CN113719295A - Intelligent control system for stability of whole slurry shield tunneling process - Google Patents
Intelligent control system for stability of whole slurry shield tunneling process Download PDFInfo
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- CN113719295A CN113719295A CN202110952018.1A CN202110952018A CN113719295A CN 113719295 A CN113719295 A CN 113719295A CN 202110952018 A CN202110952018 A CN 202110952018A CN 113719295 A CN113719295 A CN 113719295A
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- 239000002002 slurry Substances 0.000 title claims abstract description 93
- 230000005641 tunneling Effects 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000009412 basement excavation Methods 0.000 claims abstract description 44
- 239000002689 soil Substances 0.000 claims abstract description 28
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 25
- 238000010276 construction Methods 0.000 claims abstract description 12
- 230000010365 information processing Effects 0.000 claims abstract description 11
- 238000003860 storage Methods 0.000 claims abstract description 7
- 238000005520 cutting process Methods 0.000 claims abstract description 4
- 238000012544 monitoring process Methods 0.000 claims description 9
- 230000015572 biosynthetic process Effects 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 claims description 4
- 239000002893 slag Substances 0.000 claims description 4
- 238000004422 calculation algorithm Methods 0.000 claims description 3
- 238000013461 design Methods 0.000 claims description 3
- 239000011435 rock Substances 0.000 claims description 3
- 230000014759 maintenance of location Effects 0.000 description 6
- 239000004576 sand Substances 0.000 description 6
- 230000005484 gravity Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 239000010802 sludge Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/093—Control of the driving shield, e.g. of the hydraulic advancing cylinders
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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)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The utility model provides a slurry shield method tunnel tunnelling overall process stability intelligence control system, includes acquisition system, storage system, information processing system, strategy adjustment system, interface module, wherein: the acquisition system comprises mud flow sensors arranged on a mud inlet pipe and a mud discharge pipe and used for acquiring mud flow qinAnd the flow rate q of discharged mudout(ii) a Densimeters arranged on the slurry inlet pipe and the slurry discharge pipe and used for respectively obtaining the density rho of the input slurry in the slurry shield tunneling processinAnd density rho of the soil-doped slurry after excavationout(ii) a A water and soil pressure sensor arranged at the front end of the cutter head for acquiring the water and soil pressure p of the cutting surfaces(ii) a And the strategy adjusting system determines the safety state of the excavation face at the moment according to the judgment result provided by the information processing system, can adjust the excavation parameters in real time, is used for adjusting the excavation speed and the slurry support pressure in real time, realizes a real-time support strategy of slurry shield tunnel excavation, guides slurry shield tunnel excavation safety construction, and the like.
Description
Technical Field
The invention relates to the field of slurry shield tunnel excavation.
Background
The traditional shield tunneling control method adjusts the tunneling strategy (comprising tunneling speed, cutter head rotating speed, supporting pressure and the like) in due time by depending on ground deformation indexes. However, the method has certain hysteresis, the condition of excavation face collapse or seepage channel formation and the like cannot be predicted, and the method is not suitable for a deep-buried shield tunnel particularly because deformation cannot develop to the ground surface. In addition, even for a shield tunnel buried shallowly, when significant displacement is measurable on the earth surface, usually little deformation occurs near the excavation face, and there is significant hysteresis, so the conventional method is exactly a 'sheep-out-of-reinforcement' type control technology. In recent years, tunnel engineering has gradually progressed to deeper strata and more complex geological environments, and there is a state in which "the ground surface does not have large deformation, but the excavation surface is close to instability". The method is not solved by the traditional shield tunnel mining state control method. Meanwhile, the control requirement of future underground engineering construction on stratum disturbance is stricter, and the state of reducing stratum deformation to the maximum extent and even 'zero deformation' is achieved. Therefore, a real-time and pre-emergence-preventive tunneling control method is urgently needed in shield tunnel engineering to meet the increasing safety requirements of underground space development.
In order to solve the problems, no effective solution is provided at home and abroad at present.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, discloses an intelligent control system for the stability of the whole process of a slurry shield tunnel based on real-time monitoring and calculation feedback, establishes the relation between the slurry feeding amount, the slurry discharging amount and the tunneling speed of the slurry shield based on the idea of conservation of quality, and effectively provides the important strategy change of the shield tunneling at the next moment through the real-time accurate measurement of the excavated soil amount and the density: and adjusting the tunneling speed, the muddy water supporting pressure and the like in real time.
In order to realize the purpose of the invention, the technical scheme is as follows:
the utility model provides a slurry shield method tunnel tunnelling overall process stability intelligence control system, includes acquisition system, storage system, information processing system, strategy adjustment system, interface module, wherein:
the acquisition system comprises a slurry flow sensor (two in total: 7-1-flow sensor one, a slurry outlet pipe 6),7-2-flow sensor II) respectively used for obtaining the mud flow qinAnd the flow rate q of discharged mudout(ii) a Densimeters (two in total: 8-1-densimeter I and 8-2-densimeter II) arranged on the slurry inlet pipe 5 and the slurry discharge pipe 6 are respectively used for obtaining the density rho of the input slurry in the slurry shield tunneling processinAnd density rho of the soil-doped slurry after excavationout(ii) a A water and soil pressure sensor 2 arranged at the front end of the cutter head 1 and used for acquiring water and soil pressure p of a cutting surfaces；
The storage system is used for storing data provided by the acquisition system to form and accumulate a data file and prestores a surrounding rock deformation and time-related parameter lambda (t) for representing formation characteristics;
the information processing system defines and determines a formula model and calculates the escaping mud flow rate q at each moment in the slurry shield tunneling processs1(i.e. the mud flow rate lost by retention in the earth surrounding the tunnel), the mud escaping flow rate q through successive points in times1And the density of discharged slurry (namely the density rho of the slurry mixed with the soil slag)out) Carrying out comparison and judgment, and providing a judgment result to a strategy adjustment system;
the formula model is a formula eight:
calculating the mud escaping flow rate q at the current moment according to the formula eights1，qs1The following formula can be obtained:
the formula is nine:
the strategy adjusting system determines the safety state of the excavation face at the moment according to the judgment result provided by the information processing system, can adjust the excavation parameters in real time, is used for adjusting the excavation speed and the slurry support pressure in real time, realizes the real-time support strategy of slurry shield tunnel excavation, guides the slurry shield tunnel excavation safety construction, and synchronously operates the following algorithm processes:
and S5, when the stratum is stable and the tunneling is normal, taking the calculated value of the mud escaping flow rate at the previous moment as the predicted value of the mud escaping flow rate at the next moment. And comparing the predicted value and the measured value of the mud escaping flow speed at the current moment, and judging the mud escaping state. When the measured value is greater than the predicted value, the loss rate of the slurry is high, the possibility of mud film damage is increased, the slurry feeding density is properly increased, and the support pressure is reduced; when the measured value is smaller than the predicted value, the slurry feeding density is properly reduced, and the shield tunneling speed is maintained or accelerated;
and S6, monitoring the slurry discharge density in real time, and taking the measured value of the slurry discharge density at the previous moment as the predicted value of the slurry discharge density at the next moment when the stratum is stable and the tunneling is normal. And estimating the pulp discharge density at the next moment according to the calculated value of the pulp discharge density at the previous moment, and comparing the predicted value and the calculated value of the pulp discharge density at the current moment to judge whether the risk of potential collapse exists. When the measured value is larger than the predicted value, local collapse of the excavation surface is possible, soil falls into a muddy water cabin to cause increase of muddy water density, propulsion can be stopped, the muddy water cabin is desilted, and the supporting pressure is properly increased until balance is reestablished; and when the measured value is smaller than the predicted value, the propulsion can be continued.
The interface module dynamically feeds back design and construction, and the facing user is the technology and management personnel of a shield tunnel field construction unit, and can be used for accurately knowing the stable state of an excavation face and manually guiding a shield to adjust a tunneling strategy in time when necessary.
Has the advantages that:
1. the method has a certain prediction effect on possible instability of the excavation surface, and can adjust the excavation strategy more timely according to the measured value.
2. The control is not needed according to ground deformation monitoring data feedback, and the change condition of the excavation surface of the deep-buried tunnel is easier to perceive.
Drawings
FIG. 1 shows the logical relationship of the slurry shield intelligent control system
FIG. 2 is a schematic view of a scene of an intelligent control system of a slurry shield
FIG. 3 is a schematic view of residence time
FIG. 4 is a tunneling strategy control flow chart of the system of the present invention
In fig. 2: 1-a cutter head; 2-a water and soil pressure sensor; 3-a mud film; 4-a muddy water cabin; 5-a pulp inlet pipe; 6-a slurry discharge pipe; 7-1-flow sensor one (slurry inlet); 7-2-flow sensor two (slurry discharge); 8-1-densimeter one (slurry inlet); 8-2-densimeter II (discharge)
Detailed Description
In the tunneling process of the shield machine, important construction information is collected, corresponding adjustment measures can be obtained after the treatment according to the technical scheme of the application, and the corresponding adjustment measures are fed back to shield operators in time, wherein the system logic relationship is shown in fig. 1.
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
First, method theory
S1, obtaining the density rho of the clear slurry in the slurry shield tunneling process through real-time monitoringinDensity rho of slurry doped with soil slagoutFlow rate q of sludgeinDischarge flow q of sludgeoutShield propulsion speed vfwAs shown in fig. 1.
S2, according to the mass conservation relation, the sand content relation of the slurry shield system in and out soil can be determined by a first formula:
the formula I is as follows: sf-out＝Sm-out-(Sm-in-Sm-loss of)-SLoosening of the screw
Wherein S isf-outThe dry sand content in the original place space occupied by the shield propulsion can be calculated by a formula II:
the formula II is as follows:
wherein, gamma'soilThe effective gravity of the soil body of the excavation surface, w is the water content of the soil body of the excavation surface, d is the outer diameter of the shield, G is the acceleration of gravity, GsIs the specific gravity of the soil grains;
Sm-outthe actual sand production amount obtained according to the monitoring data can be calculated by a formula III:
the formula III is as follows:
where ρ iswIs the density of water;
Sm-inthe actual sand feeding amount obtained according to the monitoring data can be calculated by a formula four:
the formula four is as follows:
Sm-loss ofThe amount of dry sand lost to slurry dissipation into the surrounding formation can be calculated from equation five:
the formula five is as follows:
wherein q iss1The mud escaping flow rate is set;
Sloosening of the screwThe amount of dry sand caused by the loosening of the surrounding soil body due to tunneling disturbance can be calculated by a formula six:
formula six:
wherein, λ' (t) is a parameter related to the retention time t and the properties of the rock-soil mass, and the value can be obtained by a numerical simulation method through a conventional software tool in scientific research or determined by the conventional theoretical calculation; the retention time t represents the time taken from disturbance of the soil body to excavation, as shown in fig. 2: v. offwThe shield propulsion speed, t is the residence time, t0For the retention time of the soil mass at a distance, t1The retention time of the soil body on the excavation surface is determined.
S3, adopting formula seven to predict the time t required by the cutter head to reach the specified sectionp：
The formula seven:
wherein x ispFor a given distance between the section and the excavation face,
the average shield tunneling speed is the average shield tunneling speed over a period of time.
S4, substituting the formula II to the formula seven into the formula I to obtain the formula eight:
the formula eight:
calculating the mud escaping flow rate q at the current moment according to the formula eights1，qs1The following formula can be obtained:
the formula is nine:
and S5, when the stratum is stable and the tunneling is normal, taking the calculated value of the mud escaping flow rate at the previous moment as the predicted value of the mud escaping flow rate at the next moment. And comparing the predicted value and the measured value of the mud escaping flow speed at the current moment, and judging the mud escaping state. When the measured value is greater than the predicted value, the loss rate of the slurry is high, the possibility of mud film damage is increased, the slurry feeding density is properly increased, and the support pressure is reduced; when the measured value is smaller than the predicted value, the slurry feeding density is properly reduced, and the shield tunneling speed is maintained or accelerated.
And S6, monitoring the slurry discharge density in real time, and taking the measured value of the slurry discharge density at the previous moment as the predicted value of the slurry discharge density at the next moment when the stratum is stable and the tunneling is normal. And estimating the pulp discharge density at the next moment according to the calculated value of the pulp discharge density at the previous moment, and comparing the predicted value and the calculated value of the pulp discharge density at the current moment to judge whether the risk of potential collapse exists. When the measured value is larger than the predicted value, local collapse of the excavation surface is possible, soil falls into a muddy water cabin to cause increase of muddy water density, propulsion can be stopped, the muddy water cabin is desilted, and the supporting pressure is properly increased until balance is reestablished; and when the measured value is smaller than the predicted value, the propulsion can be continued.
And the steps S5 and S6 are synchronously performed, belong to a parallel relation and jointly provide a corresponding strategy for shield tunneling.
Second, application system
As shown in fig. 2:
the utility model provides a slurry shield method tunnel tunnelling overall process stability intelligence control system, includes acquisition system, storage system, information processing system, strategy adjustment system, interface module, wherein:
the acquisition system comprises slurry flow sensors (two in total: 7-1-flow sensor I and 7-2-flow sensor II) arranged on a slurry inlet pipe 5 and a slurry discharge pipe 6 and respectively used for acquiring the flow q of the delivered slurryinAnd the flow rate q of discharged mudout(ii) a Densimeters (two in total: 8-1-densimeter I and 8-2-densimeter II) arranged on the slurry inlet pipe 5 and the slurry discharge pipe 6 are respectively used for obtaining the density rho of the input slurry in the slurry shield tunneling processinAnd density rho of the soil-doped slurry after excavationout(ii) a A water and soil pressure sensor 2 arranged at the front end of the cutter head 1 and used for acquiring water and soil pressure p of a cutting surfaces(as shown in FIG. 2);
the storage system is used for storing data provided by the acquisition system to form and accumulate a data file and prestores a surrounding rock deformation and time-related parameter lambda (t) for representing formation characteristics;
the information processing system defines and determines a formula model and calculates the escaping mud flow rate q at each moment in the slurry shield tunneling processs1(i.e. the mud flow rate lost by retention in the earth surrounding the tunnel), the mud escaping flow rate q through successive points in times1And the density of discharged slurry (namely the density rho of the slurry mixed with the soil slag)out) Carrying out comparison and judgment, and providing a judgment result to a strategy adjustment system;
the formula model is a formula eight:
calculating the mud escaping flow rate q at the current moment according to the formula eights1，qs1The following formula can be obtained:
the formula is nine:
the strategy adjusting system determines the safety state of the excavation face at the moment according to the judgment result provided by the information processing system, can adjust the excavation parameters in real time, is used for adjusting the excavation speed and the slurry support pressure in real time, realizes the real-time support strategy of slurry shield tunnel excavation, guides the slurry shield tunnel excavation safety construction, and synchronously operates the following algorithm processes:
and S5, when the stratum is stable and the tunneling is normal, taking the calculated value of the mud escaping flow rate at the previous moment as the predicted value of the mud escaping flow rate at the next moment. And comparing the predicted value and the measured value of the mud escaping flow speed at the current moment, and judging the mud escaping state. When the measured value is greater than the predicted value, the loss rate of the slurry is high, the possibility of mud film damage is increased, the slurry feeding density is properly increased, and the support pressure is reduced; when the measured value is smaller than the predicted value, the slurry feeding density is properly reduced, and the shield tunneling speed is maintained or accelerated;
and S6, monitoring the slurry discharge density in real time, and taking the measured value of the slurry discharge density at the previous moment as the predicted value of the slurry discharge density at the next moment when the stratum is stable and the tunneling is normal. And estimating the pulp discharge density at the next moment according to the calculated value of the pulp discharge density at the previous moment, and comparing the predicted value and the calculated value of the pulp discharge density at the current moment to judge whether the risk of potential collapse exists. When the measured value is larger than the predicted value, local collapse of the excavation surface is possible, soil falls into a muddy water cabin to cause increase of muddy water density, propulsion can be stopped, the muddy water cabin is desilted, and the supporting pressure is properly increased until balance is reestablished; and when the measured value is smaller than the predicted value, the propulsion can be continued.
The interface module dynamically feeds back design and construction, and the facing user is the technology and management personnel of a shield tunnel field construction unit, and can be used for accurately knowing the stable state of an excavation face and manually guiding a shield to adjust a tunneling strategy in time when necessary.
Claims (1)
1. The utility model provides a slurry shield method tunnel tunnelling overall process stability intelligence control system which characterized in that, includes acquisition system, storage system, information processing system, strategy adjustment system, interface module, wherein:
the acquisition system comprises mud flow sensors arranged on a mud inlet pipe 5 and a mud discharge pipe 6 and used for acquiring mud flow qinAnd the flow rate q of discharged mudout(ii) a Densimeters arranged on the slurry inlet pipe 5 and the slurry discharge pipe 6 and used for respectively obtaining the density rho of the input slurry in the slurry shield tunneling processinAnd density rho of the soil-doped slurry after excavationout(ii) a A water and soil pressure sensor 2 arranged at the front end of the cutter head 1 and used for acquiring water and soil pressure p of a cutting surfaces；
The storage system is used for storing data provided by the acquisition system to form and accumulate a data file and prestores a surrounding rock deformation and time-related parameter lambda (t) for representing formation characteristics;
the information processing system defines and determines a formula model and calculates the escaping mud flow rate q at each moment in the slurry shield tunneling processs1Passing through the mud escaping flow rate q at the front and rear adjacent momentss1And the density of discharged slurry is the density rho of slurry mixed with soil slagoutCarrying out comparison and judgment, and providing a judgment result to a strategy adjustment system;
the formula model is a formula eight:
calculating the mud escaping flow rate q at the current moment according to the formula eights1，qs1The formula nine is used to obtain:
the formula is nine:
the strategy adjusting system determines the safety state of the excavation face at the moment according to the judgment result provided by the information processing system, can adjust the excavation parameters in real time, is used for adjusting the excavation speed and the slurry support pressure in real time, realizes the real-time support strategy of slurry shield tunnel excavation, guides the slurry shield tunnel excavation safety construction, and synchronously operates the following algorithm processes:
s5, when the stratum is stable and the tunneling is normal, taking the calculated value of the mud escaping flow rate at the previous moment as the predicted value of the mud escaping flow rate at the next moment; comparing the predicted value and the measured value of the mud escaping flow speed at the current moment, and judging the mud escaping state; when the measured value is greater than the predicted value, the loss rate of the slurry is high, the possibility of mud film damage is increased, the slurry feeding density is properly increased, and the support pressure is reduced; when the measured value is smaller than the predicted value, the slurry feeding density is properly reduced, and the shield tunneling speed is maintained or accelerated;
s6, monitoring the slurry discharge density in real time, taking the measured value of the slurry discharge density at the previous moment as the predicted value of the slurry discharge density at the next moment when the stratum is stable and the tunneling is normal; estimating the pulp discharge density at the next moment according to the calculated value of the pulp discharge density at the previous moment, and comparing the predicted value and the calculated value of the pulp discharge density at the current moment to judge whether the risk of potential collapse exists; when the measured value is larger than the predicted value, local collapse of the excavation surface is possible, soil falls into a muddy water cabin to cause increase of muddy water density, propulsion can be stopped, the muddy water cabin is desilted, and the supporting pressure is properly increased until balance is reestablished; when the measured value is smaller than the predicted value, the propulsion can be continued;
and the interface module dynamically feeds back design and construction, and the facing user is the technology and management personnel of a shield tunnel field construction unit and is used for accurately knowing the stable state of the excavation face and manually guiding the shield to adjust the excavation strategy in time.
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| CN108343442A (en) * | 2018-01-18 | 2018-07-31 | 浙江大学 | Slurry balance shield comprehensive simulation test platform mud and water balance control test system |
| JP2019214834A (en) * | 2018-06-11 | 2019-12-19 | 日立造船株式会社 | Tail clearance measurement device, shield machine, and tail clearance measurement method |
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2021
- 2021-08-18 CN CN202110952018.1A patent/CN113719295B/en active Active
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| JP2001040983A (en) * | 1999-08-02 | 2001-02-13 | Hitachi Constr Mach Co Ltd | Tunnel boring machine and method for controlling the same |
| CN101624272A (en) * | 2008-07-11 | 2010-01-13 | 同济大学 | Slurry shield through slurry applicable to sandy soil layer and preparation method thereof |
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