CN113847049B - Earth pressure intelligent control system of earth pressure balance shield machine - Google Patents
Earth pressure intelligent control system of earth pressure balance shield machine Download PDFInfo
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- 230000005641 tunneling Effects 0.000 claims abstract description 65
- 238000010276 construction Methods 0.000 claims abstract description 42
- 239000002689 soil Substances 0.000 claims description 137
- 230000003068 static effect Effects 0.000 claims description 18
- 238000000034 method Methods 0.000 claims description 16
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- 239000002245 particle Substances 0.000 claims description 5
- 230000035699 permeability Effects 0.000 claims description 5
- 238000001125 extrusion Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 4
- 239000003673 groundwater Substances 0.000 claims description 4
- 210000000476 body water Anatomy 0.000 claims description 3
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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
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- 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
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Abstract
The invention discloses an intelligent earth pressure control system of an earth pressure balance shield machine, which belongs to the technical field of tunnel construction control of the earth pressure shield machine and comprises a PLC (programmable logic controller) automatic control system, an industrial personal computer, a shield earth pressure algorithm control system, a guide system and a tunneling management system, wherein the PLC automatic control system is communicated with the industrial personal computer through KepServrex, and the shield earth pressure algorithm control system is communicated with the guide system and the tunneling management system through TCP/IP (Transmission control protocol/Internet protocol); according to the intelligent control system for the earth pressure of the earth pressure balance shield, the influence factors on construction caused by insufficient artificial construction experience in shield construction are overcome, the shield construction efficiency is greatly improved due to the implementation of intelligent earth pressure control, the occurrence of earth surface settlement and uplift is avoided, the safety and the quality of the shield construction are ensured, and the working strength of a shield driver is reduced.
Description
Technical Field
The invention relates to the technical field of tunnel construction control of an earth pressure shield machine, in particular to an earth pressure intelligent control system of an earth pressure balance shield machine.
Background
With the rapid development of rail transit, more and more underground tunnels are built. At present, the reasonable development and utilization of underground space become the best path for solving the problems of land resource shortage and serious land building shortage acknowledged at home and abroad. Therefore, a large amount of shield tunnel construction is developed, and the shield method construction experience is also accumulated. The control of the soil pressure of the shield soil chamber of the soil pressure balance shield machine in construction has important significance for the construction quality of the shield tunnel and the prevention of the uplift and settlement of the earth surface, and is an important reference index for guiding the tunneling. At present, the control of the earth pressure of the shield still depends on the construction experience of a shield driver, the method is seriously influenced by human factors, the earth pressure is improperly controlled, the earth surface is easy to bulge or collapse, the surrounding geological stability is slightly influenced, and the building is inclined to collapse or even casualties are caused. Therefore, the intelligent soil pressure control system of the soil pressure balance shield machine is designed on the basis of the design of the intelligent soil pressure control system of the soil pressure balance shield machine to solve the problems.
Disclosure of Invention
The invention aims to provide an intelligent earth pressure control system of an earth pressure balance shield machine, which aims to solve the problems that the control of the earth pressure of the existing shield machine proposed in the background art still depends on the construction experience of a shield driver, the method is seriously influenced by human factors, the earth pressure is improperly controlled, the earth surface is easy to bulge or collapse, the surrounding geological stability is influenced if the earth pressure is improperly controlled, and the building is inclined to collapse or even casualties are caused if the earth pressure is seriously controlled.
In order to achieve the purpose, the invention provides the following technical scheme: an intelligent earth pressure control system of an earth pressure balance shield machine comprises a PLC automatic control system, an industrial personal computer, a shield earth pressure algorithm control system, a guide system and a tunneling management system, wherein the PLC automatic control system and the industrial personal computer are communicated with each other through KepServex, and the shield earth pressure algorithm control system, the guide system and the tunneling management system are communicated with each other through TCP/IP;
the PLC automatic control system comprises a power supply module, an input/output control unit, a human-computer interface and a sensor system, wherein the input/output control unit comprises an electromagnetic valve and a proportional valve;
the PLC automatic control system is responsible for receiving control parameters recommended by the shield earth pressure algorithm control system, controlling the output of the electromagnetic valve and the proportional valve and feeding back the sensor system and the human-computer interface operation parameters to the earth pressure algorithm control system in real time;
the industrial personal computer is mainly responsible for controlling the operation of the earth pressure algorithm control system of the shield machine and recommending control parameters generated by the control system to the PLC automatic control system;
and the guiding system and the tunneling management system are responsible for transmitting comprehensive shield machine operation data to the earth pressure algorithm control system in real time.
Preferably, the earth pressure algorithm control system of the shield machine comprises two parts of shield construction parameter generation before the shield machine is driven into and construction parameter generation in shield driving, and the earth pressure algorithm control system of the shield machine automatically calculates the most suitable earth pressure range of each ring according to geological survey data of a driving region and inputs the most suitable earth pressure range into the system to be used as a following target of earth pressure of an earth hold in the driving process of the shield machine.
Preferably, the construction parameters of the shield before tunneling are generated by preprocessing shield tunneling history data of a shield tunneling algorithm control system before shield tunneling, training the processed tunneling history data by using a BP (back propagation) neural network to establish an earth pressure control model, and then outputting initial shield tunneling parameters through a particle swarm optimization algorithm.
Preferably, the soil pressure control model data comprises underground water level, water volume weight, soil body water permeability strength, static side pressure coefficient, effective internal friction angle, soil cohesive force, soil body volume weight, shield buried depth and cutter head diameter, and the data is output as active soil pressure, passive soil pressure and static soil pressure.
Preferably, the construction parameters in shield tunneling are generated to enable a shield tunneling machine earth pressure algorithm control system to collect shield construction data in real time, and a double-network structure is constructed by using a depth certainty strategy gradient algorithm DDPG to promote effective learning of a neural network, so that output variables of the control system can be continuously learned and optimized by combining autonomous optimization control with tunneling parameters fed back by the shield tunneling machine in real time.
Preferably, the dual network of the depth deterministic policy gradient algorithm DDPG mainly comprises an Actor network and a Critic network.
Preferably, the Actor network is a policy network and is used for outputting a control action according to the current tunneling parameters of the shield and scoring feedback carried out on the current action based on the Critic network.
Preferably, the criticic network is a basis of autonomous optimization control and aims to determine the difference value between the current soil pressure and the target soil pressure, and the smaller the difference value is, the higher the score is.
Compared with the prior art, the invention has the beneficial effects that: according to the intelligent control system for the earth pressure of the earth pressure balance shield, the influence factors on construction caused by insufficient artificial construction experience in shield construction are overcome, the shield construction efficiency is greatly improved by realizing the intelligent control of the earth pressure, the occurrence of ground surface settlement and uplift is avoided, the safety and the quality of the shield construction are ensured, and the working strength of a shield driver is reduced.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a composition diagram of an intelligent earth pressure control system of an earth pressure balance shield machine according to the present invention;
FIG. 2 is a diagram of a model for calculating the earth pressure of the shield according to the present invention;
FIG. 3 is a flow chart of the shield tunneling parameter generation before tunneling according to the present invention;
fig. 4 is a flow chart of shield tunneling parameter generation in tunneling according to the present invention.
Detailed Description
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. 1, the present invention provides a technical solution: an intelligent earth pressure control system of an earth pressure balance shield machine comprises a PLC automatic control system, an industrial personal computer, a shield earth pressure algorithm control system, a guide system and a tunneling management system, wherein the PLC automatic control system and the industrial personal computer are communicated with each other through KepServex, and the shield earth pressure algorithm control system, the guide system and the tunneling management system are communicated with each other through TCP/IP; the PLC automatic control system comprises a power supply module, an input/output control unit, a human-computer interface and a sensor system, wherein the input/output control unit comprises an electromagnetic valve and a proportional valve; the PLC automatic control system is responsible for receiving control parameters recommended by the shield earth pressure algorithm control system, controlling the output of the electromagnetic valve and the proportional valve and simultaneously feeding back the sensor system and the human-computer interface operation parameters to the earth pressure algorithm control system in real time; the industrial personal computer is mainly responsible for controlling the operation of the earth pressure algorithm control system of the shield machine and recommending control parameters generated by the control system to the PLC automatic control system; the guiding system and the tunneling management system are responsible for transmitting comprehensive shield machine operation data to the earth pressure algorithm control system in real time;
through earth pressure balance shield earth pressure intelligence control system, overcome in the shield structure construction because the artificial not enough influence factor that brings the construction of construction experience, earth pressure intelligence control's realization will also improve shield structure efficiency of construction by a wide margin moreover, avoids the earth's surface to subside and the emergence of uplift, when guaranteeing shield structure construction safety and quality, reduces shield structure driver working strength.
Referring to fig. 2, the intelligent earth pressure control system of the earth pressure balance shield machine automatically calculates the optimum earth pressure range of each ring according to geological survey data of a tunneling section and inputs the optimum earth pressure range into the system to serve as a following target of earth pressure of an earth cabin in the tunneling process of the shield machine;
the shield machine soil pressure algorithm control system comprises two parts, namely shield machine tunneling front shield construction parameter generation and shield tunneling construction parameter generation, and the shield machine soil pressure algorithm control system automatically calculates each loop of optimum soil pressure range according to geological survey data of a tunneling section and inputs the optimum soil pressure range into the system to serve as a following target of soil pressure of an earth cabin in the tunneling process of the shield machine, the tunneling front shield construction parameters are generated before shield tunneling, shield tunneling historical data of the shield machine soil pressure algorithm control system are preprocessed, a BP neural network is used for training the processed tunneling historical data to establish a soil pressure control model, and then shield initial tunneling parameters are output through a particle swarm optimization algorithm, wherein the soil pressure control model data comprise underground water level, water volume weight, soil body water permeability strength, static side pressure coefficient, effective internal friction angle, soil cohesion, soil body volume weight, shield burial depth and cutter head diameter, and are output as active soil pressure, passive soil pressure and static soil pressure data;
if the earth pressure balance state is kept in the shield tunneling process, the earth surface settlement can be controlled. The ideal soil pressure balance state is that the sum of the soil cabin pressure P, the heading face lateral static soil pressure Pe and the heading face underground water pressure Pw is equal, namely:
the soil layer underground water pressure value is related to the soil layer seepage capability, the underground water content and the distribution condition thereof. The horizontal pressure generated by the groundwater at the upper part of the construction stratum on the cutter disc can be calculated by the following formula:
wherein e is the water permeability of the soil body, and is generally determined according to artificial experience. γ w is the water gravity, in kN/m. h is the distance between the groundwater and the calculation point, in m;
when the stratum soil pressure soil body is not interfered by the outside, the stratum soil pressure soil body is in an elastic balance state, and the pressure generated by the soil body to the outside, namely the static soil pressure, can be calculated by the following formula:
wherein ps is the static soil pressure of the soil body with the embedding depth of he; ks is the static soil pressure coefficient; gamma e is the soil mass gravity, the unit kN/m is the heavy load, he is the distance between the earth surface and the calculation point, and the unit m is the he;
when the shield advances forward, if the forward extrusion force of the shield is too large, the soil body tends to slide upwards, the pressure of the soil body is increased from the static pressure to the maximum value, namely the passive soil pressure, and the calculation formula is as follows:
wherein p is the passive soil pressure of the soil body; c is soil mass cohesion; k is passive earth pressure coefficient; phi is an internal friction angle;
if the forward extrusion force of the shield is too small, the soil body tends to settle downwards, the pressure of the soil body is reduced from the static pressure to the minimum value, namely the active soil pressure, and the calculation formula is as follows:
wherein p is the active soil mass and the passive soil pressure; k is the passive earth pressure coefficient actively;
referring to fig. 3, the shield tunneling historical data of the shield tunneling machine earth pressure algorithm control system is preprocessed, a BP neural network is used for training the processed tunneling historical data to establish an earth pressure control model, then shield initial tunneling parameters are output through a particle swarm optimization algorithm, before shield tunneling, the system firstly preprocesses the obtained shield tunneling historical data, and mainly removes shield equipment operation parameters in an assembling mode, shield equipment parameters in a stopping process, mutation data in a normal tunneling process and carries out filtering processing on the data. And then modeling the earth cabin pressure by the system through a BP neural network according to the processed shield operation data, wherein the input of the BP neural network model is the current earth pressure of the shield machine, the current rotating speed of the screw machine, the current propelling speed, the current cutter torque and the current cutter rotating speed, the output is the earth pressure at the next moment, the output earth pressure value is controlled within the earth pressure range, and the earth pressure model training is completed by continuously adjusting the neural network node weight until the difference value between the model output and the actual earth pressure is converged. The difference value between the model output soil pressure and the target soil pressure is pursued to be minimum through a particle swarm optimization algorithm, and the obtained solution is the rotating speed, the propelling speed, the cutter head rotating speed, the total thrust and the cutter head torque of the screw machine, which are closest to the target soil pressure;
the rotating speed, the propelling speed, the cutter head rotating speed, the total thrust and the cutter head torque of the screw machine output at the moment are taken as control parameters output to a PLC control end when the shield tunneling is started;
referring to fig. 4, the construction parameters in shield tunneling are generated to enable a shield machine soil pressure algorithm control system to acquire shield construction data in real time, and a dual-network structure is constructed by using a depth-deterministic strategic gradient algorithm DDPG to promote effective learning of a neural network, so that output variables of the control system can be continuously learned and optimized by combining autonomous optimization control with tunneling parameters fed back by the shield machine in real time, the dual-network of the depth-deterministic strategic gradient algorithm DDPG mainly comprises an Actor network and a critical network, and a working condition analysis module in the system is the critical network. The acquisition of the shield tunneling data is transmitted to a shield earth pressure algorithm control system through a PLC automatic control system, and the earth pressure control system records the construction data in real time. The Critic network of the soil pressure control system scores current actions according to current soil pressure, target soil pressure, current screw machine rotating speed, current propelling speed, current cutter head torque and current cutter head rotating speed, and feeds evaluation scores back to the Actor network for the Actor network to adjust action strategies, and the Actor network can output the action corresponding to the highest score of the Critic network and realize real-time control of the soil pressure through long-time deep learning of an algorithm, wherein the Critic network is the basis of autonomous optimization control and aims to determine the difference value between the current soil pressure and the target soil pressure, and the score is higher when the difference value is smaller;
the method is characterized in that the Actor network in the earth pressure control system is used for outputting control actions according to current tunneling parameters of the shield and grading feedback of the current actions based on a Critic network, and the Actor network in the earth pressure control system is used for outputting the earth pressure, the target earth pressure, the current screw machine rotating speed, the current propelling speed, the current cutter head torque and the current cutter head rotating speed at the next moment according to the current earth pressure, the target earth pressure, the screw machine rotating speed, the propelling speed, the cutter head torque and the cutter head rotating speed at the next moment by combining the grading feedback of the current actions by the Critic network, so that the system is switched from the current state St to a next new system state St +1, the updating time length of the state is determined by the recorded historical data time interval, and the updating time length of the current system is 1s. The specific duration can be changed according to the execution condition of the system;
when the shield is in an assembling mode or the tunneling is stopped in the tunneling process, the autonomous optimization algorithm training is in charge of adjusting the parameters of the Actor network and the Critic network and updating the control model. The training object of the autonomous optimization algorithm is a neural network weight matrix, the training basis is a reward function, namely the closer the actual soil pressure is to the target soil pressure, the higher the reward function is, and the output control quantity is optimized after the training is finished;
therefore, the controller in the soil pressure intelligent control system takes the current soil pressure, the target soil pressure, the current propulsion speed, the current screw machine rotating speed, the current cutter head torque and the current cutter head rotating speed as system inputs, the soil pressure, the target soil pressure, the screw machine rotating speed, the propulsion speed, the cutter head torque and the cutter head rotating speed at the next moment are output through DDPG algorithm processing, then the system reaches a state St +1 at the next moment, a deviation value of the actual soil pressure and the expected soil pressure at the next moment after control action is applied is taken as reward feedback R, the smaller the difference between the actual soil pressure value and the expected soil pressure value is, the larger the reward value is fed back to the algorithm is, and the more effective the group of control parameters is in the soil texture environment, the algorithm realizes an optimal target by maximizing the accumulated expected reward;
the operation process of the soil pressure intelligent control system is mainly divided into the following steps:
1) Importing geological survey data of a tunneling interval into an upper computer, so that the system can automatically calculate the optimal soil pressure range of each ring;
2) The system takes the calculated optimal soil pressure range as a following target range of the soil pressure of the soil cabin in the tunneling process of the shield tunneling machine, and takes the median of the upper limit and the lower limit of the range as a soil pressure control target value;
3) Setting an alarm parameter for the operation of the soil pressure intelligent control system in a human-computer interface;
4) Selecting a soil pressure control mode (manual/automatic) in the human-computer interface;
5) In the manual mode, various parameters including cutter head rotating speed, cutter head torque, screw machine rotating speed, screw machine torque, total thrust of a thrust cylinder, stroke of the thrust cylinder, average thrust speed and soil pressure value of a soil cabin are controlled by manual operation;
6) In an automatic mode, outputting parameters including the rotating speed of the screw machine, the propelling speed, the cutter head torque and the cutter head rotating speed to a PLC automatic control system by the intelligent soil pressure control system, and controlling an actuating mechanism to act;
7) The system continuously optimizes the control model according to shield construction parameters fed back in real time, outputs a parameter combination most suitable for the current control environment, and finally enables the soil pressure to be stabilized near the target soil pressure, and the fluctuation range does not exceed the calculated soil pressure fluctuation range;
in the whole control operation process, all parameters of shield operation, including cutter head rotation speed, cutter head torque, screw machine rotation speed, screw machine torque, total thrust of a thrust cylinder, stroke of the thrust cylinder, average thrust speed, soil cabin soil pressure value and the like, are displayed in a human-computer interface of the soil pressure intelligent control system.
In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (8)
1. The utility model provides an earth pressure intelligent control system of earth pressure balance shield constructs machine, comprises PLC automatic control system, industrial computer, shield structure machine earth pressure algorithm control system, guidance system, tunnelling management system, its characterized in that: the PLC automatic control system and the industrial personal computer are communicated with each other through KepServex, and the shield machine soil pressure algorithm control system, the guiding system and the tunneling management system are communicated with each other through TCP/IP;
the PLC automatic control system comprises a power supply module, an input/output control unit, a human-computer interface and a sensor system, wherein the input/output control unit comprises an electromagnetic valve and a proportional valve;
the PLC automatic control system is responsible for receiving control parameters recommended by the earth pressure algorithm control system of the shield machine, controlling the output of the electromagnetic valve and the proportional valve and feeding back the operation parameters of the sensor system and the human-computer interface to the earth pressure algorithm control system in real time;
the industrial personal computer is responsible for controlling the operation of the earth pressure algorithm control system of the shield machine and recommending the control parameters generated by the control system to the PLC automatic control system;
the guiding system and the tunneling management system are responsible for transmitting comprehensive shield machine operation data to the earth pressure algorithm control system in real time; if the earth pressure balance state is kept in the shield tunneling process, the earth surface settlement can be controlled;
the ideal soil pressure balance state is that the sum of the soil cabin pressure P, the heading face lateral static soil pressure Pe and the heading face underground water pressure Pw is equal, namely:
p＝p e +p w
the soil layer underground water pressure value is related to the soil layer seepage capability, the underground water content and the distribution condition thereof; the horizontal pressure generated by the groundwater at the upper part of the construction stratum on the cutter disc can be calculated by the following formula:
p w ＝e·γ w ·h
wherein e is the water permeability of the soil body, and is generally determined according to artificial experience; gamma.w is the water gravity in kN/m 3 (ii) a h is the distance between the groundwater and the calculation point, in m;
when the stratum soil pressure soil body is not interfered by the outside, the stratum soil pressure soil body is in an elastic balance state, and the pressure generated by the soil body to the outside, namely the static soil pressure, can be calculated by the following formula:
p s ＝k s ·γ e ·h e
wherein ps is the static soil pressure of the soil body with the embedding depth of he; ks is the static soil pressure coefficient; gamma e is the soil mass gravity with the unit kN/m 3 He is the distance between the earth's surface and the calculation point, in m;
when the shield advances forward, if the forward extrusion force of the shield is too large, the soil body tends to slide upwards, the pressure of the soil body is increased from the static pressure to the maximum value, namely the passive soil pressure, and the calculation formula is as follows:
k passive ＝tan 2 (45°+φ/2)
Wherein P is Passive The soil body is driven by the soil pressure; c is soil mass cohesion; k Passive Is a passive soil pressure coefficient; phi is an internal friction angle;
if the forward extrusion force of the shield is too small, the soil body tends to settle downwards, the pressure of the soil body is reduced from the static pressure to the minimum value, namely the active soil pressure, and the calculation formula is as follows:
k active ＝tan 2 (45°-φ/2)
Wherein P is Active The soil pressure is activated for the soil body; k Active The active soil pressure coefficient.
2. The intelligent earth pressure control system of the earth pressure balance shield machine according to claim 1, characterized in that: the earth pressure algorithm control system of the shield machine comprises two parts of shield construction parameter generation before the shield machine is driven into and construction parameter generation in shield driving, and the earth pressure algorithm control system of the shield machine automatically calculates the most suitable earth pressure range of each ring according to geological survey data of a driving section and inputs the most suitable earth pressure range into the system to be used as a following target of earth pressure of an earth cabin in the driving process of the shield machine.
3. The intelligent earth pressure control system of the earth pressure balance shield machine according to claim 2, characterized in that: the construction parameters of the shield before tunneling are generated in such a way that before shield tunneling, a shield tunneling machine soil pressure algorithm control system preprocesses shield tunneling historical data, a BP neural network is used for training the processed tunneling historical data to establish a soil pressure control model, and then shield initial tunneling parameters are output through a particle swarm optimization algorithm.
4. The intelligent earth pressure control system of the earth pressure balance shield machine according to claim 3, characterized in that: the soil pressure control model data comprises underground water level, water volume weight, soil body water permeability strength, static side pressure coefficient, effective internal friction angle, soil cohesive force, soil body volume weight, shield buried depth and cutter head diameter, and active soil pressure, passive soil pressure and static soil pressure data are output.
5. The intelligent earth pressure control system of the earth pressure balance shield machine according to claim 2, characterized in that: the construction parameters in shield tunneling are generated to enable a shield machine earth pressure algorithm control system to collect shield construction data in real time, and a double-network structure is constructed by utilizing a depth certainty strategy gradient algorithm DDPG to promote effective learning of a neural network, so that output variables of the control system can be continuously learned and optimized in combination with autonomous optimization control according to tunneling parameters fed back by the shield machine in real time.
6. The intelligent earth pressure control system of the earth pressure balance shield machine according to claim 5, characterized in that: the double networks of the DDPG comprise an Actor network and a Critic network.
7. The intelligent earth pressure control system of the earth pressure balance shield machine according to claim 6, characterized in that: the Actor network is a strategy network and is used for outputting control actions according to current shield tunneling parameters and grading feedback of current actions based on the Critic network.
8. The intelligent earth pressure control system of the earth pressure balance shield machine according to claim 6, characterized in that: the Critic network is the basis of autonomous optimization control and aims to determine the difference value between the current soil pressure and the target soil pressure, and the smaller the difference value is, the higher the score is.
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| CN103821529B (en) * | 2014-03-12 | 2016-08-17 | 上海市机械施工集团有限公司 | Rectangular shield machine earth pressure balance control system and method thereof |
| CN104963691A (en) * | 2015-06-03 | 2015-10-07 | 华中科技大学 | Stability prediction control method for soil pressure shield excavation surface under complex stratum condition |
| CN107218052A (en) * | 2017-07-13 | 2017-09-29 | 合肥引力波数据科技有限公司 | A kind of shield machine tunnels soil analysis system |
| CN110486029B (en) * | 2019-09-09 | 2021-10-29 | 辽宁石油化工大学 | Optimization method and device for earth pressure balance control of shield machine |
| CN112664210B (en) * | 2020-12-10 | 2022-05-27 | 中交疏浚技术装备国家工程研究中心有限公司 | Intelligent control system for muck treatment of earth pressure balance shield and application |
| CN112647957A (en) * | 2020-12-23 | 2021-04-13 | 上海隧道工程有限公司 | Earth pressure intelligent control method and system for earth pressure balance shield |
| CN112879025B (en) * | 2021-02-04 | 2023-12-22 | 中铁十六局集团北京轨道交通工程建设有限公司 | Intelligent regulation and control method for earth pressure balance shield earth pressure based on GRU deep learning |
| CN113408080B (en) * | 2021-07-26 | 2022-05-13 | 中国铁建重工集团股份有限公司 | Soil pressure dynamic characteristic modeling method, shield tunneling machine control system and shield tunneling machine |
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