start.
The invention provides a shield type TBM tracking control method, which comprises the steps of obtaining an advancing track of a tightening shield and a rear matching trolley advancing towards a stabilizer cylinder; segmenting the advancing track according to the stroke of any one of a plurality of propulsion oil cylinders arranged along the circumferential direction of the telescopic shield to obtain a plurality of segmented intervals; and obtaining the retraction speed of each propulsion oil cylinder in each subsection interval according to the subsection interval and the preset synchronous retraction time of the propulsion oil cylinders, and controlling each propulsion oil cylinder to retract in sections at the retraction speed in each subsection interval.
Compared with the prior art, the shield type TBM tracking control method provided by the invention has the following technical effects:
firstly, segmenting the advancing track to obtain a plurality of segmented intervals, and controlling each propulsion cylinder to retract in segments at the retraction speed in each segmented interval to realize segmented synchronous control; compared with the situation that the thrust cylinder retracts directly during direction adjustment, so that the tightening shield cannot advance according to the preset track and collides with the wall of the hole in the prior art, the method has the advantages that the movement speed of each thrust cylinder is corrected in real time according to the TBM movement track, the running time of the thrust cylinders in each subsection interval is ensured to be synchronous, and therefore the tightening shield can accurately follow the advancing track to run; the service life of the TBM is prolonged, the construction efficiency is improved, and the construction period is shortened;
secondly, the method can be applied to solving multiple tracks, and after the TBM tunnels one branch, the TBM can be ensured to retreat to an initial position according to a tunneling track by the method, so that tracking control of TBM retreat is realized; the positioning is accurate when the next branch is tunneled, repeated positioning is not needed when multiple tracks are tunneled, or the problem of repeated direction adjustment occurs, and therefore the tunneling efficiency of the multiple tracks is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a TBM in the prior art;
FIG. 2 is a flowchart of a method for controlling tracking of a shield-type TBM according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a tunneling track provided in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a segment interval in the forward track according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a stroke of a thrust cylinder provided in an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a turning angle of a start point cross section/an end point cross section in a segment interval according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a pitch angle of a start point cross section/an end point cross section in a segment interval according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention discloses a shield type TBM tracking control method, which is used for carrying out segmented synchronous control according to an advancing track, realizing the following advancing of a tightening shield and a rear matching trolley after wire jumping, and preventing the problems of TBM damage and blocking caused by the collision of the tightening shield and a tunnel wall.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 2-7, fig. 2 is a flowchart illustrating a method of a shield-type TBM tracking control method according to an embodiment of the present invention; fig. 3 is a schematic diagram of a tunneling track provided in an embodiment of the present invention; FIG. 4 is a schematic diagram of a segment interval in the forward track according to an embodiment of the present invention; FIG. 5 is a schematic diagram of a stroke of a thrust cylinder provided in an embodiment of the present invention; fig. 6 is a schematic structural diagram of a turning angle of a start point cross section/an end point cross section in a segment interval according to an embodiment of the present invention; fig. 7 is a schematic structural diagram of a pitch angle of a start point cross section/an end point cross section in a segment interval according to an embodiment of the present invention.
In a specific embodiment, the method for controlling tracking of a shield-type TBM according to the present invention includes:
s11: acquiring an advancing track of the tightening shield and the rear matching trolley advancing towards the stabilizer cylinder;
s12: segmenting the advancing track according to the stroke of any one of a plurality of propulsion oil cylinders arranged along the circumferential direction of the telescopic shield to obtain a plurality of segmented intervals; preferably, when the stroke of the propulsion oil cylinder is greater than or equal to a preset stroke value, segmenting the advancing track; the preset stroke value is preferably the maximum propelling stroke, and the number of the subsection intervals is set according to the required track coincidence precision;
s13: and obtaining the retraction speed of each propulsion oil cylinder in each subsection interval according to the subsection interval and the preset synchronous retraction time of the propulsion oil cylinders, and controlling each propulsion oil cylinder to retract in sections at the retraction speed in each subsection interval.
The forward trajectory is a portion of a preset running trajectory of the TBM. The propulsion oil cylinder is arranged on the telescopic shield, two ends of the propulsion oil cylinder are respectively connected with the front shield and the tightening shield, and preferably, the propulsion oil cylinder is uniformly arranged along the circumferential direction of the telescopic shield, for example, the propulsion oil cylinder is distributed in the circumferential direction of the telescopic shield by taking the center of the telescopic shield as a circle center and taking the length r as a radius.
The preset synchronous retraction time is a preset value and is set according to the length of the subsection interval, so that the propulsion cylinders synchronously run in the same subsection interval, and the tightening shield accurately follows the preset running track of the TBM.
Compared with the prior art, the shield type TBM tracking control method provided by the invention has the following technical effects:
firstly, segmenting the advancing track to obtain a plurality of segmented intervals, and controlling each propulsion cylinder to retract in segments at the retraction speed in each segmented interval to realize segmented synchronous control; compared with the situation that the thrust cylinder retracts directly during direction adjustment, so that the tightening shield cannot advance according to the preset track and collides with the wall of the hole in the prior art, the method has the advantages that the movement speed of each thrust cylinder is corrected in real time according to the TBM movement track, the running time of the thrust cylinders in each subsection interval is ensured to be synchronous, and therefore the tightening shield can accurately follow the advancing track to run; the service life of the TBM is prolonged, the construction efficiency is improved, and the construction period is shortened;
secondly, the method can be applied to solving multiple tracks, and after the TBM tunnels one branch, the TBM can be ensured to retreat to an initial position according to a tunneling track by the method, so that tracking control of TBM retreat is realized; the positioning is accurate when the next branch is tunneled, repeated positioning is not needed when multiple tracks are tunneled, or the problem of repeated direction adjustment occurs, and therefore the tunneling efficiency of the multiple tracks is improved.
Specifically, the method for obtaining the retraction speed of each propulsion cylinder in each subsection interval according to the subsection interval and the preset synchronous retraction time of the propulsion cylinder comprises the following steps:
acquiring the center coordinate of the section of the starting point of each subsection interval, the center coordinate of the section of the terminal point of each subsection interval and the preset distance r between the section of the tightening shield and any one propulsion cylinder;
it can be understood that the starting point section and the end point section are tangent planes including all the thrust cylinders; after the number and the position of the propulsion oil cylinders and the diameter of the TBM are determined, the preset distance r between the section of the tightening shield and any one propulsion oil cylinder can be obtained, so that the position of any one propulsion oil cylinder on the section of the starting point/the section of the end point of the subsection interval can be obtained, and the coordinates of the starting point and the end point of each propulsion oil cylinder in each subsection interval can be obtained according to the center coordinate of the section of the starting point of each subsection interval, the center coordinate of the section of the end point of each subsection interval and the preset distance r between the section of the tightening shield and any one propulsion oil cylinder;
when the TBM is adjusted in direction, the strokes of the propulsion oil cylinders in the subsection intervals may be different, and the strokes of the propulsion oil cylinders in the subsection intervals are calculated according to the starting point coordinates and the end point coordinates of the propulsion oil cylinders in the subsection intervals; and obtaining the retraction speed of each propulsion oil cylinder in each subsection interval according to the stroke of each propulsion oil cylinder in each subsection interval and the preset synchronous retraction time of the propulsion oil cylinder.
In the specific embodiment, the start point coordinates and the end point coordinates of each propulsion cylinder in each segment interval are obtained according to the center coordinates of the start point cross section of each segment interval, the center coordinates of the end point cross section of each segment interval and the preset distance r between the cross section of the tightening shield and any one propulsion cylinder; the method comprises the following steps:
according to the central coordinate (x) of each segment interval0j(n),y0j(n),z0j(n)) The preset distance r between the cross section of the support shield and any one propulsion oil cylinder and a formula
(xij(n),yij(n),zij(n))＝(x0j(n)+rsinθij(n)cosαij(n),y0j(n)+rsinθij(n)sinαij(n)+rcosθij(n)sinβij(n),z0j(n)+rcosθij(n)cosβij(n)) Calculating the starting point coordinate/end point coordinate of the ith propulsion oil cylinder in the nth segment of the segmentation interval;
j is 1 and 2, which are respectively the center coordinate corresponding to the section of the starting point of each subsection section and the center coordinate corresponding to the section of the end point of each subsection section, and n is the number of sections of the subsection section; thetaij(n)The clockwise rotation angle between the vertical axis of the cross section of the tightening shield and the ith propulsion oil cylinder of the tightening shield is adopted; it can be understood that the ith propulsion cylinder on the section of the tightening shield corresponds to the ith propulsion cylinder on the section of the starting point/the section of the end point of the subsection interval respectively, and theta can be obtained according to the number and the installation positions of the propulsion cylindersij(n)The value range is 0-360 degrees, and the clockwise direction is positive. Alpha is alphaij(n)The turning angle of the section of the starting point/the section of the end point in the nth segment interval takes the anticlockwise direction as the positive direction; it can be understood that the steering angles of all the thrust cylinders of the starting point section/the end point section in the nth segment section interval are the same, and the value range is-90 degrees and less than or equal to alphaij(n)The steering angle of the first propulsion oil cylinder and the second propulsion oil cylinder on the section of the starting point in the same subsection interval is equal to or less than 90 degrees. Likewise, βij(n)The pitch angle of a starting point section/an end point section in the nth section of subsection interval takes the clockwise direction as the positive direction; the value range is less than or equal to beta of minus 90 degreesij(n)Less than or equal to 90 degrees in the same placeThe pitch angles of the first propulsion oil cylinder and the second propulsion oil cylinder on the section of the starting point in the same subsection interval are the same.
As shown in fig. 4-7, 1 is a preset tunneling track, 2 is a front shield cutter head, 3 is a thrust cylinder, 4 is a tightening shield, and 5 is a start point section/end point section of a segment interval. In one embodiment, a spatial rectangular coordinate system XYZ is established, wherein the X-axis is arranged along the horizontal direction, the Z-axis is arranged along the vertical direction, and the coordinate of the center point of the cross section of the tightening shield is (X)0,y0,,z0) The radius between the central point coordinate and the thrust cylinder is r, the included angle between each thrust cylinder and the Z axis is theta, and the coordinate of each thrust cylinder is (x, y, Z) ═ x0+rsinθ,y0,z0+ rcos θ). After the heading process is adjusted, an included angle possibly exists between a start point section/an end point section of each subsection section and a coordinate axis plane, and a steering angle alpha between the start point section/the end point section of each subsection section and an XOZ plane and a pitch angle beta between the XOY plane are measured through a lead system; the controller is based on the formula
Figure BDA0002942383850000081
And calculating the retraction speed of each propulsion oil cylinder in each subsection interval, wherein t is preset synchronous retraction time.
When the TBM needs to retreat, the control method refers to the tracking control method, segments the retreat track according to historical excavation data measured by a guide system, calculates the action speed of each propulsion oil cylinder of each segment interval, and controls each propulsion oil cylinder to retreat in a segment mode at the retreat speed of each segment interval.
Further, before obtaining the advancing track of the tightening shield and the rear matching trolley advancing towards the stabilizer cylinder, the method further comprises the following steps:
judging whether the stroke of any one of the propulsion cylinders is equal to the maximum propulsion stroke, if so, executing step S11;
preferably, after controlling each propulsion cylinder to retract sectionally at the retraction speed in each section of the sectionalized interval, the method further comprises:
and judging whether the strokes of all the propulsion oil cylinders are 0, if so, executing a step of judging whether the stroke of any one of the propulsion oil cylinders is equal to the maximum propulsion stroke.
The method realizes automatic tracking control of the shield type TBM, ensures that the TBM is adjusted backwards, and the tightening shield can also move forwards along with the adjusted backwards track, thereby avoiding the TBM from being damaged and blocked due to collision between the tightening shield and the tunnel wall, prolonging the service life of the TBM and improving the automation level and the construction efficiency; the automatic tracking of the tightening shield is realized by ensuring the synchronous action time, the control method is simple and has strong feasibility, and the control method can also be applied to tracking control during TBM (tunnel boring machine) backspacing; the method comprises the steps of positioning center coordinates on head and tail sections of each subsection of a tunneling track by adopting a subsection synchronous control method according to measured data of a guide system, further calculating to obtain coordinates of each propulsion oil cylinder and action stroke of each section of the propulsion oil cylinder, and calculating action speed of each propulsion oil cylinder on the section of the track according to preset synchronous action time, so that synchronous extension or retraction of the propulsion oil cylinders is controlled in a subsection mode, and the control method is accurate and high in feasibility.
Based on the above method embodiments, the present invention further provides a shield-type TBM tracking control system, which corresponds to the above method embodiments one to one, and includes:
the advancing track acquiring module is used for acquiring an advancing track of the tightening shield and the rear matching trolley advancing towards the stabilizer cylinder;
the segmentation interval processing module is used for segmenting the advancing track according to the stroke of any one of a plurality of propulsion oil cylinders arranged along the circumferential direction of the telescopic shield to obtain a plurality of segmentation intervals;
the oil cylinder retraction speed processing module is used for obtaining the retraction speed of each propulsion oil cylinder in each subsection interval according to the subsection interval and the preset synchronous retraction time of the propulsion oil cylinder and triggering the propulsion oil cylinder control module to start;
and the propulsion oil cylinder control module is used for controlling each propulsion oil cylinder to retreat in sections at the retraction speed in each section of section interval.
Compared with the prior art, the shield type TBM tracking control method provided by the invention has the following technical effects:
segmenting the advancing track to obtain a plurality of segmented intervals, and controlling each propulsion cylinder to retract in segments at the retracting speed in each segmented interval to realize segmented synchronous control; compared with the situation that the thrust cylinder retracts directly during direction adjustment, so that the tightening shield cannot advance according to the preset track and collides with the wall of the hole in the prior art, the method has the advantages that the movement speed of each thrust cylinder is corrected in real time according to the TBM movement track, the running time of the thrust cylinders in each subsection interval is ensured to be synchronous, and therefore the tightening shield can accurately follow the advancing track to run; the service life of the TBM is prolonged, the construction efficiency is improved, and the construction period is shortened.
Preferably, the cylinder retraction speed processing module includes:
the parameter acquisition unit is used for acquiring the center coordinates of the section of the starting point of each subsection interval, the center coordinates of the section of the terminal point of each subsection interval and the preset distance r between the section of the tightening shield and any one of the thrust cylinders;
the propulsion oil cylinder coordinate calculation unit is used for obtaining the starting point coordinate and the end point coordinate of each propulsion oil cylinder in each subsection interval according to the central coordinate of the starting point section of each subsection interval, the central coordinate of the end point section of each subsection interval and the preset distance r between the section of the tightening shield and any one propulsion oil cylinder;
the propulsion oil cylinder stroke calculation unit is used for calculating the stroke of each propulsion oil cylinder in each subsection interval according to the starting point coordinate and the end point coordinate of each propulsion oil cylinder in each subsection interval;
and the retraction speed calculation unit is used for obtaining the retraction speed of each propulsion oil cylinder in each subsection interval according to the stroke of each propulsion oil cylinder in each subsection interval and the preset synchronous retraction time of the propulsion oil cylinder.
Preferably, the propulsion cylinder coordinate calculation unit is configured to:
according to the central coordinate (x) of each segment interval0j(n),y0j(n),z0j(n)) The preset distance r between the cross section of the support shield and any one propulsion oil cylinder and a formula
(xij(n),yij(n),zij(n))＝(x0j(n)+rsinθij(n)cosαij(n),y0j(n)+rsinθij(n)sinαij(n)+rcosθij(n)sinβij(n),z0j(n)+rcosθij(n)cosβij(n)) Calculating the starting point coordinate/end point coordinate of the ith propulsion oil cylinder in the nth segment of the segmentation interval;
j is 1 and 2, which are respectively the center coordinate corresponding to the section of the starting point of each subsection section and the center coordinate corresponding to the section of the end point of each subsection section, and n is the number of sections of the subsection section; thetaij(n)The clockwise rotation angle between the vertical axis of the cross section of the tightening shield and the ith propulsion oil cylinder of the tightening shield is adopted; alpha is alphaij(n)The turning angle of the section of the starting point/the section of the end point in the nth segment interval takes the anticlockwise direction as the positive direction; beta is aij(n)The pitch angle of the starting point section/the end point section in the nth segment interval is in the clockwise direction.
Preferably, the system further comprises:
and the maximum stroke judging module is used for judging whether the stroke of any one of the propulsion oil cylinders is equal to the maximum propulsion stroke, and if so, triggering the advancing track acquiring module to start.
Preferably, the system further comprises:
and the minimum stroke judging module is used for judging whether the strokes of all the propulsion oil cylinders are 0, and if so, triggering the maximum stroke judging module to start.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

Claims (10)

1. A shield type TBM tracking control method is characterized by comprising the following steps:
acquiring an advancing track of the tightening shield and the rear matching trolley advancing towards the stabilizer cylinder;
segmenting the advancing track according to the stroke of any one of a plurality of propulsion oil cylinders arranged along the circumferential direction of the telescopic shield to obtain a plurality of segmented intervals;
and obtaining the retraction speed of each propulsion oil cylinder in each subsection interval according to the subsection interval and the preset synchronous retraction time of the propulsion oil cylinders, and controlling each propulsion oil cylinder to retract in a subsection mode at the retraction speed in each subsection interval.
2. The shield-type TBM tracking control method according to claim 1, wherein said obtaining a retraction speed of each said propulsion cylinder in each said subsection interval according to said subsection interval and a preset synchronous retraction time of said propulsion cylinder comprises:
acquiring the center coordinate of the section of the starting point of each segmented interval, the center coordinate of the section of the terminal point of each segmented interval and the preset distance r between the section of the tightening shield and any one thrust cylinder;
obtaining the start point coordinate and the end point coordinate of each propulsion oil cylinder in each subsection interval according to the center coordinate of the start point section of each subsection interval, the center coordinate of the end point section of each subsection interval and the preset distance r between the section of the tightening shield and any propulsion oil cylinder;
calculating the stroke of each propulsion oil cylinder in each subsection interval according to the starting point coordinate and the end point coordinate of each propulsion oil cylinder in each subsection interval;
and obtaining the retraction speed of each propulsion oil cylinder in each subsection interval according to the stroke of each propulsion oil cylinder in each subsection interval and the preset synchronous retraction time of the propulsion oil cylinder.
3. The shield-type TBM tracking control method according to claim 2, wherein the starting point coordinates and the end point coordinates of each propulsion cylinder in each segment interval are obtained according to the central coordinates of the starting point cross section of each segment interval, the central coordinates of the end point cross section of each segment interval and the preset distance r between the cross section of the tightening shield and any propulsion cylinder; the method comprises the following steps:
according to the central coordinate (x) of each segment interval0j(n),y0j(n),z0j(n)) The preset distance r between the cross section of the tightening shield and any one of the propulsion cylinders and a formula
(xij(n),yij(n),zij(n))＝(x0j(n)+rsinθij(n)cosαij(n),y0j(n)+rsinθij(n)sinαij(n)+rcosθij(n)sinβij(n),z0j(n)+rcosθij(n)cosβij(n))
Calculating the starting point coordinate/end point coordinate of the ith propulsion oil cylinder in the nth segment of the segmentation interval;
j is 1 and 2, which are respectively a center coordinate corresponding to a starting point section of each segmented interval and a center coordinate corresponding to an end point section of each segmented interval, and n is the number of segments of the segmented interval; thetaij(n)Is clockwise between the vertical axis of the cross section of the tightening shield and the ith thrust cylinder of the tightening shieldRotating the angle; alpha is alphaij(n)The turning angle of the section of the starting point/the section of the end point in the nth segment interval takes the anticlockwise direction as the positive direction; beta is aij(n)The pitch angle of the starting point section/the end point section in the nth segment interval is in the clockwise direction.
4. The shield-type TBM tracking control method of claim 1, wherein before said obtaining the forward trajectory of the tightening shield and the rear companion trolley as they advance toward the stabilizer cylinder, said method further comprises:
and judging whether the stroke of any one of the propulsion oil cylinders is equal to the maximum propulsion stroke, if so, executing the step of acquiring the advancing track of the tightening shield and the rear supporting trolley advancing towards the stabilizer oil cylinder.
5. The shield-type TBM tracking control method according to claim 4, wherein after controlling each of said thrust cylinders to retract in stages at a retraction speed in each of said stage intervals, said method further comprises:
and judging whether the strokes of all the propulsion oil cylinders are 0, if so, executing the step of judging whether the stroke of any one of the propulsion oil cylinders is equal to the maximum propulsion stroke.
6. A shield formula TBM tracking control system which characterized in that includes:
the advancing track acquiring module is used for acquiring an advancing track of the tightening shield and the rear matching trolley advancing towards the stabilizer cylinder;
the segmentation interval processing module is used for segmenting the advancing track according to the stroke of any one of a plurality of propulsion oil cylinders arranged along the circumferential direction of the telescopic shield to obtain a plurality of segmentation intervals;
the oil cylinder retraction speed processing module is used for obtaining the retraction speed of each propulsion oil cylinder in each subsection interval according to the subsection interval and the preset synchronous retraction time of the propulsion oil cylinder and triggering the propulsion oil cylinder control module to start;
and the propulsion oil cylinder control module is used for controlling each propulsion oil cylinder to retreat in sections at the retraction speed in each section of section interval.
7. The shield-type TBM tracking control system of claim 6, wherein said cylinder retraction speed processing module comprises:
the parameter acquisition unit is used for acquiring the center coordinates of the section of the starting point of each segmented interval, the center coordinates of the section of the terminal point of each segmented interval and the preset distance r between the section of the tightening shield and any one propulsion cylinder;
the propulsion cylinder coordinate calculation unit is used for obtaining the starting point coordinate and the end point coordinate of each propulsion cylinder in each subsection interval according to the central coordinate of the starting point section of each subsection interval, the central coordinate of the end point section of each subsection interval and the preset distance r between the section of the tightening shield and any propulsion cylinder;
the propulsion oil cylinder stroke calculation unit is used for calculating the stroke of each propulsion oil cylinder in each subsection interval according to the starting point coordinate and the end point coordinate of each propulsion oil cylinder in each subsection interval;
and the retraction speed calculation unit is used for obtaining the retraction speed of each propulsion oil cylinder in each subsection interval according to the stroke of each propulsion oil cylinder in each subsection interval and the preset synchronous retraction time of the propulsion oil cylinder.
8. The shield-type TBM tracking control system of claim 7, wherein the thrust cylinder coordinate calculation unit is configured to:
according to the central coordinate (x) of each segment interval0j(n),y0j(n),z0j(n)) The preset distance r between the cross section of the tightening shield and any one of the propulsion cylinders and a formula
(xij(n),yij(n),zij(n))＝(x0j(n)+rsinθij(n)cosαij(n),y0j(n)+rsinθij(n)sinαij(n)+rcosθij(n)sinβij(n),z0j(n)+rcosθij(n)cosβij(n))
Calculating the starting point coordinate/end point coordinate of the ith propulsion oil cylinder in the nth segment of the segmentation interval;
j is 1 and 2, which are respectively a center coordinate corresponding to a starting point section of each segmented interval and a center coordinate corresponding to an end point section of each segmented interval, and n is the number of segments of the segmented interval; thetaij(n)The clockwise rotation angle between the vertical axis of the cross section of the tightening shield and the ith propulsion oil cylinder of the tightening shield is adopted; alpha is alphaij(n)The turning angle of the section of the starting point/the section of the end point in the nth segment interval takes the anticlockwise direction as the positive direction; beta is aij(n)The pitch angle of the starting point section/the end point section in the nth segment interval is in the clockwise direction.
9. The shield-type TBM tracking control system of claim 1, further comprising:
and the maximum stroke judging module is used for judging whether the stroke of any one of the propulsion oil cylinders is equal to the maximum propulsion stroke, and if so, triggering the advancing track acquiring module to start.
10. The shield-type TBM tracking control system of claim 9, further comprising:
and the minimum stroke judging module is used for judging whether all strokes of the propulsion oil cylinders are 0, and if so, triggering the maximum stroke judging module to start.
CN202110181993.7A 2021-02-08 2021-02-08 Shield type TBM tracking control method and system Active CN112922620B (en)

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