CN117552796B - Method, device, equipment and medium for controlling telescoping speed of oil cylinder of shield propulsion system - Google Patents
Method, device, equipment and medium for controlling telescoping speed of oil cylinder of shield propulsion system Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 239000003921 oil Substances 0.000 claims description 79
- 230000005641 tunneling Effects 0.000 claims description 42
- 239000013598 vector Substances 0.000 claims description 22
- 230000001105 regulatory effect Effects 0.000 claims description 17
- 238000004422 calculation algorithm Methods 0.000 claims description 16
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- 238000003860 storage Methods 0.000 claims description 14
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- 239000002689 soil Substances 0.000 description 2
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Classifications
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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
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/28—Means for indicating the position, e.g. end of stroke
- F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Environmental & Geological Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention relates to a method, a device, equipment and a medium for controlling the telescoping speed of an oil cylinder of a shield propulsion system. The method for controlling the telescopic speed of the oil cylinder of the shield propulsion system comprises the following steps: acquiring a target stroke and an actual stroke of the oil cylinder at the current moment, wherein the target stroke is obtained based on inverse kinematics modeling of the shield propulsion system; determining the deviation value of the target travel and the actual travel at the current moment; and generating a deviation signal based on the deviation value for controlling the shield propulsion system to adjust the telescoping speed. In this way, the telescopic speed of the oil cylinder can be accurately adjusted, and the stroke deviation of the oil cylinder is reduced.
Description
Technical Field
The present invention relates generally to the field of shield technology, and in particular, to a method and apparatus for controlling the telescoping speed of an oil cylinder of a shield propulsion system, an electronic device, and a computer readable storage medium.
Background
Along with the large-scale development of underground space, the shield method is widely applied to tunnel construction by virtue of the unique advantages of rapid construction, high safety and the like. However, in the process of shield tunneling, due to the influences of factors such as surrounding rock difference constraint, unreasonable shield tunneling parameter setting and the like, the tunneling pose of the shield is difficult to accurately control, so that the shield tunneling track inevitably deviates from the tunnel design axis, snakelike motion is formed, and a series of disasters are caused. Therefore, in the shield tunneling process, the tracking effect of the shield tunneling track is always an important index for evaluating the construction quality of the shield tunnel. The precise control of the tunneling pose of the shield is realized, the shield can accurately track the design axis of the tunnel, and the method has important significance for guaranteeing the tunnel engineering quality and the construction safety.
The track tracking control refers to that after the target track of the mechanical arm is obtained, a control input is designed for the system according to manual experience or a certain control theory, so that the mechanical arm can accurately track a given expected track when moving. For the shield tunneling machine, the shield tunneling track tracking control means that after a target pose sequence of the shield tunneling machine is given, the shield tunneling machine can accurately track the target pose sequence and advance through controlling action behaviors of each hydraulic cylinder actuator in a shield propulsion system.
At present, the track tracking control of the shield tunneling machine mainly adopts two modes of manual control and automatic control, but the two modes of control are realized based on force control. The control principle is that in the shield tunneling process, the pose of the shield is measured in real time through the shield guiding system and compared with the expected pose. The shield driver or the automatic control system adjusts the oil pressure of the hydraulic cylinders in different partitions in the shield propulsion system by experience or a certain control algorithm according to the pose deviation fed back by the shield guiding system, so that the hydraulic cylinders generate different stroke differences, and the adjustment of the shield pose is realized to track the target track well.
It is well known that hydraulic systems are characterized by a load-determining pressure, that is to say the oil pressure of the hydraulic ram in the shield propulsion system is substantially dependent on the external load. Due to the interaction between the shield machine and the soil, the external load of the shield machine is influenced by the motion state of the shield. The mechanical characteristics and the motion characteristics of the shield machine are mutually coupled, namely, under the condition that the external load is complex and changeable and is influenced by the motion state of the shield, the pressure of the hydraulic cylinder of the shield propulsion system required by enabling the shield machine to accurately track the target track is difficult to accurately determine. Therefore, the track tracking effect of the shield tunneling track tracking control mode based on force control is poor.
Therefore, the invention provides a scheme for controlling the telescopic speed of the oil cylinder of the shield propulsion system, so as to overcome a plurality of defects existing in the traditional method for realizing the tracking control of the tunneling track of the shield machine based on the purpose of force control.
Disclosure of Invention
According to example embodiments of the present invention, a method, apparatus, electronic device, and computer-readable storage medium for controlling a telescoping speed of a ram of a shield propulsion system are provided to at least partially solve the problems in the prior art.
In a first aspect of the invention, a method for controlling the telescoping speed of an oil cylinder of a shield propulsion system is provided. The method comprises the following steps: acquiring a target stroke and an actual stroke of an oil cylinder at the current moment, wherein the target stroke is obtained based on inverse kinematics modeling of a shield propulsion system; determining the deviation value of the target travel and the actual travel at the current moment; and generating a deviation signal based on the deviation value for controlling the shield propulsion system to adjust the telescoping speed.
In some embodiments, obtaining the target stroke and the actual stroke of the oil cylinder at the current moment, where the target stroke is obtained based on inverse kinematics modeling of the shield propulsion system may include: acquiring a shield tracking target pose parameter sequence, wherein the shield tracking target pose parameter sequence is associated with a target stroke of an oil cylinder; and performing inverse kinematics modeling on the shield propulsion system to obtain target strokes of all the oil cylinders of the shield propulsion system when the shield tracks the target pose parameter sequence.
In some embodiments, performing inverse kinematics modeling on the shield propulsion system to obtain a target travel of each cylinder of the shield propulsion system when the shield tracks the target pose parameter sequence may include: determining a shield tunneling target pose matrix based on the shield tracking target pose parameter sequence; determining the front and rear spherical hinge position vectors of the oil cylinder based on the distribution form of the oil cylinder of the shield propulsion system; and establishing a stroke solving model of the oil cylinder of the shield propulsion system based on the front and rear spherical hinge position vectors of the oil cylinder of the shield propulsion system and the shield pose transformation matrix.
In some embodiments, obtaining the target stroke and the actual stroke of the cylinder at the current time may include: the actual stroke of the oil cylinder of the shield propulsion system is measured in real time through a displacement sensor, and the displacement sensor is arranged on the oil cylinder.
In some embodiments, generating the bias signal based on the bias value to control the shield propulsion system to adjust the telescoping speed may include: acquiring a track tracking controller; and inputting a deviation value into the track tracking controller to generate a deviation signal so as to control a speed regulating valve of the shield propulsion system, thereby adjusting the telescopic speed.
In some embodiments, acquiring the trajectory tracking controller may include: designing a track following controller based on a PID control algorithm, wherein the PID control algorithm has a predefined control quantity; calculating to obtain a control quantity according to the deviation signal by using a track tracking controller; and transmitting the control quantity to the speed regulating valve to regulate the expansion speed.
In some embodiments, the speed valve comprises one or more of a proportional valve and a servo valve, and the number of speed valves corresponds to the number of shield thrust system cylinders.
In a second aspect of the invention, a shield propulsion system ram retraction speed control apparatus. The device comprises: the oil cylinder stroke acquisition module is configured to acquire a target stroke and an actual stroke of the oil cylinder at the current moment, wherein the target stroke is obtained based on inverse kinematics modeling of the shield propulsion system; the stroke deviation value determining module is configured to determine a deviation value of the target stroke and the actual stroke at the current moment; and the oil cylinder telescopic speed control module is configured to generate a deviation signal based on the deviation value and used for controlling the shield propulsion system to adjust the telescopic speed.
In some embodiments, the ram stroke acquisition module may be further configured to: acquiring a shield tracking target pose parameter sequence, wherein the shield tracking target pose parameter sequence is associated with a target stroke of an oil cylinder; and performing inverse kinematics modeling on the shield propulsion system to obtain target strokes of all the oil cylinders of the shield propulsion system when the shield tracks the target pose parameter sequence.
In some embodiments, the ram stroke acquisition module may be further configured to: determining a shield tunneling target pose matrix based on the shield tracking target pose parameter sequence; determining the front and rear spherical hinge position vectors of the oil cylinder based on the distribution form of the oil cylinder of the shield propulsion system; and establishing a stroke solving model of the oil cylinder of the shield propulsion system based on the front and rear spherical hinge position vectors of the oil cylinder of the shield propulsion system and the shield pose transformation matrix.
In some embodiments, the ram stroke acquisition module may be further configured to: the actual stroke of the oil cylinder of the shield propulsion system is measured in real time through a displacement sensor, and the displacement sensor is arranged on the oil cylinder.
In some embodiments, the ram retraction speed control module may be further configured to: acquiring a track tracking controller; and inputting a deviation value into the track tracking controller to generate a deviation signal so as to control a speed regulating valve of the shield propulsion system, thereby adjusting the telescopic speed.
In some embodiments, the ram retraction speed control module may be further configured to: designing a track following controller based on a PID control algorithm, wherein the PID control algorithm has a predefined control quantity; calculating to obtain a control quantity according to the deviation signal by using a track tracking controller; and transmitting the control quantity to the speed regulating valve to regulate the expansion speed.
In some embodiments, the speed valve comprises one or more of a proportional valve and a servo valve, and the number of speed valves corresponds to the number of shield thrust system cylinders.
In a third aspect of the present invention, an electronic device is provided. The apparatus includes: one or more processors; and storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement a method in accordance with the first aspect of the invention.
In a fourth aspect of the present invention, a computer-readable storage medium is provided. The medium having stored thereon a computer program which, when executed by a processor, implements a method according to the first aspect of the invention.
In a fifth aspect of the invention, a computer program product is provided. The article of manufacture comprises a computer program/instruction which, when executed by a processor, implements a method according to the first aspect of the invention.
It should be understood that the description in this summary is not intended to limit the critical or essential features of the embodiments of the invention, nor is it intended to limit the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
The above and other features, advantages and aspects of embodiments of the present invention will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements. The accompanying drawings are included to provide a better understanding of the invention, and are not to be construed as limiting the invention, wherein:
FIG. 1 illustrates a schematic flow diagram of a method of controlling telescoping speed of a shield propulsion system ram according to some embodiments of the invention;
FIG. 2 illustrates a schematic diagram of a complete embodiment of a shield tunneling trace tracking control strategy, according to some embodiments of the present invention;
FIG. 3 illustrates a schematic block diagram of a shield propulsion system ram retraction speed control apparatus in accordance with some embodiments of the present invention; and
FIG. 4 illustrates a block diagram of a computing device capable of implementing various embodiments of the invention.
Detailed Description
Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While the invention is susceptible of embodiment in the drawings, it is to be understood that the invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided to provide a more thorough and complete understanding of the invention. It should be understood that the drawings and embodiments of the invention are for illustration purposes only and are not intended to limit the scope of the present invention.
In describing embodiments of the present invention, the term "comprising" and its like should be taken to be open-ended, i.e., including, but not limited to. The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first," "second," and the like, may refer to different or the same object. Other explicit and implicit definitions are also possible below. It should be appreciated that references to "shield propulsion system" and "shield machine propulsion system" below represent the same or similar concepts; "ram" may refer to "hydraulic rams" and any other form of ram.
As described above, in the current technology, the shield machine is affected by the shield motion state, and the external load is affected by the interaction between the shield machine and the soil. The mechanical property and the motion property of the shield machine are mutually coupled, so that the pressure of the hydraulic cylinder of the propulsion system required by enabling the shield machine to accurately track the target track is difficult to accurately determine under the conditions of complex and changeable external load and influence by the motion state of the shield machine. This results in poor track-following effect of the shield tunneling track-following method based on force control. Based on the above, the embodiments of the invention provide the flexible speed of the oil cylinder of the shield propulsion system, which can avoid the problem that the track tracking effect is poor because the pressure of the oil cylinder of the shield propulsion system cannot be accurately determined under the influence of complex and changeable external load and shield motion state by the existing method based on force control, thereby providing a theoretical basis for realizing accurate tracking control of the shield tunneling track.
An exemplary embodiment of the present invention will be described below with reference to fig. 1 to 4.
Fig. 1 illustrates a schematic flow diagram of a method 100 for controlling the telescoping speed of a shield propulsion system ram according to some embodiments of the invention. Overall, the method 100 may be implemented by a computing device. The computing device may be any device having computing capabilities. As non-limiting examples, the computing device may be any type of fixed, mobile, or portable computing device, including but not limited to a desktop computer, laptop computer, notebook computer, netbook computer, tablet computer, multimedia computer, mobile phone, and the like; all or a portion of the components of the computing device may be distributed in the cloud. The computing device contains at least a processor, memory, and other components typically found in a general purpose computer to perform the functions of computing, storing, communicating, controlling, etc.
As shown in fig. 1, at block 101, a target stroke and an actual stroke of the cylinder at a current time are acquired, the target stroke being obtained based on inverse kinematics modeling of the shield propulsion system. At block 103, the deviation value of the target travel and the actual travel at the current time is determined. At block 105, a bias signal is generated based on the bias value to control the shield propulsion system to adjust the telescoping speed.
In some embodiments, obtaining the target stroke and the actual stroke of the oil cylinder at the current moment, where the target stroke is obtained based on inverse kinematics modeling of the shield propulsion system may include: acquiring a shield tracking target pose parameter sequence, wherein the shield tracking target pose parameter sequence is associated with a target stroke of an oil cylinder; and performing inverse kinematics modeling on the shield propulsion system to obtain target strokes of all the oil cylinders of the shield propulsion system when the shield tracks the target pose parameter sequence.
In some embodiments, performing inverse kinematics modeling on the shield propulsion system to obtain a target travel of each cylinder of the shield propulsion system when the shield tracks the target pose parameter sequence may include: determining a shield tunneling target pose matrix based on the shield tracking target pose parameter sequence; determining the front and rear spherical hinge position vectors of the oil cylinder based on the distribution form of the oil cylinder of the shield propulsion system; and establishing a stroke solving model of the oil cylinder of the shield propulsion system based on the front and rear spherical hinge position vectors of the oil cylinder of the shield propulsion system and the shield pose transformation matrix.
In some embodiments, obtaining the target stroke and the actual stroke of the cylinder at the current time may include: the actual stroke of the oil cylinder of the shield propulsion system is measured in real time through a displacement sensor, and the displacement sensor is arranged on the oil cylinder.
In some embodiments, generating the bias signal based on the bias value to control the shield propulsion system to adjust the telescoping speed may include: acquiring a track tracking controller; and inputting a deviation value into the track tracking controller to generate a deviation signal so as to control a speed regulating valve of the shield propulsion system, thereby adjusting the telescopic speed.
In some embodiments, acquiring the trajectory tracking controller may include: designing a track following controller based on a PID control algorithm, wherein the PID control algorithm has a predefined control quantity; calculating to obtain a control quantity according to the deviation signal by using a track tracking controller; and transmitting the control quantity to the speed regulating valve to regulate the expansion speed.
In some embodiments, the speed valve comprises one or more of a proportional valve and a servo valve, and the number of speed valves corresponds to the number of shield thrust system cylinders.
An exemplary embodiment of the various operations of the method 100 of fig. 1 will be described in detail below in conjunction with fig. 2.
FIG. 2 illustrates a schematic diagram of a complete embodiment of a shield tunneling trace tracking control strategy, according to some embodiments of the invention. It should be noted that, in the exemplary embodiment shown in fig. 2, the telescopic speed of all the cylinders may be controlled, or the telescopic speed of a single cylinder may be controlled, which is not limited by the present invention.
In a complete embodiment as shown in fig. 2, a shield tracking target pose parameter sequence may be given first.
Specifically, the shield tracking target pose parameter sequence can be given according to the tunnel design axis and the coordination of the shield pose, and can be given by the following equation (1):
；（1）
Wherein represents a vector function of a pose parameter of a shield tunneling target, an independent variable represents a shield tunneling mileage, and represents a maximum tunneling mileage of the shield; The target position coordinates of the center of the front spherical hinge distribution circle of the pushing cylinder of the shield tunneling machine are represented; And the target attitude angle of the shield tunneling machine is represented, and comprises a rolling angle, a pitch angle and a yaw angle.
With continued reference to fig. 2, after the shield tracking target pose parameter sequence is given, inverse kinematics modeling may be performed on the shield propulsion system, and the target travel of each hydraulic cylinder of the shield propulsion system when the shield tracking target pose parameter sequence is solved.
In one embodiment, the inverse kinematics modeling can be performed on the shield propulsion system, and the target travel of each hydraulic cylinder of the shield propulsion system can be solved when the shield tracking target pose parameter sequence is obtained. For example, the shield tunneling target pose matrix may be determined from the shield tracking target pose parameter sequence according to the following equation (2):
；（2）
Wherein represents the cosine function cos; Representing a sine function sin, and other parameters are as in equation (1).
Furthermore, the front and rear spherical hinge position vectors of the hydraulic oil cylinder can be determined according to the distribution form of the hydraulic oil cylinder of the shield machine propulsion system. The method specifically comprises the steps of constructing a coordinate system { A-XYZ }, wherein the coordinate system is fixed on a segment ring for providing counter force for a propulsion hydraulic cylinder, an origin A is the distribution center of a spherical hinge behind the cylinder, an X axis is along the segment axis and points to the shield tunneling direction, a Z axis is vertically upwards through the origin A, and a Y axis direction is determined by a right hand rule.
According to the distribution form of the hydraulic cylinders of the shield tunneling machine propulsion system, the position vector of the spherical hinge A i of the ith hydraulic cylinder under the coordinate system { A-XYZ } is determined to be A i, and i=1, 2,3 … … n, n is the total number of the hydraulic cylinders of the propulsion system.
The position vector B i of the i-th cylinder front spherical hinge B i in the coordinate system { a-XYZ } can be expressed as:
；（3）
Further, according to the front and rear spherical hinge position vectors of the oil cylinder of the shield machine propulsion system and the shield pose transformation matrix, a stroke solving model of the hydraulic oil cylinder of the shield machine propulsion system is established, and the formula is as follows:
（i=1,2,3……n）；（4）
；（5）
Wherein is a target travel of the hydraulic cylinder of the ith propulsion system when the shield tunneling mileage is s; l is the length of the cylinder body of the hydraulic cylinder; And a target stroke row vector is formed for the target strokes of all the hydraulic cylinders when the shield tunneling mileage is s.
In some embodiments, next, the stroke of the hydraulic cylinder of the shield tunneling machine propulsion system at the current moment can be measured, and a deviation value from the target stroke can be obtained.
Specifically, displacement sensors can be installed on all hydraulic cylinders of a shield machine propulsion system to measure actual strokes of all the hydraulic cylinders of the shield machine propulsion system in real time, and the measured actual stroke vectors of all the hydraulic cylinders are as follows:
；（6）
The actual stroke of the hydraulic cylinder of the ith propulsion system when the shield tunneling mileage is s.
Next, according to the actual stroke and the target stroke of each hydraulic cylinder of the shield tunneling machine propulsion system, solving a cylinder stroke deviation value at the time t, and the calculation formula is as follows:
；（7）
In some embodiments, a track tracking controller can be generated, and the controller controls a speed regulating valve of a shield machine propulsion system according to an input oil cylinder stroke deviation signal so as to regulate the telescopic speed of a corresponding oil cylinder.
Specifically, a track following controller may be provided, and may be designed by using a PID control algorithm or other advanced control strategies, where the control amount of the PID control algorithm is as follows:
；（8）
Wherein is the proportional gain row vector; Is an integral gain row vector; As differential gain row vectors, they are in the form:
；（9）
Then, the track tracking controller can calculate the control quantity according to the oil cylinder stroke deviation signal, and then the control quantity is transmitted to the speed regulating valve to control each hydraulic oil cylinder of the shield machine propulsion system, so that the expansion speed of each oil cylinder is regulated, and the oil cylinder stroke deviation is reduced.
In one embodiment, the speed valve may be selected as a proportional valve or a servo valve. In order to ensure that each hydraulic cylinder of the shield machine propulsion system can adjust the telescopic speed in real time according to the control signals, the number of the speed regulating valves is matched with the number of the cylinders, namely, one speed regulating valve is arranged between each hydraulic cylinder and the controller. This ensures that the stroke of each cylinder can accurately track the target oil stroke, which is obtained by the inverse kinematics solution. In this way, the shield machine can reach the target pose, and the closed-loop automatic control of the shield tunneling track is realized.
Fig. 3 illustrates a schematic block diagram of a shield tunneling system ram retraction speed control apparatus 300, according to some embodiments of the present invention.
As shown in fig. 3, the apparatus 300 includes a ram stroke acquisition module 301, a stroke deviation value determination module 303, and a ram extension speed control module 305. The oil cylinder stroke obtaining module 301 is configured to obtain a target stroke and an actual stroke of an oil cylinder at a current moment, the target stroke is obtained by performing inverse kinematics modeling on the shield propulsion system, the stroke deviation value determining module 303 is configured to determine a deviation value of the target stroke and the actual stroke at the current moment, and the oil cylinder telescopic speed control module 305 is configured to generate a deviation signal based on the deviation value so as to control the shield propulsion system to adjust the telescopic speed.
In some embodiments, the ram stroke acquisition module 301 may be further configured to: acquiring a shield tracking target pose parameter sequence, wherein the shield tracking target pose parameter sequence is associated with a target stroke of an oil cylinder; and performing inverse kinematics modeling on the shield propulsion system to obtain target strokes of all the oil cylinders of the shield propulsion system when the shield tracks the target pose parameter sequence.
In some embodiments, the ram stroke acquisition module 301 may be further configured to: determining a shield tunneling target pose matrix based on the shield tracking target pose parameter sequence; determining the front and rear spherical hinge position vectors of the oil cylinder based on the distribution form of the oil cylinder of the shield propulsion system; and establishing a stroke solving model of the oil cylinder of the shield propulsion system based on the front and rear spherical hinge position vectors of the oil cylinder of the shield propulsion system and the shield pose transformation matrix.
In some embodiments, the ram stroke acquisition module 301 may be further configured to: the actual stroke of the oil cylinder of the shield propulsion system is measured in real time through a displacement sensor, and the displacement sensor is arranged on the oil cylinder.
In some embodiments, the ram retraction speed control module 305 may also be configured to: acquiring a track tracking controller; and inputting a deviation value into the track tracking controller to generate a deviation signal so as to control a speed regulating valve of the shield propulsion system, thereby adjusting the telescopic speed.
In some embodiments, the ram retraction speed control module 305 may also be configured to: designing a track following controller based on a PID control algorithm, wherein the PID control algorithm has a predefined control quantity; calculating to obtain a control quantity according to the deviation signal by using a track tracking controller; and transmitting the control quantity to the speed regulating valve to regulate the expansion speed.
In some embodiments, the speed valve may include one or more of a proportional valve and a servo valve, and the number of speed valves corresponds to the number of shield thrust system cylinders.
FIG. 4 illustrates a block diagram of a computing device 400 capable of implementing various embodiments of the invention. The apparatus 400 may be used, for example, to implement the operations in the method 100 shown in fig. 1 or to implement, at least in part, the embodiment shown in fig. 2. Device 400 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the apparatus 400 includes a computing unit (CPU 401) that can perform various appropriate actions and processes according to a computer program stored in a read only memory (ROM 402) or a computer program loaded from a storage unit 408 into a random access memory (RAM 403). In RAM 403, various programs and data required for the operation of device 400 may also be stored. The CPU 401, ROM 402, and RAM 403 are connected to each other by a bus 404. An input/output interface (I/O interface 405) is also connected to bus 404.
Various components in device 400 are connected to I/O interface 405, including: an input unit 406 such as a keyboard, a mouse, etc.; an output unit 407 such as various types of displays, speakers, and the like; a storage unit 408, such as a magnetic disk, optical disk, etc.; and a communication unit 409 such as a network card, modem, wireless communication transceiver, etc. The communication unit 409 allows the device 400 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The computing unit may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing units include, but are not limited to, central Processing Units (CPUs), graphics Processing Units (GPUs), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processors, controllers, microcontrollers, and the like. The computing unit performs the various methods and processes described above, such as method 100. For example, in some embodiments, the method 100 may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 408. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 400 via the ROM 402 and/or the communication unit 409. One or more of the steps of the method 100 described above may be performed when the computer program is loaded into RAM 403 and executed by CPU 401. Alternatively, in other embodiments, CPU 401 may be configured to perform method 100 by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for carrying out methods of the present invention may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.
The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service ("Virtual PRIVATE SERVER" or simply "VPS") are overcome. The server may also be a server of a distributed system or a server that incorporates a blockchain.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present disclosure may be performed in parallel, sequentially, or in a different order, so long as the desired result of the technical solution of the present disclosure is achieved, and the present disclosure is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (5)
1. The method for controlling the telescopic speed of the oil cylinder of the shield propulsion system is characterized by comprising the following steps of:
Acquiring a target stroke and an actual stroke of the oil cylinder at the current moment, wherein the target stroke is obtained based on inverse kinematics modeling of the shield propulsion system;
determining the deviation value of the target travel and the actual travel at the current moment; and
Generating a deviation signal based on the deviation value, and controlling the shield propulsion system to adjust the telescopic speed and realize closed-loop automatic control of a shield tunneling track;
The method comprises the steps of obtaining a target stroke and an actual stroke of the oil cylinder at the current moment, wherein the target stroke is obtained based on inverse kinematics modeling of the shield propulsion system and comprises the following steps:
acquiring a shield tracking target pose parameter sequence, wherein the shield tracking target pose parameter sequence is associated with the target travel of the oil cylinder; and
Modeling the reverse kinematics of the shield propulsion system to obtain the target travel of each oil cylinder of the shield propulsion system when the shield tracks the target pose parameter sequence; and wherein the first and second heat sinks are disposed,
Modeling the reverse kinematics of the shield propulsion system to obtain the target travel of each oil cylinder of the shield propulsion system when the shield tracks the target pose parameter sequence comprises the following steps:
determining a shield tunneling target pose matrix based on the shield tracking target pose parameter sequence;
Determining the front and rear spherical hinge position vectors of the oil cylinder based on the distribution form of the oil cylinder of the shield propulsion system; and
Based on the front and rear spherical hinge position vectors of the shield propulsion system oil cylinder and the shield pose transformation matrix, establishing a shield propulsion system oil cylinder stroke solving model; the method for acquiring the target stroke and the actual stroke of the oil cylinder at the current moment comprises the following steps:
Measuring the actual stroke of the oil cylinder of the shield propulsion system in real time through a displacement sensor, wherein the displacement sensor is arranged on the oil cylinder; and wherein the first and second heat sinks are disposed,
Generating a bias signal based on the bias value to control the shield propulsion system to adjust the telescoping speed includes:
Acquiring a track tracking controller; and
Inputting the deviation value in the track tracking controller to generate the deviation signal so as to control the shield propulsion system speed regulating valve, thereby adjusting the telescopic speed; and wherein the acquisition trajectory tracking controller includes:
Designing the trajectory tracking controller based on a PID control algorithm, the PID control algorithm having a predefined control quantity;
calculating the control quantity according to the deviation signal by using the track tracking controller; and
And transmitting the control quantity to the speed regulating valve so as to regulate the expansion speed.
2. The method of claim 1, the speed valve comprising one or more of a proportional valve and a servo valve, and the number of speed valves corresponds to the number of cylinders of the shield propulsion system.
3. The utility model provides a shield constructs propulsion system hydro-cylinder flexible speed control device which characterized in that includes:
The oil cylinder stroke acquisition module is configured to acquire a target stroke and an actual stroke of the oil cylinder at the current moment, wherein the target stroke is obtained based on inverse kinematics modeling of the shield propulsion system;
a stroke offset value determining module configured to determine an offset value of the target stroke and the actual stroke at the current time; and
The oil cylinder telescopic speed control module is configured to generate a deviation signal based on the deviation value, and is used for controlling the shield propulsion system to adjust the telescopic speed and realize closed-loop automatic control of a shield tunneling track;
The method comprises the steps of obtaining a target stroke and an actual stroke of the oil cylinder at the current moment, wherein the target stroke is obtained based on inverse kinematics modeling of the shield propulsion system and comprises the following steps:
acquiring a shield tracking target pose parameter sequence, wherein the shield tracking target pose parameter sequence is associated with the target travel of the oil cylinder; and
Modeling the reverse kinematics of the shield propulsion system to obtain the target travel of each oil cylinder of the shield propulsion system when the shield tracks the target pose parameter sequence; and wherein the first and second heat sinks are disposed,
Modeling the reverse kinematics of the shield propulsion system to obtain the target travel of each oil cylinder of the shield propulsion system when the shield tracks the target pose parameter sequence comprises the following steps:
determining a shield tunneling target pose matrix based on the shield tracking target pose parameter sequence;
Determining the front and rear spherical hinge position vectors of the oil cylinder based on the distribution form of the oil cylinder of the shield propulsion system; and
Based on the front and rear spherical hinge position vectors of the shield propulsion system oil cylinder and the shield pose transformation matrix, establishing a shield propulsion system oil cylinder stroke solving model; the method for acquiring the target stroke and the actual stroke of the oil cylinder at the current moment comprises the following steps:
Measuring the actual stroke of the oil cylinder of the shield propulsion system in real time through a displacement sensor, wherein the displacement sensor is arranged on the oil cylinder; and wherein the first and second heat sinks are disposed,
Generating a bias signal based on the bias value to control the shield propulsion system to adjust the telescoping speed includes:
Acquiring a track tracking controller; and
Inputting the deviation value in the track tracking controller to generate the deviation signal so as to control the shield propulsion system speed regulating valve, thereby adjusting the telescopic speed; and wherein the acquisition trajectory tracking controller includes:
Designing the trajectory tracking controller based on a PID control algorithm, the PID control algorithm having a predefined control quantity;
calculating the control quantity according to the deviation signal by using the track tracking controller; and
And transmitting the control quantity to the speed regulating valve so as to regulate the expansion speed.
4. An electronic device, the device comprising:
one or more processors; and
Storage means for storing one or more programs which when executed by the one or more processors cause the one or more processors to implement the method of any of claims 1 to 2.
5. A computer readable storage medium having stored thereon a computer program which when executed by a processor implements the method according to any of claims 1 to 2.
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