CN1063826C - Suporting structure - Google Patents

Suporting structure Download PDF

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Publication number
CN1063826C
CN1063826C CN94101989A CN94101989A CN1063826C CN 1063826 C CN1063826 C CN 1063826C CN 94101989 A CN94101989 A CN 94101989A CN 94101989 A CN94101989 A CN 94101989A CN 1063826 C CN1063826 C CN 1063826C
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China
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mentioned
shield structure
cutting disc
control
jack
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CN1108349A (en
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佐藤清
关谷克利
桧垣和弘
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FUJIDA Co Ltd
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FUJIDA Co Ltd
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Abstract

The present invention relates to a shield apparatus which is provided with a direction controlling device, an earth pressure controlling device and an automatic running controlling device. The automatic running controlling device is used for monitoring the running conditions of hydraulic pump units which make the shield apparatus do driving actions, the running conditions of the earth pressure controlling device and the direction controlling device which are controlled by the hydraulic pump units and a hydraulic loop and the abnormal states and sending out running instructions and stop instructions to the direction controlling device and the earth pressure controlling device according to the results so as to make the shield apparatus fully automatically run.

Description

Suporting structure
The present invention relates to the Suporting structure of soil pressure formula and muddy water adding pressure type, in more detail, relate to a kind of judgement that does not need the operator, can carry out the soil pressure control and the tunneling direction control of the excavation face (cutting plumage) in the soil pressure formula Suporting structure automatically, and the Suporting structure of the muddy water pressure-controlled of the excavation face in the Suporting structure of muddy water adding pressure type and tunneling direction control.
As at one of construction method of underground build underground railway, water-supply line, sewer and power cable pipeline etc., shield construction is arranged.This is the limit with the horizontal duct of Shield digging, and the limit is advanced this shield structure, loads onto the construction method of fan-shaped lining segment (セ Network メ Application ト) successively at the rear portion of shield structure.Soil pressure formula shield construction and muddy water adding pressure type shield construction are arranged again in this shield construction.
Soil pressure formula shield construction mainly is to be the employed pipeline construction method of object with the soft foundation, this construction method limit is rotated the cutting disc (カ Off テ ィ ス Network) of the head portion of being located at shield structure body, the limit advances shield structure body with shield structure jack, and allow be trapped in the cutting disc chamber and be full state by the native sand under the cutting disc cutting, thereby make it produce the soil pressure that keeps the excavation face to use, discharge continuously with conveying worm simultaneously, thereby at underground driving.
This soil pressure formula shield construction because can adjust is taken into the amount of being taken into and its casting amount of the native sand in the cutting chamber, so in the stabilizing of the face of excavation, prevent that advantage is given prominence to aspect foundation deformation and construction stable.
In addition, muddy water adding pressure type shield construction is with muddy water the excavation face to be pressurizeed, and utilizes the gap hydraulic pressure of excavation face each several part and the muddy water corresponding with soil pressure is pressed and the effect of muddy water, guarantees stablizing of the face that excavates, under this state, excavate the soil body (mountain) with Suporting structure.The native sand of being excavated because of the driving of Suporting structure is transported outside the shield structure well by discharger with muddy water.
But, the Suporting structure of the traditional soil pressure formula of above-mentioned such usefulness shield construction, it is knowledge and experience according to operator's long-term accumulation, decision and the corresponding suitable soil pressure of the soil body, and, control the rotating speed of thrust, its fltting speed, cutting disc and the conveying worm of shield structure jack based on this soil pressure.
In the case, operational situation for each hydraulic pump unit of shield structure jack system, cutting disc system and conveying worm system etc., for shield structure jack, cutting disc and conveying worm etc. whether in the operational situation of the Suporting structure that runs well, and for the abnormal pressure that is added on cutting disc, be added on Suporting structure unusual of the abnormal pressure etc. of shield structure jack, be by monitoring by operator self, and, Suporting structure work driving is turned round according to the operation board in this supervision results operation well.
Therefore there are the following problems: must be carried out the running operation of high-caliber complexity by the operator, except that essential skilled worker, also essential a lot of is artificial.
On the other hand, use the Suporting structure of muddy water adding pressure type shield construction, this viewpoint of destruction of the soil body when preventing to tunnel, the driving speed of accelerating Suporting structure is favourable.
If will quicken the driving speed of Suporting structure, then must adjust, make the drive source, soil-discharging device etc. of shield structure jack, cutting disc not be subjected to excessive load, and must be noted that, make digging efficiency reduction within reason.
But, because the driving speed adjustment of traditional Suporting structure is manual by the operational situation limit of operator limit grasp Suporting structure, so, the problem of essential qualification of existence and troublesome poeration.
Because the muddy water that above-mentioned traditional muddy water adding pressure type Suporting structure is a manual operations adjustment by the operator puts on the excavation face is pressed,, can not realize the high efficiency of operation and the problem of laborsavingization again so existence can not be carried out the automation of shield-tunneling construction.
The present invention makes in order to solve above-mentioned traditional problem, the 1st purpose of the present invention is, a kind of Suporting structure is provided, and this Suporting structure is correspondingly controlled Suporting structure by the various running condition shapes by Suporting structure, makes the driving running of Suporting structure can realize automation.
The 2nd purpose of the present invention is, a kind of Suporting structure is provided, and this Suporting structure does not need operator's judgement, can stablize and the soil pressure that will excavate face reliably is controlled at and sets in the soil pressure, can improve tunneling construction efficient simultaneously and realize laborsavingization.
The 3rd purpose of the present invention is, a kind of Suporting structure is provided, and this Suporting structure carries out the adjustment of driving speed automatically, does not need experienced operators, can realize the high efficiency and laborsavingization of shield-tunneling construction operation.
The 4th purpose of the present invention is that the adjustment that provides a kind of muddy water that excavates face automatically to press can improve tunneling construction efficient and the Suporting structure of realizing laborsavingization.
In order to reach above-mentioned the 1st purpose, Suporting structure of the present invention is constructed as follows: outside the direction-control apparatus and soil pressure control device of Suporting structure, append automatic operation controller again, by this automatic operation controller, make the operational situation of each hydraulic pump unit of driving action to making Suporting structure, soil pressure/direction control the operation of a machine situation by hydraulic pump unit and hydraulic circuit control, and soil pressure/direction control monitors with the abnormality of machine and hydraulic pump unit, and according to its supervision result, send running instruction and halt instruction to above-mentioned direction-control apparatus and soil pressure control device, Suporting structure is automatically turned round.
In order to reach the 2nd purpose, Suporting structure of the present invention is constructed as follows: when controlling the soil pressure of excavation face according to the rotating speed that the cutting soil sand in the dish of cutting chamber is discharged to the conveying worm outside the cutting disc chamber, when judging the rotating speed that only depends on conveying worm and can not control this soil pressure, according to conveying worm at that time, the running-active status of shield structure jack and casting adjusting device, reason out the controlled quentity controlled variable that the casting amount of transferring device is put in order in the fltting speed and/or the casting of shield structure jack by expert system, correspondingly control the casting amount of the fltting speed and/or the casting adjusting device of shield structure jack according to this controlled quentity controlled variable, thereby control the soil pressure of excavation face.
In order to reach above-mentioned the 3rd purpose, Suporting structure of the present invention is constructed as follows: by shield structure jack checkout gear, the propulsive force checkout gear, cutting disc driving force checkout gear and casting amount detecting device are detected, the pushing force of the fan-shaped lining segment of shield structure jack pair, the propulsive force of shield structure and the driving force that puts on cutting disc by the cutting disc drive source, make comparisons with the higher limit of these power that can bear, and the discharge rate of the time per unit excavation soil of discharging by discharger, make comparisons with the peak discharge of the excavation soil that can discharge by this soil-discharging device, according to above-mentioned comparative result, the the 1st to the 4th controlled quentity controlled variable output device is exported the controlled quentity controlled variable of the driving speed of Suporting structure respectively, control device drives control according to this controlled quentity controlled variable with the driving speed of the detected Suporting structure of driving speed checkout gear to shield structure jack drive source.
In order to reach above-mentioned the 4th purpose, Suporting structure of the present invention is constructed as follows: according to by the driving speed checkout gear, quantity delivered checkout gear and discharge rate checkout gear are detected, the driving speed of Suporting structure, the discharge rate of the quantity delivered of the muddy water that provides by supply pump and the muddy water of discharging by excavationg pump, fuzzy (Off ァ ジ-) inference device is used fuzzy control rule and is carried out fuzzy deduction, control device is according to supplying with the controlled quentity controlled variable of pressing by the muddy water of this inference result decision, and, supply pump is controlled by the hydraulic pressure of the muddy water at excavation face device for detecting water pressure detected excavation face position.
Fig. 1: the formation block diagram of the soil pressure formula Suporting structure that the present invention the 1st embodiment relates to.
Fig. 2: the cross-sectional schematic of the soil pressure formula Suporting structure that is applicable to automatic driving control mode that the present invention the 1st embodiment relates to.
Fig. 3: the formation block diagram of the soil pressure control system of soil pressure formula Suporting structure among the 1st embodiment.
Fig. 4: the key diagram of the shield tunnel of muddy water adding pressure type Suporting structure that the present invention the 2nd embodiment relates to and the muddy water adding pressure type shield-tunneling construction that adopts this equipment.
Fig. 5: the control system block diagram among the 2nd embodiment, it comprises the automatic acceleration of the driving that constitutes muddy water adding pressure type Suporting structure and slows down with the control electronic computer of control device.
Fig. 6: the block diagram that roughly constitutes of electronic computer of the control when muddy water adding pressure type Suporting structure acceleration control is shown.
Fig. 7: current detector shown in Figure 6 is shown, the jack pressure sensor, the spoil disposal density sensor, rotating speed is taken into account the key diagram of the relation of the testing result of propulsive force test section and corresponding therewith evaluation of estimate, wherein, Fig. 7 (a) shows the testing result of current detector and the relation of evaluation of estimate, Fig. 7 (b) shows the testing result of jack pressure sensor and the relation of evaluation of estimate, Fig. 7 (c) shows the testing result of propulsive force test section and the relation of evaluation of estimate, Fig. 7 (d) shows the testing result of spoil disposal density sensor and the relation of evaluation of estimate, and Fig. 7 (e) shows the testing result of tachometer and the relation of evaluation of estimate.
Fig. 8: the average of last time estimating score with this that is calculated by the evaluation score portion of calculating shown in Figure 6 is shown, with key diagram by the corresponding relation of the fuzziness score value of fuzziness shown in Figure 6 (Off ァ ジ-ス ケ-Le) value efferent output.
Fig. 9: the key diagram that the membership qualification function that is stored in membership qualification shown in Figure 6 (メ Application バ-ジ プ) functional value efferent is shown.
Figure 10: the key diagram that the fuzzy control rule that is stored in fuzzy control rule preservation portion shown in Figure 6 is shown.
Figure 11: the key diagram that the content of the fuzzy deduction that fuzzy deduction portion shown in Figure 6 carried out is shown.
Figure 12: be illustrated in controlled quentity controlled variable efferent shown in Figure 6, the key diagram of the principle when adopting gravity model appoach to mark off to quicken the relevant values of ambiguity of controlled quentity controlled variable with the driving of Suporting structure.
Figure 13: the flow chart of the processing sequence when with electronic computer the driving speed of Suporting structure being carried out fuzzy control with control shown in Figure 5.
Figure 14: the block diagram that the automatic deceleration control that the muddy water adding pressure type Suporting structure in the distortion example of the 2nd embodiment is shown constitutes with the summary of electronic computer.
Figure 15: illustrate with automatic deceleration control mode in shield structure jack pushing pressure, shield structure body propulsive force, be supplied to cutting disc with the drive current of motor, discharge the density of mud, and the maximum controlled of higher limit, controlled quentity controlled variable, control interval and the control part of the rotating speed correspondence of sludge pump is carried out the key diagram of number of times.
Figure 16: control is with the flow chart of the driving of the Suporting structure of the automatic deceleration control mode processing sequence when the deceleration.
Figure 17: other muddy water pressure-controlled of being out of shape the muddy water adding pressure type Suporting structure in examples block diagram that roughly constitutes of electronic computer that the 2nd embodiment is shown.
Figure 18: illustrate by deviation flow testing division shown in Figure 17 detected last time with this average of deviation flow, with corresponding key diagram by the values of ambiguity of values of ambiguity efferent output shown in Figure 17.
Figure 19: the key diagram that the membership qualification function that is kept at membership qualification functional value efferent shown in Figure 17 is shown.
Figure 20: the key diagram that the fuzzy control rule that is kept at fuzzy control rule preservation portion shown in Figure 17 is shown.
Figure 21: the key diagram that the content of the fuzzy deduction that fuzzy deduction portion shown in Figure 17 carries out is shown.
Figure 22: be illustrated in controlled quentity controlled variable efferent shown in Figure 17, the key diagram of the principle when marking off the values of ambiguity relevant with the controlled quentity controlled variable of excavating face muddy water pressure with gravity model appoach.
Figure 23: the flow chart that the processing sequence when using control to stick with paste control excavation face muddy water pressure with the electronics computer mould is shown.
Explanation the 1st embodiment of the present invention below sees figures.1.and.2.
In Fig. 2, Suporting structure shown in the overall symbol 100 comprises: shield structure body 102 cylindraceous, be located at the cutting disc 103 of the top ends of this shield structure body 102 rotationally, be formed at the rear portion of this cutting disc 103, make the native sand under the cutting be detained chamber 104 in it with full state, a plurality of shield structure jack 105 that shield structure body 102 is advanced are discharged the conveying worm 106 of controlling the native sand in 104, and the casting adjusting device 107 of controlling the aperture opening ratio of this conveying worm 106.
Symbol 108 is to drive cutting disc 103, makes its cutting disc drive unit that rotates to positive and negative direction, and this cutting disc drive unit 108 is made of hydraulic motor, and this hydraulic motor is connected with the hydraulic circuit (with reference to Fig. 1) of back with introduction.
Symbol 110 is the helical feed machine actuating devices that drive conveying worm 106, and this helical feed machine actuating device 110 is made of hydraulic motor, and this hydraulic motor is connected with the hydraulic circuit 111 (with reference to Fig. 1) of back with introduction.
Symbol 112 is the mud injection pump unit in the mud injection cutting disc chamber 104, the mud that discharge this mud injection pump unit 112 is injected in the cutting disc chamber 104 by ascending pipe 112a, the viscosity of the native sand in chamber 104 and the conveying worm 106 is improved, and native sand is moved swimmingly.
Symbol 113 is a plurality of soil pressure meters of the soil pressure in a plurality of location detection chamber 104, symbol 114 is to detect horizontal angle detector that the angle of the horizontal direction of the shield structure body 102 relative soil bodys is used, that be made of gyrosensor etc., and symbol 115 is vertical angle detectors that the angle of the above-below direction of the detection shield structure body 102 relative soil bodys is used, that be made of fluviograph etc.
Below the formation of the control system of above-mentioned Suporting structure 101 shown in Figure 1 is described.
In Fig. 1, the 120th, the automatic operation control section that constitutes by electronic computer, the operational situation of its limit supervision Suporting structure 101, the operational situation of each hydraulic pump unit reach the various warning informations from Suporting structure 101, and the limit turns round Suporting structure 101 according to the driving management data automatically.
Input side in automatic operation control section 120, connect the driving that instructs Suporting structure 101 to begin to tunnel respectively and beginning switch 121, the emergency stop switch 122 that instruction Suporting structure 101 promptly stops, to constituting the operational situation detector 124 that jack that shield structure jack drives starting with the hydraulic pump unit 123a of hydraulic circuit 123/stop to detect is used, to constituting the cutting disc usefulness operational situation detector 125 that cutting disc drives starting with the hydraulic pump unit 109a of hydraulic circuit 109/stop to detect, to constituting the operational situation detector 126 that screw conveyor that conveying worm drives starting with the hydraulic pump unit 111a of hydraulic circuit 111/stop to detect is used, the operational situation follower 127 that the mud of and the starting of detection mud injection pump unit 112/stop to be used.
In addition, input side in above-mentioned automatic operation control section 120, also be connected with respectively: detecting cutting disc 103 is to turn left or right-handed cutting disc rotation condition detector 128, detect conveying worm 106 and whether rotate condition detector 129 at the conveying worm that rotates, detect the stroke detector 130 of the extended travel of shield structure jack 105, to compress into the cutting pressure detector 131 that row detects by the cutting that is supplied to the working oil of cutting disc drive unit 108 to put on cutting disc drive unit 108 from hydraulic circuit 109, unusual to the motor of the hydraulic pump unit that constitutes each hydraulic circuit, what the unusual and Suporting structure 101 of the transfer system of various detection signals and control signal produced detects unusually, and send the abnormity detection portion 132 of abnormal signal, and the roll detection device 133 that detects the rolling of shield structure body 102.
Outlet side in above-mentioned automatic operation control section 120, be connected with the direction control part 134 of Suporting structure 101 and the soil pressure control part 135 of Suporting structure 101, also be connected with mud injection pump unit 112 simultaneously respectively, cutting disc drives the hydraulic pump unit 109a with hydraulic circuit 109, shield structure jack drives the hydraulic pump unit 123a with hydraulic circuit 123, and conveying worm drives the hydraulic pump unit 111a with hydraulic circuit 111.
Above-mentioned direction control part 1 34 is control Suporting structures 101, makes it advance usefulness to predetermined direction, and the input side of this direction control part 134 is connecting horizontal angle detector 114 and vertical angle detector 115.Outlet side at direction control part 134 is connecting jack driving hydraulic circuit 123, and is connected with a plurality of shield structure jack 105 on this hydraulic circuit 123.
Above-mentioned soil pressure control part 135 is fltting speed, the rotating speed of conveying worm 106 and the casting amounts of casting adjusting device 7 by control shield structure jack 105, make soil pressures in the chamber 104 keep that predefined soil pressure uses, the input side of this soil pressure control part 135 is connecting soil pressure meter 113.The outlet side of soil pressure control part is connecting jack driving hydraulic circuit 123 respectively, cutting disc drives with hydraulic circuit 109, conveying worm driving hydraulic circuit 111 and casting hydraulic circuit 136.
Above-mentioned cutting disc drives with connecting cutting disc drive unit (hydraulic motor) 108 on the hydraulic circuit 109, conveying worm drives with connecting helical feed machine actuating device (hydraulic motor) 110 on the hydraulic circuit 111, and casting is with on the hydraulic circuit 136, connecting the casting adjusting device 107 of the gate that moves by the executive component that is driven by its working oil etc.
In addition, each hydraulic circuit 123,111,109 of above-mentioned shield structure jack 105, conveying worm 106 and cutting disc 103 is except hydraulic pump unit 123a, 111a, 109a, also be provided with pressure-control valve, flow control valve, directional control valve etc., above-mentioned hydraulic pump unit comprises hydraulic pump and drives the hydraulic pressure pump motor.
Similarly, casting also comprises hydraulic pump, pressure-control valve, flow control valve etc. with hydraulic circuit 136.
Then the driving action to the present embodiment of above-mentioned formation describes.
Under the state that the driving preparation of Suporting structure 101 has been finished, in case being located at the driving that not shown monitor etc. locates, operator's operation begins switch 121, " leading to " signal of this switch 121 promptly is taken into automatic operation control section 120.
Automatically operation control section 120 is according to " leading to " signal of switch 121, send running command signal with hydraulic pump unit 123a, mud injection pump unit 112 and the casting of hydraulic circuit 123 with hydraulic circuit 136 with hydraulic pump unit 111a, the jack driving of hydraulic circuit 111 to hydraulic pump unit 109a, conveying worm driving that cutting disc drives with hydraulic circuit 109, make each pump unit starting.Because mud injection pump 112 is activated, mud is injected in the chamber 104 continuously.
At this moment, whether each detector 124-127 that jack is used, cutting disc is used, conveying worm is used and mud is used has normally started this operational situation to corresponding with it pump unit is detected, automatically whether operation control section 120 is differentiated each pump unit and has normally been started by reading these detection signals.
In case recognize each pump unit in operate as normal, operation control section 120 is promptly sent the equipment operation instruction to direction control part 134 and soil pressure control part 135 automatically, by direction control part and soil pressure control part 135 control Suporting structures 101, makes it do the driving action.
Promptly, in case imported the equipment operation instruction in the soil pressure control part 135, soil pressure in the chamber 104 that soil pressure control part 135 promptly measures according to the management soil pressure of automatic setting and by soil pressure, drive with hydraulic circuit 123 output hydraulic control instructions to jack, correspondingly control the working oil oil mass and the pressure of the propelling usefulness that is supplied to each shield structure jack 105 with this instruction, make each shield structure jack 105 do to advance action, Suporting structure 101 is advanced.
In addition, soil pressure control part 135 is according to the detection soil pressure in management soil pressure and the chamber 104, drive with hydraulic circuit 111 output hydraulic control instructions to conveying worm, correspondingly control working oil oil mass and the pressure that is supplied to helical feed machine actuating device 110 with this instruction, conveying worm 106 is rotated, being trapped in native sand in the chamber 104 with full state, be discharged to continuously on the conveyer 116 (with reference to Fig. 2) by casting adjusting device 107.
Also have, soil pressure control part 135 is controlled casting hydraulic circuit 136 again according to the detection soil pressure in management soil pressure data and the chamber 104, adjusts the aperture opening ratio of the casting adjusting device 107 that moves because of this hydraulic circuit 136.
Again, Suporting structure is when tunneling, travel information by the rotation condition information that rotates the cutting disc 103 that condition detector 128 measures, the shield structure jack 105 measured by the rotation condition information that rotates the conveying worm 106 that condition detector 129 measures and by stroke detector 130 all is taken into automatic operation control section 120, often monitors.
In addition, when driving, the cutting that indication puts on the pressure of cutting disc drive unit 108 press detector 131 output signal, also be taken into automatic operation control section 120 from the signal of abnormity detection portion 132 and the signal of roll detection portion 133, monitor.
As mentioned above,, the soil pressure in the chamber 104 is remained in the management soil pressure, realize the stabilizing of excavation face by the fltting speed of controlling shield structure jack 105 according to soil pressure, the rotating speed of conveying worm 106 and the aperture opening ratio of casting adjusting device 107.
On the other hand, in case imported equipment operation instruction in the direction control part 134 from automatic operation control section 120, direction control part 134 is according to being measured by horizontal angle detector 114, the horizontal direction angle of slope of the shield structure body 102 of relative datum direction of propulsion, and measure by vertical angle detector 115, the vertical direction angle of slope of the shield structure body 102 of relative datum direction of propulsion, send the jack selection instruction to the jack driving with hydraulic circuit 123, flow to the working oil of selecteed shield structure jack 105 by control, control Suporting structure 101 makes it towards the direction of propulsion of setting.
When Suporting structure 101 is tunneling action, if operation control section 120 is judged automatically, the stroke that stretches out of the shield structure jack of being measured by stroke detector 130 105 has reached the value of setting (width dimensions that is equivalent to fan-shaped lining segment 117), then send the running halt instruction to each hydraulic circuit 109,111,123 by automatic operation control section 120, take this to make each hydraulic pump unit 109a, 111a, 123a to stop, cutting disc 103, conveying worm 106 and shield structure jack 105 are stopped.In addition, if all machines have all stopped to fault-free, then standby to operation driving once more begins till switch 121 " leads to " it.
Suporting structure 101 is when doing the driving action, in case operation control section 120 is judged automatically, the shield structure body of being measured by roll detection device 133 102 roll angle of direction has to the left or to the right surpassed predefined angle, and then this judgement signal is sent to soil pressure control part 135.The soil pressure control part 135 of receiving this judgment signal makes cutting disc 103 to the command signal that turns round in the other direction to hydraulic control circuit 109 outputs, so, be supplied to the flow direction of the working oil of drive unit 108 also to become reverse flow by hydraulic circuit 109, drive cutting disc 103 and make its backwards rotation, make shield structure body 102 return to the normal position.
In addition, in case emergency stop switch 122 is closed, or measure each hydraulic circuit and had unusual by the machine of its control etc. by abnormity detection portion 132, made this unusual automatic operation control section 120 of judging and promptly sent halt instruction to direction control part 134 and soil pressure control part 135, each hydraulic circuit is stopped, each machine is stopped, thereby promptly make Suporting structure 101 stop driving.
In addition, in case judging the moment of torsion of the cutting disc of being measured by cutting pressure detector 131 103, automatic operation control section 120 surpassed predefined value, this judgement signal promptly is output to jack driving hydraulic circuit 123 through soil pressure control part 135, make the working oil stop supplies that is supplied to each shield structure jack 105 by hydraulic circuit 123, the driving of Suporting structure 101 was once stopped.
Then, along with the native sand in the chamber 104 being discharged with conveying worm 106, the cutting pressure that puts on cutting disc drive unit 108 can drop to below the setting value, in case judging has reduced to below the setting value, drive with hydraulic circuit 123 by jack, each shield structure jack 105 is done to advance action once more, and driving restarts.
In aforesaid present embodiment, on the direction control part and soil pressure control part of Suporting structure, appended automatic operation control section, by this automatic operation control section, based on the operational situation of each hydraulic pump unit of Suporting structure, by soil pressure/direction control of hydraulic pump unit and hydraulic circuit control with the operation of a machine situation, the abnormality that soil pressure/direction is controlled with machine and hydraulic pump unit is monitoring all the time.
When these soil pressures/direction is controlled with machine and the no abnormal generation of hydraulic pump unit, starting hydraulic pump unit, mud injection pump unit, and cutting disc and conveying worm and casting adjusting device thereof are moved, shield structure jack is advanced do the driving action, carry out in the process at driving, by the direction control part direction of Suporting structure is controlled at predetermined direction, by the aperture opening ratio of soil pressure control part control jack speed, conveying worm rotating speed and casting adjusting device, the soil pressure in the chamber is controlled to the management soil pressure simultaneously.
Have again, the drive manner that carries out adopting in the process at driving is, when the roll angle of Suporting structure has surpassed setting value, make cutting disc to counter-rotation, and when cutting is pressed above setting value, the propelling of jack was once stopped, treat to drop to thereafter setting value when following, begin driving once more, when the jack stroke when driving has reached setting value, jack, conveying worm and cutting disc are stopped again,, hydraulic pump unit also stops simultaneously, and standby always is transfused to once more to tunneling sign on.
Therefore, do not need staff, driving that can Automatic Control soil pressure formula Suporting structure.
Below to the control of the soil pressure of above-mentioned soil pressure formula Suporting structure, describe with reference to Fig. 3.
Fig. 3 is the formation block diagram according to the soil pressure control system of soil pressure formula Suporting structure of the present invention.
In Fig. 3, soil pressure control part 135 is made of electronic computer, it comprises: the inference mechanism 1351 of each controlled quentity controlled variable of inference, savings has the knowledge base 1352 of the various rules that the inference controlled quentity controlled variable uses, control the 1st control part 1353 of the driving of conveying worms 106 by helical feed machine actuating device 110, and the 2nd control part 1354 of control shield structure jack 105 and casting adjusting device 107, therefore, can not keep when setting soil pressure when judging by the rotating speed of conveying worm 106 control, can no longer rely on the rotating speed control of conveying worm 106, and replace by the fltting speed of adjusting shield structure jack 105 and the casting amount of passing through casting adjusting device 107, keep the setting soil pressure.
Above-mentioned inference mechanism 1351 and knowledge base 1352 constitute expert system.
Following message is imported above-mentioned inference mechanism 1351 respectively, detects the testing result of fltting speed detector 137 of the fltting speed of shield structure jack 105 that is:; The testing result of the revolution detector 138 of the rotating speed of detection conveying worm 106; The testing result of the cutting disc torque detector 139 of the moment of torsion of detection cutting disc 103; The testing result of the conveying worm torque detector 140 of the moment of torsion of detection conveying worm 106; Judge with the rotating speed of control conveying worm 106 when the 1st control part 1353 and can not keep judgement information when setting soil pressure; And the 2nd the soil pressure judged of control part 1354 judge information.
Above-mentioned fltting speed detector 137 detects the fltting speed of above-mentioned shield structure jack 105 to drive the working oil oil mass that is supplied to shield structure jack 105 with hydraulic circuit 123 by above-mentioned hydraulic pump unit 123a through jack.
In the above-mentioned knowledge base 1352, storing the various rules of the various controlled quentity controlled variables of inference, these controlled quentity controlled variables are in order to keep the setting soil pressure according to the above-mentioned various testing results, state and the judgement information that are transfused to inference mechanism 1351.
The average (the following soil pressure that only is called) of the soil pressure that 1353 pairs of above-mentioned the 1st control parts are measured by the predefined setting soil pressure of soil body condition (management soil pressure) with soil pressure case 113 compares, its difference is exported to the hydraulic control circuit 141 that conveying worm drives usefulness as controlled quentity controlled variable, connect the hydraulic circuit 111 that is subjected to the signal controlling sent herein on the hydraulic control circuit 141, and connecting helical feed machine actuating device (hydraulic motor) 110 on the hydraulic circuit 111.
Above-mentioned the 2nd control part 1354 is according to the controlled quentity controlled variable by 1351 outputs of inference mechanism, control the casting amount of the fltting speed of shield structure jack 105 and casting adjusting device 107, input has the testing result of soil pressure meter 113 and sets soil pressure on the 2nd control part 1354, also be connected with the hydraulic control circuit 142 of shield structure jack 105 simultaneously respectively, and the hydraulic control circuit 143 of casting adjusting device 107.
On the above-mentioned hydraulic control circuit 142, connecting the output signal according to this control loop 142, the above-mentioned jack of controlling the supply of the working oil of shield structure jack 105 drives with hydraulic circuit 123.In addition, on the hydraulic control circuit 143, connecting control signal, regulating the above-mentioned casting hydraulic circuit 136 of the native sand discharge rate of casting adjusting device 107 according to its output.
Below the action of the present embodiment that as above constitutes is described.
When adopting soil pressure formula shield-tunneling construction normal direction soil body driving, at first, on the control panel in being located at shield tunnel (not shown), according to theoretical soil pressure such as the condition enactment of soil body construction etc., set fltting speed, the rotating speed of conveying worm 106 and the casting amount of casting adjusting device 107 again with the corresponding shield structure of theoretical soil pressure jack 105.
Under state so, by shield structure jack 105 Suporting structure shown in Figure 2 101 is advanced, simultaneously by cutting disc drive unit 108, cutting disc 103 is rotated with the speed of regulation.Utilize helical feed machine actuating device 110 again, drive conveying worm 106 to set rotating speed, and the casting amount of casting adjusting device 107 is adjusted into setting value.
Under this state, when Suporting structure is pushed into, the native sand that is cut under dish 103 cuttings is trapped in the cutting disc chamber 104 and is full state, meanwhile, keeping under the situation of this full state,, by casting adjusting device 107 the native sand in the cutting disc chamber 104 is discharged to outside the chamber 104 by conveying worm 106.
In addition, the soil pressure that the 1st control part 1353 is measured in soil pressure 113, theoretical soil pressure and to excavate the soil amount be foundation are revised the management soil pressure, with this as setting soil pressure.Then, at the 1st control part 1353 places, the passing ratio integral action is calculated the spin rate control quantity of conveying worm 106, so that the soil pressure in the cutting disc chamber 104 enters in the permissible range of above-mentioned setting soil pressure.
In addition, the 1st control part 1353, is controlled by above-mentioned conveying worm and is driven the working oil that is supplied to helical feed machine actuating device (hydraulic motor) 110 with hydraulic circuit 111 by hydraulic control circuit 141 according to the above-mentioned controlled quentity controlled variable of calculating.Adjust the rotating speed of conveying worm 106 in view of the above, the soil pressure in the cutting disc chamber 104 is remained in the permissible range of above-mentioned setting soil pressure, to realize the stable of excavation face.
At the above-mentioned rotating speed that passes through conveying worm 106, soil pressure in the cutting disc chamber 104 is remained under the state of a control of setting in the soil pressure, the 1st control part 1353 is only controlled the rotating speed of conveying worm 106, in this case, set in the soil pressure in case judge the soil pressure in the cutting disc chamber 104 to be controlled at, this judgement information promptly is taken into inference mechanism 1351.
This inference mechanism 1351 receives above-mentioned judgement information, and the various testing results of fltting speed detector 137, conveying worm revolution detector 138, cutting disc torque detector 139 and conveying worm torque detector 140, promptly start the rule of the necessity in the knowledge base 1352, and according to these rules, reason out for the soil pressures in the cutting disc chamber 104 are maintained at and set that soil pressure uses, the fltting speed of control shield structure jack 105 and/or the necessary controlled quentity controlled variable of casting amount of control casting adjusting device 107.Then, will export the 2nd control part 1354 by the controlled quentity controlled variable data that this inference result draws to.
At the 2nd control part 1354, according to controlled quentity controlled variable data from 1351 outputs of inference mechanism, increase and decrease the fltting speed of control shield structure jack 105, or the casting amount of increase and decrease control casting adjusting device 107, so that the soil pressure in the cutting disc chamber 104 that soil pressure meter 113 is measured can be adjusted to the setting soil pressure.
For example, when judging, even the rotating speed of conveying worm 106 is adjusted to the higher limit of adjustable extent, soil pressure in the cutting disc chamber 104 is adjusted to when setting soil pressure, inference mechanism 1351 is according to the present necessary rule of situation starting, reason out the fltting speed that will make shield structure jack 105 and reduce, and export the controlled quentity controlled variable of the fltting speed corresponding to the 2nd control part 1354 with this inference result.
In addition, can not reduce under the situation of tunneling construction efficient significantly, start other rule successively, when judging,, the soil pressure in the cutting disc chamber 104 is adjusted to when setting soil pressure even reduce the fltting speed of shield structure jack 105, restart other rule, obtain the casting controlled quentity controlled variable of casting adjusting device 107, increase the casting amount of conveying worm 106 in view of the above, the soil pressure in cutting disc chamber 104 is controlled in the permissible range of setting soil pressure.
Because in aforesaid soil pressure formula control mode, adopt following control mode, that is: control conveying worm 106 rotating speed, so that the soil pressure in the cutting disc chamber 104 enters in the permissible range of setting soil pressure, and when judging, in the time of only soil pressures in the cutting disc chamber 104 being adjusted to set soil pressure with the control of the rotating speed of conveying worm 106, the expert system of then utilizing knowledge base 1352 and inference mechanism 1351 to form, reason out the casting amount of the fltting speed and the casting adjusting device 107 of shield structure jack 105, according to this inference result, a side or the both sides of jack fltting speed and casting amount are controlled in increase and decrease automatically, thereby the soil pressures in the cutting disc chamber 104 are controlled to the setting soil pressure.Therefore, needn't adjust operation by the operator with the judgement of oneself as conventional, the soil pressure that can stablize and will excavate easily face is controlled to the setting soil pressure automatically, can guarantee safety of construction simultaneously.
In addition, because the casting amount to jack fltting speed and conveying worm is also controlled automatically, so, can be under the situation of the fltting speed that not too reduces shield structure 2, successfully control the soil pressure of excavation face, and can therefore improve the tunneling construction efficient of Suporting structure.
Below, the driving speed control mode of the muddy water adding pressure type Suporting structure that the present invention the 2nd embodiment is related to describes with reference to Fig. 4-Figure 13.
Fig. 4 shows the muddy water adding pressure type Suporting structure of the 2nd embodiment according to the present invention, and the interior roughly formation of shield tunnel that adopts the muddy water adding pressure type shield-tunneling construction of this equipment.
In Fig. 4, the 201st, muddy water adding pressure type Suporting structure (hereinafter to be referred as Suporting structure) has shield structure body 202.Front portion at shield structure body 202 is provided with cutting disc 203 rotationally, and cutting disc 203 is driven by cutting disc drive motors 203a (being equivalent to the cutting disc drive source) and rotates.
Again, never illustrated power supply is supplied to the driving electric current of cutting disc drive motors 203a, is detected by the current detector 203b that is located at shield structure body 202 (being equivalent to cutting disc driving force checkout gear).
On the internal perisporium of the shield tunnel of excavating by Suporting structure 201 205, adorning fan-shaped lining segment 207, on above-mentioned shield structure body 202, be provided with the shield structure jack 209 of the front end 207a of the fan-shaped lining segment 207 of pushing, make the flexible hydraulic drive source 209a (being equivalent to shield structure jack drive source) of this shield structure jack 209, and the jack pressure sensor 209b (being equivalent to shield structure jack pressure checkout gear) of the pushing pressure when detecting the front end 207a of the fan-shaped lining segment 207 of shield structure jack 209 pushings.
Therefore, by stretching of above-mentioned shield structure jack 209, shield structure body 202 is subjected to propulsive force, and Suporting structure 201 tunnels because of the rotation of above-mentioned propulsive force and cutting disc 203.
In addition, be formed at the cutting disc chamber 211 in the shield structure body 202 of Suporting structure 201, be provided with and send mud mouth 213 and mud discharging mouth 215, send on the mud mouth 213, connecting from the rear of shield structure body 202 until ground send dredge pump 217 or a complete set of equipment (not shown) send mud pipe 219.
On the other hand, on the mud discharging mouth 215, connecting equally from the rear of shield structure body 202 until the mud pipe 221 of ground equipment, in the pipeline of this mud pipe 221, be provided with sludge pump 223 (being equivalent to soil-discharging device) with corresponding number of pipeline length (only showing 1 among Fig. 4) of mud pipe 221.
Muddy water (not shown) is from above-mentioned ground a complete set of equipment, utilizes and send dredge pump 217 by sending mud pipe 219 to be provided to send mud mouth 213, is supplied to the slit of muddy water by cutting disc 203 in the cutting disc chamber 211 to be supplied to excavation face 225 from sending mud mouth 213.
Be ejected into the excavation soil on the excavation face 225 of muddy water under excavating on the excavation face 225 by cutting disc 203, slit by cutting disc 203 is recycled in the cutting disc chamber 211, usefulness sludge pump 223 passes through it again from mud discharging mouth 21 5 and gives mud pipe 221 again, attracts, is expelled to ground a complete set of equipment place.
Above-mentioned a complete set of equipment is isolated the sand grains in the above-mentioned excavation soil from the muddy water by discharge in the shield tunnel 205, remaining muddy water is with sending dredge pump 217 to send mud mouth 213 through sending mud pipe 219 to be supplied to.
In the pipeline of above-mentioned mud pipe 221, also be provided with the spoil disposal density sensor 227 that the density that is expelled to the above-mentioned excavation soil in the ground muddy water through this mud pipe 221 is detected again.On above-mentioned sludge pump 223, be provided with the tachometer 229 that detects these pump 223 rotating speeds.In the present embodiment, form the casting amount detecting device by above-mentioned spoil disposal density sensor 227 and tachometer 229.
In addition, on shield structure body 202, be provided with the velocity sensor 231 (being equivalent to the driving speed checkout gear) of the driving speed that detects Suporting structure 201.
The testing result of above-mentioned current detector 203b, jack pressure sensor 209b, spoil disposal density sensor 227, tachometer 229 and velocity sensor 231, device 233 in the tunnel in the shield tunnel 205, through the ground control panel 243 that Switch is used in various operations that is provided with shown in Figure 5, every the stipulated time, be transfused to the automatic acceleration, deceleration of the driving that constitutes in the present embodiment and use in the electronic computer 245 with the control of control device, control drives control hydraulic drive source 209a in view of the above with electronic computer 245.
Following block diagram with reference to Fig. 6 describes with the control action of electronic computer 245 control roughly formation and this control with electronic computer 245.
At first, the testing result of above-mentioned jack pressure sensor 209b is transfused to propulsive force test section 247 (being equivalent to the propulsive force checkout gear) every the stipulated time.At propulsive force test section 247 places, when above-mentioned shield structure jack 209 has when a plurality of,, be multiplied by the coefficient of regulation again with the pushing force addition of the front end 207a of 209 pairs of fan-shaped lining segments 207 of each shield structure jack, calculate the propulsive force of shield structure body 202, and this result was exported every the stipulated time.
The detection of the propulsive force of the shield structure body 202 that is undertaken by propulsive force test section 247 is carried out the instrumentation except aforesaid pushing pressure from shield structure jack 209 calculates, and also can carry out instrumentation with additive method,
The propulsive force of the shield structure body 202 in each stipulated time of measuring by propulsive force test section 247, with the pushing pressure of electric current, shield structure jack 209, the density of excavation soil in the muddy water and the rotating speed of sludge pump 223, calculate portion 249 (being equivalent to estimate the score calculating apparatus) output to estimating score with 229 that measure respectively by above-mentioned current detector 203b, jack pressure sensor 209b, spoil disposal density sensor 227 and tachometer, as to be supplied to cutting disc drive motors 203a driving every the stipulated time.Estimate score and calculate the state value of portion 249,, calculate the evaluation score that becomes the driving of above-mentioned Suporting structure 201 state index, and this is calculated result's output every the afore mentioned rules time according to the key element of the driving speed that influences Suporting structure 201.
At this, calculate the order of calculating of above-mentioned evaluation score that portion 249 carries out to estimating score, describe to Fig. 7 (e) with reference to Fig. 7 (a).
At first, shown in Fig. 7 (a), for the cutting disc drive motors 203a driving electric current of measuring with current detector 36, make itself and evaluation score that following corresponding relation be arranged, that is: when current value was between 0-20A (ampere), evaluation of estimate was taken as " 1 " without exception, when current value is between 20-80A, along with the rising evaluation of estimate of current value reduces gradually, when current value was 80A, evaluation of estimate was " 0 ".
Because in aforesaid soil pressure formula control mode, adopt following control mode, that is: control conveying worm 106 rotating speed, so that the soil pressure in the cutting disc chamber 104 enters in the permissible range of setting soil pressure, and when judging, in the time of only soil pressures in the cutting disc chamber 104 being adjusted to set soil pressure with the control of the rotating speed of conveying worm 106, then utilize the expert system of forming by knowledge base 1532 and inference mechanism 1351, reason out the casting amount of the fltting speed and the casting adjusting device 107 of shield structure jack 105, according to this inference result, a side or the both sides of jack fltting speed and casting amount are controlled in increase and decrease automatically, thereby the soil pressures in the cutting disc chamber 104 are controlled to the setting soil pressure.Therefore, needn't adjust operation by the operator with the judgement of oneself as conventional, the soil pressure that can stablize and will cut easily blade is controlled to the setting soil pressure automatically, can guarantee safety of construction simultaneously.
In addition, because the casting amount to jack fltting speed and conveying worm is also controlled automatically, so, can be under the situation of the fltting speed that not too reduces shield structure jack, successfully control the soil pressure of excavation face, and can therefore improve the tunneling construction efficient of Suporting structure.
Below, the driving speed control mode of the muddy water adding pressure type Suporting structure that the present invention the 2nd embodiment is related to describes with reference to Fig. 4-Figure 13.
Fig. 4 shows the muddy water adding pressure type Suporting structure of the 2nd embodiment according to the present invention, and the interior roughly formation of shield tunnel that adopts the muddy water adding pressure type shield-tunneling construction of this equipment.
In Fig. 4, the 201st, muddy water adding pressure type Suporting structure (being designated hereinafter simply as Suporting structure) has shield structure body 202.Front portion at shield structure body 202 is provided with cutting disc 203 rotationally, and cutting disc 203 is driven by cutting disc drive motors 203a (being equivalent to the cutting disc drive source) and rotates.
Again, never illustrated power supply is supplied to the driving electric current of cutting disc drive motors 203a, is detected by the current detector 203b that is located at shield structure body 202 (being equivalent to cutting disc driving force checkout gear).
On the internal perisporium of the shield structure well of excavating by Suporting structure 201 205, adorning fan-shaped lining segment 207, on above-mentioned shield structure body 202, be provided with the shield structure jack 209 of the front end 207a of the fan-shaped lining segment 207 of pushing, make the flexible hydraulic drive source 209a (being equivalent to shield structure jack drive source) of this shield structure jack 209, and the jack pressure sensor 209b (being equivalent to shield structure jack pressure checkout gear) of the pushing pressure when detecting the front end 207a of the fan-shaped lining segment 207 of shield structure jack 209 pushings.
Therefore, by stretching of above-mentioned shield structure jack 209, shield structure body 202 is not subjected to propulsive force, and Suporting structure 201 tunnels because of the rotation of above-mentioned propulsive force and cutting disc 203.
In addition, be formed at the cutting disc chamber 211 in the shield structure body 202 of Suporting structure 201, be provided with and send mud mouth 213 and mud discharging mouth 215, send on the mud mouth 213, connecting from the rear of shield structure body 202 until ground send dredge pump 217 or a complete set of equipment (not shown) send mud pipe 219.
On the other hand, on the mud discharging mouth 215, connecting equally from the rear of shield structure body 202 until the mud pipe 221 of ground equipment, in the pipeline of this mud pipe 221, be provided with sludge pump 223 (being equivalent to soil-discharging device) with corresponding number of pipeline length (only showing 1 among Fig. 4) of mud pipe 221.
Muddy water (not shown) is from above-mentioned ground a complete set of equipment, utilizes and send dredge pump 217 by sending mud pipe 219 to be provided to send mud mouth 213, is supplied to the slit of muddy water by cutting disc 203 in the cutting disc chamber 211 to be supplied to excavation face 225 from sending mud mouth 213.
Be sprayed onto the excavation soil of the excavation face 225 of muddy water under cutting disc 203 excavates on the excavation face 225, slit by cutting disc 203 is recycled in the cutting disc chamber 211, use again sludge pump 223 with it from mud discharging mouth 215, through mud pipe 221, attract, be expelled to ground a complete set of equipment place.
Above-mentioned a complete set of equipment is isolated the sandstone grains of sand in the above-mentioned excavation soil from the muddy water by discharge in the shield tunnel 205, remaining muddy water is with sending dredge pump 217 to send mud mouth 213 through sending mud pipe 219 to be supplied to.
In the pipeline of above-mentioned mud pipe 221, also be provided with the spoil disposal density sensor 227 that the density that is expelled to the above-mentioned excavation soil in the ground muddy water through this mud pipe 221 is detected again.On above-mentioned sludge pump 223, be provided with the tachometer 229 that detects these pump 223 rotating speeds.In the present embodiment, form the casting amount detecting device by above-mentioned spoil disposal density sensor 227 and tachometer 229.
In addition, on shield structure body 202, be provided with the velocity sensor 231 (being equivalent to the driving speed checkout gear) of the driving speed that detects Suporting structure 201.
The testing result of above-mentioned current detector 203b, jack pressure sensor 209b, spoil disposal density sensor 227, tachometer 229 and velocity sensor 231, device 233 in the tunnel in the shield structure well 205, through the ground control panel 243 that Switch is used in various operations that is provided with shown in Figure 5, every the stipulated time, be transfused to the automatic acceleration, deceleration of the driving that constitutes in the present embodiment and use in the electronic computer 245 with the control of control device, control drives control hydraulic drive source 209a in view of the above with electronic computer 245.
Following block diagram with reference to Fig. 6 describes with the control action of electronic computer 245 control roughly formation and this control with electronic computer 245.
At first, the testing result of above-mentioned jack pressure sensor 209b is transfused to propulsive force test section 247 (being equivalent to the propulsive force checkout gear) every the stipulated time.At propulsive force test section 247 places, when above-mentioned shield structure jack 209 has when a plurality of,, be multiplied by the coefficient of regulation again with the pushing force addition of the front end 207a of 209 pairs of fan-shaped lining segments 207 of each shield structure jack, calculate the propulsive force of shield structure body 202, and this result was exported every the stipulated time.
The detection of the propulsive force of the shield structure body 202 that is undertaken by propulsive force test section 247 is carried out the instrumentation except aforesaid pushing pressure from shield structure jack 209 calculates, and also can carry out instrumentation with additive method.
The propulsive force of the shield structure body 202 in each stipulated time of measuring by propulsive force test section 247, with the pushing pressure of electric current, shield structure jack 209, the density of excavation soil in the muddy water and the rotating speed of sludge pump 223, calculate portion 249 (being equivalent to estimate the score calculating apparatus) output to estimating score with 229 that measure respectively by above-mentioned current detector 203b, jack pressure sensor 209b, spoil disposal density sensor 227 and tachometer, as to be supplied to cutting disc drive motors 203a driving every the stipulated time.Estimate score and calculate the state value of portion 249,, calculate the evaluation score that becomes the driving of above-mentioned Suporting structure 201 state index, and this is calculated result's output every the afore mentioned rules time according to the essential factor of the driving speed that influences Suporting structure 201.
At this, calculate the order of calculating of above-mentioned evaluation score that portion 249 carries out to estimating score, describe to Fig. 7 (e) with reference to Fig. 7 (a).
At first, shown in Fig. 7 (a), for the driving electric current of the cutting disc drive motors 203a that measures with current detector 36, make itself and evaluation score that following corresponding relation be arranged, that is: when current value is between 0-20A (ampere), evaluation of estimate is taken as " 1; " without exception, when current value is between 20-80A, along with the rising evaluation of estimate of current value reduces gradually, when current value was 80A, evaluation of estimate was " 0 ".
Shown in Fig. 7 (b), the pushing pressure for the shield structure jack of measuring with jack pressure sensor 209b 209 makes itself and evaluation of estimate following corresponding subsequently, that is: when the pushing pressure value at 0-30kg/cm 2Between the time, get evaluation of estimate without exception for " 1 ", and at 30--100kg/cm 2Between the time, along with the rising of force value, evaluation of estimate reduces gradually, when force value is 100kg/cm 2The time, evaluation of estimate is " 0 ".
For another example shown in Fig. 7 (c), for calculating the propulsive force of the shield structure body 202 that portion 249 calculates by estimating score, make itself and evaluation of estimate following corresponding, that is: when the value of propulsive force is between 0-300t (ton), gets evaluation of estimate without exception and be " 1 ", in the time of between 300t-1000t, rising along with the propulsive force value, evaluation of estimate reduces gradually, and when the value of propulsive force was 1000t, evaluation of estimate was taken as " 0 ".
In addition, and for example shown in Fig. 7 (d), the density for the excavation soil in the spoil disposal density sensor 227 detected muddy water makes itself and evaluation of estimate following corresponding, that is: when density value at 0-1.00g/cm 3Between the time, get evaluation of estimate without exception for " 1 ", at 1.00-1.25g/cm 3Between the time, along with the rising of density value, evaluation of estimate reduces gradually, when density value is 1.25g/cm 3The time, evaluation of estimate is " 0 ".
For another example shown in Fig. 7 (e), rotating speed for the sludge pump of measuring with tachometer 229 223, make itself and evaluation of estimate following corresponding, that is: when tachometer value was between 0-300rpm, evaluation of estimate was taken as " 1 " without exception, in the time of between 300-1000rpm, rising along with rotating speed, evaluation of estimate reduces gradually, and when rotating speed was 1000rpm, evaluation of estimate was " 0 ".
Then, will with the corresponding evaluation of estimate of testing result of above-mentioned current detector 203b, jack pressure sensor 209b, spoil disposal density sensor 227 and tachometer 229, and calculate the corresponding evaluation of estimate of result with above-mentioned evaluation score is calculated portion 249, amount to 5 evaluation of estimate additions, and with the value after the addition as above-mentioned evaluation score, calculate portion's 249 outputs from estimating score.
Therefore, for example, value, the density value of excavation soil in the muddy water and the rotating speed of sludge pump 223 of propulsive force that drives pushing force value, the shield structure body 202 of current value, the shield structure jack 209 of usefulness as the cutting disc drive motors 203a in nearest past (hereinafter referred to as last time) is respectively 53A, 65kg/cm 2, 580t, 1.075g/cm 3, during 650rpm, each corresponding evaluation of estimate is 0.55,0.5,0.4,0.3,0.5, to calculate the evaluation score X1 last time of portion's 249 outputs be 0.55+0.5+0.4+0.3+0.5=2.25 from estimating score.
In addition, when respectively being worth of (hereinafter referred to as this) is 62A, 72kg/cm at present 2, 650t, 1.125g/cm 3, during 790rpm, each corresponding value is 0.7,0.6,0.5,0.5,0.7, estimating score X2 from this that estimate that score calculates portion's 249 outputs is 0.7+0.6+0.5+0.5+0.7=3.0.
Calculate the evaluation score of each stipulated time that portion 249 calculates and be transfused to values of ambiguity efferent 251 (being equivalent to the values of ambiguity output device) by estimating score, this values of ambiguity efferent 251 according to last time with this evaluation score X1, X2, output according to as shown in Figure 8, estimate score X1, X2 and distinguish corresponding values of ambiguity with two
For example, when as mentioned above, evaluation score X1 last time is 2.25, and this evaluation score X2 is 3.0 o'clock, from values of ambiguity efferent 251 output and last time the corresponding values of ambiguity-0.1 of evaluation score X1, and the values of ambiguity 0.2 corresponding with this evaluation score X2.
With last time corresponding respectively values of ambiguity with this evaluation score X1, X2 from 251 outputs of values of ambiguity efferent, be transfused to member's qualification (メ Application バ-シ ッ プ) functional value efferent 253 (being equivalent to membership qualification functional value output device), membership qualification functional value efferent 253 according to shown in Figure 9, longitudinal axis degree of getting (グ レ-De), transverse axis be ZO (zero), S (little), M (in), the membership qualification function M of 5 grades of fuzzinesses of B (greatly), L (bigger), output and above-mentioned two evaluation score X1, the membership qualification functional value that X2 is relevant respectively.
Therefore, from membership qualification functional value efferent 253 output, the membership qualification functional value relevant respectively last time with this evaluation score X1, X2, about last time estimating score X1, be S (X1)=a, M (X1)=b, and comment a part valency score X2 about this, be M (X2)=d, B (X2)=c.
From membership qualification functional value efferent 253 output, be transfused to fuzzy deduction portion 255 (being equivalent to the fuzzy deduction device) with above-mentioned two evaluation score X1, membership qualification functional value that X2 is relevant respectively.At this,, above-mentioned two membership qualification functional values are carried out fuzzy deduction with the order shown in following.
At first, in fuzzy deduction portion 255, will with last time with this estimate score X1, X2 relevant, each membership qualification functional value S (X1)=a of two, M (X1)=b, M (X2)=d, B (X2)=c is applied to be stored in the fuzzy control rule R (being equivalent to the fuzzy control rule save set), as shown in figure 10 of fuzzy control rule preservation portion 257 singly, reasons out the controlling parameter Y that quickens controlled quentity controlled variable in order to the driving of determining Suporting structure 201.
Then, in fuzzy deduction portion 255, to be used for above-mentioned fuzzy control rule R, last time compared one by one with above-mentioned, and with the grade point of lower one, to above-mentioned controlling parameter Y weighting (the weight body is paid け) with this each grade of estimating score X1, membership qualification functional value that X2 is relevant.
That fuzzy deduction content above-mentioned, that fuzzy deduction portion 255 carries out is shown is Figure 11, as shown in figure 11, membership qualification functional value S (X1)=a that will be relevant with last time estimating score X1 and membership qualification functional value M (the X2)=d relevant with this evaluation score X2 are applied to fuzzy control rule R, the controlling parameter Y that carries out obtaining after the inference is M, and the magnitude relationship of the degree of above-mentioned two member's qualification functional values is a＜d.Therefore, be a*M to the parameter Y1 after the controlling parameter Y weighting.
Similarly, about membership qualification functional value M (the X1)=b relevant with last time estimating score X1, reach with this and estimate relevant membership qualification functional value M (the X2)=d of score X2, controlling parameter Y is M, the magnitude relationship of the grade of two member's qualification functional values is b＞d, is d*M to the parameter Y1 after the controlling parameter Y weighting.
Have again, about membership qualification functional value M (the X1)=b relevant with last time estimating score X1, reach with this and estimate relevant membership qualification functional value B (the X2)=c of score X2, controlling parameter Y is B, the magnitude relationship of the grade of two member's qualification functional values is b＞c, is c*B to the parameter Y1 behind the controlling parameter Y.
Again, about membership qualification functional value S (the X1)=a relevant with last time estimating score X1, and estimate relevant membership qualification functional value B (the X2)=c of score X2 with this, fuzzy control rule R is inapplicable, can not derive the magnitude relationship of the grade of controlling parameter Y, two member's qualification functional values with fuzzy deduction, and make the parameter Y1 after the controlling parameter Y weighting.
Like this, 3 parameter Y1=a*M, d*M and c*B that the fuzzy deduction result who is undertaken by fuzzy deduction portion 255 is obtained are transfused to controlled quentity controlled variable efferent 259 (being equivalent to the controlled quentity controlled variable output device), controlled quentity controlled variable efferent 259 as shown in figure 12, to above-mentioned 3 parameter Y1 using gravity-center methods, mark off with the driving of Suporting structure 201 and quicken the relevant values of ambiguity F of controlled quentity controlled variable.
Have, controlled quentity controlled variable efferent 259 marks off the recruitment with correspondence shown in Figure 8 driving speed that set, Suporting structure 201, i.e. fuzzy control quantity Z again from this values of ambiguity F again.
For example, if the values of ambiguity F that marks off from above-mentioned 3 parameter Y1 is 0.041, then the fuzzy control quantity Z of the driving speed of Suporting structure 201 is 0.287mm/min.
So, the fuzzy control quantity Z of the driving speed of the Suporting structure 201 that controlled quentity controlled variable efferent 259 marks off is transfused to control part 261 (being equivalent to control device), control part 261 drives control hydraulic drive source 209a, so that the driving speed of velocity sensor 231 detected Suporting structures 201 accelerates to the corresponding speed of fuzzy control quantity Z that provides with controlled quentity controlled variable efferent 259.
Following with reference to Figure 13, to the processing sequence during with the fuzzy control of the driving of electronic computer 245 Suporting structures 201 acceleration describes with control.
At first, at step preface S21, the gate time S-C of control counter I is set at, quicken from the driving that makes Suporting structure 201, transition (the ォ Off セ ヮ ト) time till Suporting structure 201 actual these driving speeds of arrival, meanwhile, with above-mentioned control counter I and control excavation face muddy water compressed into the fuzzy control quantity Z that row controls be made as initial value=0 respectively with electronic computer 245.
Set the setting value P and the fuzzy rule R of the driving speed of Suporting structure 201 again,, begin to excavate by Suporting structure 201 at next one step preface S23.By the DIFFIX communication of next step preface S25,, the testing result of above-mentioned current detector 203b, jack pressure sensor 209b, spoil disposal density sensor 227, tachometer 229 and velocity sensor 231 is sampled again every the stipulated time.
Step preface S27 after step preface S25, to begin as driving from Suporting structure 201 to the driving action stable till between amount of transition, whether the driving amount (S amount) of checking Suporting structure 201, is shifted to and is gone on foot preface S43 when less than 30mm less than 30mm.
On the other hand, when push-in stroke (S amount) is that 30mm is when above, then at next one step preface S29, testing result according to jack pressure sensor 209b, detect the propulsive force of the shield structure body 202 of each stipulated time by propulsive force test section 247, estimate score and calculate portion 249 according to this testing result, and above-mentioned step preface S25 adopt the testing result of each sensor class, calculate the evaluation score.
Then, at step preface S31, the value of control counter I is increased by 1, again at step preface S33, confirm whether the count value of control counter I has been S-C, that is, whether affirmation has passed through the driving action of Suporting structure 201 has been stablized time necessary.
When the count value of control counter I does not reach S-C, shift to step preface S43, the fuzzy control quantity Z that makes the driving speed of Suporting structure 201 is 0, forwards step preface S39 subsequently to.
On the other hand, when the count value of control counter I arrives S-C, after the next one step, preface S35 made I=0, at next step preface S37 again, values of ambiguity efferent 251, membership qualification functional value efferent 253, mould lake inference portion 255 and fuzzy control rule preservation portion 257 are played a role, to last time using Fuzzy Calculation, mark off the fuzzy control quantity Z of the driving speed of Suporting structure 201 with this evaluation score X1, X2.
Then, at step preface S39, carry out the fuzzy control quantity Z that marks off is added in processing on the setting value P of driving speed of present Suporting structure 201.Moving under the situation of step preface S39 from step preface S43, because at step preface S43, the fuzzy control quantity Z of the driving speed of Suporting structure 201 is 0, so the setting value P of present and later above-mentioned driving speed is constant.
Then,, will add after the setting value P of the above-mentioned driving speed after handling do the D/A conversion, export control part 261 at step preface S39 at step preface S41.
Control part 261 as previously mentioned, for the driving speed that makes Suporting structure 201 can increase the such size of above-mentioned fuzzy control quantity Z, so driving of control hydraulic drive source 209a, make from this hydraulic drive source 209a to be supplied to the oil pressure of the pressure oil of shield structure jack 209 to improve, the speed when making the elongation of this shield structure jack 209 improves.
As mentioned above, automatic acceleration control mode according to the muddy water adding pressure type Suporting structure of present embodiment, to being supplied to the driving electric current of cutting disc drive motors 203a, the pushing pressure of shield structure jack 209, the propulsive force of shield structure body 202, the density of the excavation soil in the muddy water, and the rotating speed of sludge pump 223 these influence the state value of key element of the driving speed of Suporting structure 201, with electric power test section 247, spoil disposal density sensor 227, and tachometer 229 detects, these testing results are imported control every the stipulated time calculate portion 249, calculate the evaluation of indexes score that becomes the driving of Suporting structure 201 state every the stipulated time with the evaluation score of electronic computer 245.
Then, fuzzy deduction portion 255 is according to above-mentioned data, application memory is carried out fuzzy deduction at the fuzzy control rule R of fuzzy control rule preservation portion 57, control part 261 is according to this inference result, monitor the driving speed of the Suporting structure of measuring by velocity sensor 231 201 on one side, Yi Bian control the driving of hydraulic drive source 209a.
Therefore, when improving the excavation speed of Suporting structure 201, can carry out it automatically and quicken control, so that being cutting disc drive motors 203a, hydraulic drive source 209a, sludge pump 223 etc., the drive source of shield structure jack 209, cutting disc 203 is not subjected to excessive load, therefore, do not need experienced operators, can realize the full-automation of shield-tunneling construction, the high efficiency and laborsavingization of operation.
In addition, control when the driving speed of fuzzy control Suporting structure 201 is with the control flow of electronic computer 245, and not controlling setting with the condition of the fuzzy control of electronic computer, the present invention is not subjected to the flow process shown in the flow chart of Figure 13 or the restriction of condition.
In addition, in above-mentioned the 2nd embodiment, constitute the casting amount detecting device by above-mentioned spoil disposal density sensor 227 and tachometer 229, but, also can be on the pipeline of mud pipe 221, detection is discharged to the amount of the excavation soil in the ground muddy water by this mud pipe 221 device is set, and calculate portion 249 and calculate when estimating score estimating score, use the evaluation of estimate relevant with discharging the amount of excavating soil replace with muddy water in the value of density of excavation soil and the rotating speed of sludge pump 223 evaluation of estimate of being correlated with calculate the evaluation score.
Have again, in the above-described embodiments, device to the acceleration control of the driving that automatically carries out Suporting structure is illustrated, but, also can make becomes from the membership qualification function of the basis of the membership qualification functional value of membership qualification functional value efferent 253 output and the fuzzy control rule R that is stored in fuzzy control rule preservation portion, be different from Fig. 9, used membership qualification function and the fuzzy control rule R of present embodiment shown in Figure 10, the driving of doing paired Suporting structure carries out deceleration control, or the device that quickens, slows down two kinds of controls.
Next, with reference to Fig. 4, Fig. 5 describes with the automatic deceleration control of the muddy water adding pressure type shield structure of Figure 14～16 pair relevant the 2nd embodiment variation.
The block diagram that Figure 14 forms with electronic computer 245 for the automatic deceleration control of expression muddy water adding pressure type shield structure, below, describe to this composition with according to the control action of this control with electronic computer 245.
At first, make 347 (being equivalent to the 2nd comparison means) of testing result input jack pressure comparing section of jack pressure sensor 209b.Press comparing section 347 at jack, (present embodiment is 260kg/cm the pushing upper pressure limit value that presses the shield structure jack of setting limit value configuration part 349 (being equivalent to the 2nd higher limit setting device) 209 at jack 2) and the testing result of jack pressure sensor 209b compare, this comparative result is imported the 2nd controlled quentity controlled variable efferent 351 (being equivalent to the 2nd controlled quentity controlled variable setting device).
At the 2nd controlled quentity controlled variable efferent 351, pressed the comparative result of comparing section 347 to confirm to jack in per 3 minutes, in each affirmation, when the testing result of above-mentioned jack pressure sensor 209b surpasses above-mentioned higher limit, produce and be intended to make the driving speed of shield structure 201 to measure the output that subtracts (originally being embodied as 3mm/min) fast controlled quentity controlled variable Z in accordance with regulations.
In addition, make 353 (being equivalent to the propulsive force checkout gear) of testing result input propulsive force test section of above-mentioned jack pressure sensor 209b.At propulsive force test section 353, when shield structure jack 209 when being a plurality of, make the pushing pressure addition of the front end 207a of 209 pairs of fan-shaped lining segments 207 of each shield structure jack, and then multiply by the coefficient of regulation, obtain the propulsive force of shield structure body 202, with this result's output.
In addition, relevant propulsive force according to propulsive force test section 353 detection shield structure bodies 202 except above-mentioned pushing pressure from shield structure jack 209 calculates, detects, also can detect with other method.
355 (being equivalent to the 3rd comparison means) of propulsive force input propulsive force comparing section of the shield structure body 202 that detects at propulsive force test section 353.In propulsive force comparing section 355 higher limit (present embodiment is 1200 tons) and the testing result of above-mentioned propulsive force test section 353 of shield structure body 202 propulsive forces that (are equivalent to the 3rd higher limit setting device) in propulsive force higher limit configuration part 357 and set are compared, this comparative result is exported to the 3rd controlled quentity controlled variable efferent 359 (being equivalent to the 3rd controlled quentity controlled variable setting device).
At the 3rd controlled quentity controlled variable efferent 359, the comparative result of propulsive force comparing section 355 confirmed in per 4 minutes, each affirmation, when the testing result of above-mentioned propulsive force test section 353 surpasses above-mentioned higher limit, the output of the controlled quentity controlled variable Z of (present embodiment is 5mm/min) deceleration that generation is intended to that the driving speed of shield structure 201 is measured in accordance with regulations.
Equally, make according to above-mentioned current detector 203b, spoil disposal density sensor 227 and driving tachometer 229 detections, that supply with cutting disc drive motor 203a 361 (being equivalent to the 1st comparison means) of rotating speed difference input current comparing section, spoil disposal density comparing section 367 and rotating speed comparing section 373 with native density of excavation and sludge pump 223 in electric current, the muddy water.
In electric current comparing section 361, spoil disposal density comparing section 367 and rotating speed comparing section 373 respectively in upper current limit value configuration part 363 (being equivalent to the 1st higher limit setting device), spoil disposal upper density limit value configuration part 369 and rotating speed higher limit configuration part is 375 that set, cutting disc drive motor 203a is controlled digging upper density limit value in driving with electric current higher limit (present embodiment is 250A), muddy water ● (present embodiment is 1.35g/cm 2) and sludge pump 223 rotating speed higher limits (present embodiment is 1250rpm) respectively the testing result with above-mentioned current detector 203b, spoil disposal density sensor 227 and tachometer 229 compare.
These comparative results are exported to the 1st controlled quentity controlled variable efferent 365 (being equivalent to the 1st controlled quentity controlled variable setting device), the 4th controlled quentity controlled variable efferent 371 and the 5th controlled quentity controlled variable efferent 377 respectively.
At the 1st, the 4th and the 5th controlled quentity controlled variable efferent 365,371,377 per 3 minutes to electric current comparing section 361, spoil disposal density comparing section 367, and the comparative result of rotating speed comparing section 373 is confirmed, each affirmation, when above-mentioned current detector 203b, spoil disposal density sensor 227, and the testing result of tachometer 229 is when surpassing corresponding above-mentioned higher limit respectively, output controlled quentity controlled variable Z, (present embodiment is respectively 5mm/min, 5mm/min, 3mm/min) slows down to be intended to that the driving speed of shield structure 201 is measured in accordance with regulations.
The driving speed controlled quentity controlled variable Z input control part 379 of the shield structure 201 of the from the 1st to the 5th controlled quentity controlled variable efferent 365,351,359,371,377 outputs, control part 379 drives control hydraulic drive source 209a, makes the controlled quentity controlled variable Z deceleration of the driving speed of the shield structure 201 that detects by velocity sensor 231 according to 365,351,359,371,377 outputs of the from the 1st to the 5th controlled quentity controlled variable efferent.
Therefore, the automatic deceleration control mode of present embodiment is exactly the propulsive force according to the shield structure body 202 of the pushing pressure of the shield structure jack 209 of usefulness jack pressure sensor 209b detection, 353 detections of usefulness propulsive force test section, drive current with current detector 203b detection to cutting disc drive motor 203a supply, with the density of excavating soil in the muddy water of spoil disposal density sensor 227 detections, and the rotating speed of the spoil disposal density sensor 227 that detects with tachometer 229, the from the 1st to the 5th controlled quentity controlled variable efferent 365,351,359,371,377 output controlled quentity controlled variable Z.
And, based on this controlled quentity controlled variable Z, drive control hydraulic drive source 209a by control part 379.
Therefore according to the pushing pressure of shield structure jack 209, the propulsive force of shield structure body 202, supply with the driving electric current of cutting disc drive motor 203a, excavate the density of soil in the muddy water, and the rotating speed of spoil disposal density sensor 227, the control interval of the driving control of 379 pairs of oil pressure actuated sources of control part 209a, the 2nd, the 3rd, the the 4th and the 5th controlled quentity controlled variable efferent 351,359,365,371, the promptly 3 minutes time interval (being divided into the control interval) of 377 output controlled quentity controlled variable Z to call in the following text around here, 4 minutes, 3 minutes, 3 minutes, 3 minutes.
In addition, present embodiment constitutes the 4th comparison means with spoil disposal density comparing section 367 and rotating speed comparing section 373, and constitute the 4th higher limit setting device meanwhile with spoil disposal upper density limit value configuration part 369 and rotating speed higher limit configuration part 375, constitute the 4th controlled quentity controlled variable setting device with the 4th and the 5th controlled quentity controlled variable efferent 371,377.
In addition, with the pushing pressure of corresponding shield structure jack 209, the propulsive force of shield structure body 202, supply with the driving electric current of cutting disc drive motor 203a, excavate the density of soil in the muddy water, and the above-mentioned higher limit of the rotating speed of sludge pump 223, controlled quentity controlled variable Z and control interval are compiled and are logged among Figure 15.
In addition, when above-mentioned hydraulic drive source 209a being driven control, 379 pairs the 1st to the 5th controlled quentity controlled variable efferents 365 of above-mentioned control part, 351,359,371, the driving distance of the number of times of 377 output controlled quentity controlled variable Z and the shield structure 201 that detects with driving speed sensor 237 monitors, according to the length of an above-mentioned fan-shaped lining segment 207 of shield structure 201 every drivings, in the process of promptly every driving one circle, the the 1st to the 5th controlled quentity controlled variable efferent 365,351,359,371,377 have exported how many times controlled quentity controlled variable Z, determine whether carrying out the driving control of hydraulic drive source 209a.
In addition, in the present embodiment, control part 379 is equivalent to control and counting device.
Therefore, the automatic deceleration control mode of present embodiment, 379 that carry out for control part, according to the pushing pressure of shield structure jack 209, the propulsive force of shield structure body 202, supply with the driving electric current of cutting disc drive motor 203a, excavate the density of soil in the muddy water, and the rotating speed of sludge pump 223, hydraulic drive source 209a is driven control, stipulated to carry out the highest execution number of times of controlling during shield structure 201 every driving one circles.
Control part 379 is according to the pushing pressure of shield structure jack 209, the propulsive force of shield structure body 202, supply with the driving electric current of cutting disc drive motor 203a, excavate native density in the muddy water, and the rotating speed of sludge pump 223, the highest execution number of times that hydraulic drive source 209a is driven control is as shown in figure 19.
Promptly, control part 379 usefulness are according to the pushing pressure of shield structure jack 209, the controlled quentity controlled variable Z that is exported by the 2nd controlled quentity controlled variable efferent 351 carries out, driving control to hydraulic drive source 209a, the highest carrying out twice during shield structure 201 whenever carries out a circle driving, and control part 379 usefulness are according to the propulsive force of shield structure body 202, controlled quentity controlled variable Z by 359 outputs of the 3rd controlled quentity controlled variable efferent, or according to the driving electric current of cutting disc drive motor 203a, the controlled quentity controlled variable Z that is exported by the 1st controlled quentity controlled variable efferent 365 carries out, to the driving control of hydraulic drive source 209a, the highest carrying out four times during shield structure 201 whenever carries out a circle driving.
Equally, control part 379 usefulness are according to excavating native density in the muddy water, the controlled quentity controlled variable Z that is exported by the 4th controlled quentity controlled variable efferent 371 carries out, driving control to hydraulic drive source 209a, whenever carry out only carrying out once during the circle driving at shield structure 201, in addition, control part 379 usefulness are according to the rotating speed of sludge pump 223, undertaken by the controlled quentity controlled variable Z of the 5th controlled quentity controlled variable efferent 377 output, to the driving control of hydraulic drive source 209a, the highest carrying out three times during shield structure 201 whenever carries out a circle driving.
Describe referring now to the handling procedure of Figure 16 when carrying out the driving deceleration control of shield structure 201 with control computer 245.
At first, in step preface S51, set the setting value P of shield structure 201 driving speeds, meanwhile, pushing force to the corresponding shield structure jack 209 of difference, the propulsive force of shield structure body 202, the driving electric current of supply cutting disc drive motor 203a excavates the higher limit of native density and sludge pump 223 rotating speeds and sets in the muddy water.
And then, to the 1st to the 5th controlled quentity controlled variable efferent 365,351,359,371, every output controlled quentity controlled variable Z once of 377, and described control interval and the highest execution number of times set, after making the initial value of above-mentioned controlled quentity controlled variable Z=0, in next step preface S53, the excavation of shield structure 201 is begun, with the DIFFIX communication in next step preface, be taken into above-mentioned current detector 203b in each stipulated time, jack pressure sensor 209b, spoil disposal density sensor 227, the testing result of tachometer 229 and velocity sensor 231.
In being right after the step preface S57 of step S55, begin to excavating the amount of transition of action till when stablize as driving from shield structure 201, whether the driving amount (S amount) of shield structure 201 is reached 30mm confirm as the time, to going on foot preface S71 transfer less than 30mm.
In addition, in next step preface S59 when the S amount surpasses 30mm, based on the testing result of roof pressure sensor 209b,, detect the propulsive force of shield structure body 202 in each stipulated time at propulsive force test section 353, based on its testing result, and the testing result of each sensor that in above-mentioned step preface S55, is taken into, in roof pressure comparing section 347, propulsive force comparing section 355, electric current comparing section 361, spoil disposal density comparing section 367 and rotating speed comparing section 373 and above-mentioned each higher limit compare.When not existing above the higher limit key element, preface S71 shifts to the step.
Then, in step preface S61, to in the comparison of above-mentioned step preface S59, the corresponding control interval of key element that has surpassed higher limit is confirmed, judges whether to surpass this control interval.
When not surpassing the control interval, promptly transfer to step preface S71, the controlled quentity controlled variable Z of the driving speed of shield structure 201 as O, thereafter, is transferred to step S67.
In addition, when surpassing the control interval, in next step preface S63,, judge whether in this number of times confirming with the key element the highest corresponding implementation number of times that in the comparison of above-mentioned step preface S59, has surpassed higher limit.
When surpassing the highest implementation number of times, promptly transfer to step preface S71, the driving speed controlled quentity controlled variable Z of shield structure 201 as O, transfer to step preface S67 thereafter, when in the highest implementation number of times, in next step preface S65, make the controlled quentity controlled variable efferent output controlled quentity controlled variable Z that surpasses the key element of above-mentioned higher limit from correspondence.
Then, in step preface S67, the processing that adds of the driving speed setting value P of controlled quentity controlled variable Z that exports and present shield structure 201.In addition, shifting occasion to S67 from step preface S71 owing to be O at fuzzy control quantity Z at the driving speed of the shield structure 201 of step preface S71, therefore, at present and after, the setting value P of above-mentioned driving speed is constant.
And,, the setting value P of the above-mentioned driving speed after handling that adds is exported to control part 379 after the step, preface S69 carried out the D/A conversion at step preface S67.
As discussed previously, at control part 379, for the driving speed that makes shield structure 201 slows down by above-mentioned fuzzy control quantity Z, driving to hydraulic drive source 209a is controlled, the oil pressure of the pressure oil that provides to shield structure jack 209 from this hydraulic drive source 209a is lowered, thereby the speed when making these shield structure jack 209 elongations slow down.
In sum, if according to the automatic deceleration control mode of present embodiment, it is constructed as follows: to the driving electric current such as supply cutting disc drive motor 203a, the pushing pressure of shield structure jack 209, the propulsive force of shield structure body 202, excavate native density in the muddy water, and these key element state values that driving speed of shield structure 201 is exerted an influence of the rotating speed of sludge pump 223, use current detector 203b respectively, jack pressure sensor 209b, propulsive force test section 353, spoil disposal density sensor 227 and tachometer 229 detect, comparing section 347 fully at control computer 245,355,361,367,373 compare these testing results and higher limit.
And, based on each comparing section 347,355,361,367,373 comparative result, the the 1st to the 5th controlled quentity controlled variable efferent 365,351,359,371,377 at each stipulated time output controlled quentity controlled variable Z, make control part 379 based on this controlled quentity controlled variable Z to velocity sensor 231, the driving speed and the driving distance limit of the shield structure 201 that driving distance sensor 237 detects monitor that the limit drives control to hydraulic drive source 209a.
Therefore, in order not make shield structure jack 209, excessive as the load of cutting disc motor 203a, the hydraulic drive source 209a of the drive source of cutting disc 203, sludge pump 223 etc., and the excavation speed that makes shield structure 201 is when reducing, can carry out this deceleration control automatically, thereby, can not need skilled operating personnel and make the shield-tunneling construction fully automation, thereby it is high efficiency laborsaving to reach operation.
In addition, the control flow of the control computer 245 of the present invention when the driving to shield structure 201 carries out deceleration control, do not use control computer 245 to carry out the setting of the condition of deceleration control, control interval, and the highest implementation number of times etc. is not subjected to the key diagram of Figure 15 yet, and the condition shown in the flow chart of Figure 16 and flow process are limit.
In addition, in the present embodiment, constitute the casting amount detecting device with above-mentioned sludge pump 223 and tachometer 229, yet, also can be formed in and detection is set on the pipelines before the mud pipe 221 discharges to ground by this mud pipe 221 and excavate the checkout gear that soil is measured in the muddy water, this testing result is compared with the higher limit relevant with the excavation soil amount of above-mentioned discharge,, 379 couples of hydraulic drive source 209a of control part are carried out drive control based on this comparative result.
In addition, in the present embodiment, automatically the deceleration control system that carries out shield driving is described, yet, when the driving electric current of supplying with cutting disc drive motor 203a, the pushing pressure of shield structure jack 209, the propulsive force of shield structure body 202, the rotating speed that excavates native density and sludge pump 223 in the muddy water is lower than with being equipped with higher limit configuration part 349,357,363,369,375 set higher limit the time, make the the 2nd, the 3, the 1st, the the 4th and the 5th controlled quentity controlled variable efferent 351,359,365,371,377 devices as the controlled quentity controlled variable that is output as the driving speed rising usefulness that makes shield structure 201 use, carry out the acceleration control of shield driving, or both are compound with this, use as the device that quickens and two aspects of slowing down are controlled.
Next, with reference to Fig. 4, Fig. 5 and Figure 17～23, to relevant with the variation of the 2nd embodiment, the embodiment that presses the mode of controlling automatically to be applied to muddy water adding pressure type shield structure occasion to the muddy water that is added on the excavation face describes.
In Fig. 4, make with cutting disc drive motor 203a under the cutting disc 203 rotating states, with shield structure jack 209 muddy water adding pressure type shield structure (to call the shield structure in the following text) 201 is advanced, excavation face 225 is excavated.
In this occasion, in cutting disc chamber 211, with the never illustrated slurry processing unit of muddy water pump 217 (being equivalent to supply pump),, make the muddy water that flows in the cutting disc chamber 211 supply with excavation face 225 through the slit of cutting disc 203 by sending mud pipe 219 and sending mud mouth 213 to supply with muddy water.
Make the muddy water that is sprayed onto on the excavation face 225 and excavate with cutting disc 203 under the excavation soil of excavation face 225 be recycled in the cutting disc chamber 211 by the slit on the cutting disc 203 together, and then, with sludge pump 223 muddy water after being aspirated by ground a complete set of equipment, mud discharging mouth 215 is discharged through mud pipe 221.
Use above-mentioned a complete set of equipment, from shield tunnel 205, to the muddy water that discharge on ground, isolating the gravel that excavates in the soil, with send dredge pump 217 will residual muddy water once more by sending the mud pipe 219 supply cutting disc chambeies 211.
Send mud pipe 219 and send 213 in mud mouth above-mentioned, and 215 of mud pipe 221 and mud discharging mouths, be provided with in order to supply with the flow of muddy water in the subtend cutting disc chamber 211 or to discharge the switch valve 238,239 that the flows of muddy water are adjusted from the cutting disc chamber in 211.Through each switch valve 238,239 adjusted each muddy water flow are respectively with being attached to switch valve 238,239 send mudflow quantity sensor 240 (being equivalent to the quantity delivered checkout gear) and spoil disposal flow transmitter 241 (being equivalent to the discharge rate checkout gear) detect, and supply with pressure with mud pressure sensor 242 detections of sending that are attached to switch valve 238 with the muddy water of the setting of sending dredge pump 217 to provide in cutting disc chamber 211.
In addition, on cutting disc chamber 211, be set to carry out to deduct the hydraulic pressure of the muddy water on being sprayed on excavation face 225 pressure after excavation face 225 counter-forces, just be added in the excavation face muddy water pressure sensor 244 (be equivalent to excavate face muddy water and press checkout gear) that the mud hydraulic pressure (pressing to call excavation face muddy water in the following text) on the excavation face 225 detects.
With above-mentioned flow transmitter 240, spoil disposal flow transmitter 241, excavate the testing result of muddy water pressure sensor 244 and velocity sensor 231, install 233 in the tunnel in the shield tunnel 205, by as shown in Figure 5, the ground control panel 243 of various console switch is being set, be input to the excavation face muddy water that constitutes the present invention the 2nd embodiment in each stipulated time and press the control of automaton with in the electronic computer 245, in view of the above, 245 pairs of control computers send dredge pump 217 to drive control.
Then, with reference to the block diagram of Figure 17 control is described with the main structure of electronic computer 245 and this control control action with electronic computer 245.
At first, with the above-mentioned mudflow quantity sensor 240 that send, spoil disposal flow transmitter 241, and the testing result of velocity sensor 231, at each stipulated time input deviation flow testing division 449 (being equivalent to the deviation flow detector), in view of the above, deviation flow testing division 449 detects expression relatively from sending the muddy water quantity delivered of mud mouth 213 to cutter chamber 211, or from cutter chamber 211 to the average of deviation flow in above-mentioned each time with deficiency of surpassing of the above-mentioned excavation soil discharge rate of the muddy water discharge rate of mud discharging mouth 215, export this testing result thereafter.
451 (being equivalent to the values of ambiguity output device) of the deviation flow averages that detect in each stipulated time with deviation flow detecting element 449 (below, be called for short the deviation flow) input values of ambiguity efferent.At this values of ambiguity efferent 451, according to the nearest past (to call in the following text last time) and the present deviation flow of (to call this in the following text), output and corresponding, each corresponding values of ambiguity of two deviation flows as shown in Figure 18.
For example last time deviation flow X1 is-0.01m 3/ min, this deviation flow X2 is 0.02m 3During/min, from the values of ambiguity-0.1 of the corresponding preceding deviation flow X1 of values of ambiguity efferent 451 outputs and the values of ambiguity 0.2 of corresponding this deviation flow X2.
Make from the difference correspondence of values of ambiguity efferent 451 output last time with this deviation flow X1,453 (being equivalent to membership qualification functional value output device) of values of ambiguity input membership qualification functional value efferent of X2.At this membership qualification functional value efferent 453, the membership qualification function M that represents based on Figure 19, output respectively with above-mentioned two deviation flow X1, the membership qualification functional value that X2 is relevant, above-mentioned membership qualification function M is expressed as getting grade along the longitudinal axis of Fig. 19, gets NB (big negative value), NS (little negative value), ZO (zero), PS (little on the occasion of), PB (greatly on the occasion of) Pyatyi values of ambiguity along transverse axis.
Therefore, from the deviation flow X1 respectively and last time and this time of functional value efferent 453 output, the membership qualification functional value that X2 is relevant is for preceding deviation flow X1, NS (X1)=A then, NO (X1)=B is for this deviation flow X2, ZO (X2)=D then, ZO (X2)=D, PS (X2)=C.
Make from membership qualification functional value efferent 453 output respectively with above-mentioned two deviation flow X1,455 (being equivalent to arrangement for indistinct inference) of membership qualification functional value input fuzzy reasoning portion that X2 is relevant.Carry out fuzzy reasoning in this fuzzy reasoning portion 455 by following step preface to above-mentioned two member's qualification functional values.
At first, in fuzzy reasoning portion 455, make respectively and last time with this deviation flow X1, two membership qualification functional value NS (X1)=A that X2 is relevant, ZO (X1)=B, ZO (X2)=D, each of PS (X2)=C used singly and remained on fuzzy control rule maintaining part 457 fuzzy control rule R (being equivalent to the fuzzy control rule holding device), as shown in figure 20, then carries out the reasoning for the controlling parameter Y that determines above-mentioned excavation face muddy water pressure-controlled amount.
Secondly, in fuzzy reasoning portion 455, to be applicable to above-mentioned fuzzy control rule R's and last time with this deviation flow X1, the grade of each each membership qualification functional value that X2 is relevant compares, and carries out the weighting of above-mentioned controlling parameter Y with belonging to low grade point.
With the content representation of the above fuzzy reasoning that carries out in fuzzy reasoning portion 455 on Figure 21.As shown in figure 21, by making membership qualification functional value NS (the X1)=A relevant with preceding deviation flow X1, and membership qualification functional value ZO (the X2)=D relevant with this deviation flow X2 is applicable to fuzzy control rule R, then carrying out the controlling parameter Y that reasoning obtains is ZO, and the magnitude relationship of the grade of above-mentioned two member's qualification functional values is A＜D.Therefore, make the parameter Y1 after the controlling parameter Y weighting become A*ZO.
Equally, for membership qualification functional value ZO (the X1)=B relevant with preceding deviation flow X1, and membership qualification functional value ZO (the X2)=D relevant with this deviation flow X2, controlling parameter Y is ZO, the grade magnitude relationship of two member's qualification functional values is B＞D, makes the parameter Y1 after the controlling parameter Y weighting become D*ZO.
And then, for membership qualification functional value ZO (the X1)=B relevant with preceding deviation flow X1, and membership qualification functional value PS (the X2)=C relevant with this deviation flow X2, controlling parameter Y is PS, the grade magnitude relationship of two member's qualification functional values is B＞C, makes the parameter Y1 after the controlling parameter Y weighting become C*PS.
In addition, for membership qualification functional value NS (the X1)=A relevant with preceding deviation flow X1, and membership qualification functional value PS (the X2)=C relevant with this deviation flow X2, because fuzzy control rule R is inapplicable, do not carry out be deriving controlling parameter Y, the grade magnitude relationship of two member's qualification functional values and make controlling parameter Y weighting after the fuzzy reasoning of parameter Y1.
Like this, three parameter Y1=A*ZO, D*ZO that make that fuzzy reasoning result according to fuzzy reasoning portion 455 obtains and 459 (being equivalent to the controlled quentity controlled variable output device) of C*PS input controlled quentity controlled variable efferent.At this controlled quentity controlled variable efferent 459, as shown in figure 22, be suitable for gravity model appoach for above-mentioned three parameter Y1, calculate the values of ambiguity F of relevant above-mentioned excavation face muddy water pressure-controlled amount.
And then controlled quentity controlled variable efferent 459 is calculated the above-mentioned excavation face muddy water of setting with correspondence shown in Figure 180 from this values of ambiguity F and is pressed the increase and decrease amount, just controls fuzzy control quantity Z.
For example, if the fuzzy scale division value F that calculates from above-mentioned three parameter Y1 is 0.041, the fuzzy control quantity Z that then excavates face muddy water pressure is 0.005kg/cm 2
And, make the fuzzy control quantity Z of the excavation face muddy water pressure of calculating at controlled quentity controlled variable efferent 459 import control part 461 (being equivalent to control device).At this control part 461, one in the face of using the muddy water of supplying with in cutting disc chamber 211 supply of sending mud pressure sensor 242 to detect to compress into the row supervision, one in the face of sending dredge pump 217 to drive control, the pressure of the fuzzy control quantity Z correspondence that presses to and calculate at controlled quentity controlled variable efferent 459 with the excavation face muddy water that uses excavation face muddy water pressure sensor 244 to detect.
Now processing step preface when compressing into capable fuzzy control with 245 pairs of above-mentioned excavation face muddy water of control computer is described according to Figure 23.
At first, in step preface S81, as the transit time that reaches from the driving action that makes excavation face muddy water press variation to play the shield structure 201 that utilizes this hydraulic pressure till stablizing, set the gate time S-C of control counter I, meanwhile, set not excursion HO, in order before the deviation flow reaches setting, not control.
And, the excavation face muddy water pressing mold of above-mentioned control counter I and use control computer 245 is stuck with paste controlled quentity controlled variable Z be set at initial value=0 respectively, and then set excavation face muddy water and press setting value P and fuzzy rule R, then, preface S83 begins the excavation of shield structure 201 in the step, then, be taken into the above-mentioned mudflow quantity sensor 240 that send with the D1FF1X communication among the step preface S85 in each stipulated time.The testing result of spoil disposal flow transmitter 241 and velocity sensor 231.
Among the step preface S87 after step preface S85, as begin from shield structure 201 to be driven into the driving action stable till during amount of transition, whether the driving amount (S amount) of shield structure 201 is reached 30mm is confirmed, on the one hand when not reaching 30mm, preface S101 shifts to the step, on the other hand, and when not reaching 30mm, at step preface S89, make the value of control counter I increase by 1.
Then, at step preface S91, the roof pressure pattern of the shield structure jack 209 of following shield structure 201 driving had not change confirm, because when changing, the deviation flow sharply changes, and does not go on foot the detection of this deviation flow X2 of preface S93, and preface S105 makes the value of counter I be converted to O with the step, and then the fuzzy control quantity Z that excavation face muddy water is pressed with step preface S107 then transfers to step preface S101 as O.
On the other hand, when in step preface S91, when the roof pressure pattern does not change, enter step preface S93, carry out the detection of deviation flow X2 with deviation flow testing division 449, and then, at step preface S95, whether whether the count value to control counter 1 becomes S-C, confirm having passed through to the stable necessary time of driving action that makes shield structure 201 exactly.
When the count value of control counter I does not reach S-C, cut the fuzzy control quantity Z of blade muddy water pressure as O with above-mentioned step preface S87 handle, shift to step preface S101 then, when the count value of control counter I reaches S-C, as I=O, after this, in next step preface S97, last time whether being in together in the scope of not excursion HO of initial setting with the absolute value of this deviation flow X1, X2 of previous detection confirmed.
When last time with this deviation flow X1, when the absolute value of X2 is in the scope of not excursion HO of initial setting together, in above-mentioned step preface S87, the fuzzy control quantity that excavation face muddy water is pressed is as O, then shift to step preface S101, when surpassing the scope of excursion HO not together, in next step preface S99, membership qualification functional value efferent 453, fuzzy reasoning portion 455 and fuzzy control rule maintaining part 457 are played a role, Fuzzy Calculation is applicable to last time and this deviation flow X1, X2 calculates the fuzzy control quantity Z that excavation face muddy water is pressed.
Then, at step preface S101, the fuzzy control quantity Z and the excavation face muddy water up to now that carry out calculating are pressed the processing that adds that sets value P.In addition, shifting occasion to step preface S101 from step preface S107 because the fuzzy control quantity Z that excavation face muddy water is pressed at step preface S107 is as O, therefore, at present and after, the setting value P that excavation face muddy water is pressed is constant.
And, at step preface S101, make at the excavation face muddy water that adds after handling and press setting value P input control part 461 after the step, preface S103 carried out the D/A conversion.
As previously mentioned, make 461 pairs of control parts send dredge pump 217 to drive control, make excavation face muddy water press size to produce increase and decrease by above-mentioned fuzzy control quantity Z.
In sum, if the excavation face muddy water according to present embodiment is pressed automatic control mode, with sending mudflow quantity sensor 240, or spoil disposal flow transmitter 241 detects muddy water quantity delivered or discharge rate, detect the driving speed of shield structure 201 with velocity sensor 231, send mudflow quantity sensor 240 with these, the testing result of spoil disposal flow transmitter 241 and velocity sensor 29 detects the relative muddy water quantity delivered of expression at the deviation flow testing division 449 of each stipulated time input control computer 245 in each stipulated time, excessive or the not enough deviation flow of the above-mentioned excavation soil discharge rate of discharge rate.And, according to the deviation flow that detects, the fuzzy control rule R of fuzzy reasoning portion 455 application memory in fuzzy control rule preservation portion 457, carry out fuzzy reasoning, based on this The reasoning results, make control part 461 1 compress into the row supervision in the face of supplying with the excavation face muddy water pressure of excavation face muddy water pressure sensor 244 detections with the muddy water in cutting disc chamber 211 that send mud pressure sensor 242 to detect, one faces muddy water pump 217 drives control.
Therefore, can make adjustment automation as the muddy water hydraulic pressure at the excavation face place of key factor in the muddy water adding pressure type shield construction, can not need to arrange skilled operating personnel to make the fully automation of muddy water adding pressure type shield-tunneling construction, thereby reach operation high efficiency and labour-saving purpose.
In addition, the control program of the control computer 245 when excavation face muddy water is compressed into capable fuzzy control, and the setting of the fuzzy control condition of not using control computer 245 also is not limited to program and condition shown in the block diagram of Figure 23.

Claims (8)

1. Suporting structure comprises:
Be located at shield structure body top ends, face the cutting disc of excavation face,
Drive the cutting disc drive unit that above-mentioned cutting disc makes its rotation,
Apply a plurality of shield structure jack of propulsive force to above-mentioned shield structure body,
Be located at above-mentioned cutting disc the rear, allow native sand under excavating by above-mentioned cutting disc drop into cutting disc chamber in it,
Excavation in above-mentioned cutting disc chamber soil sand is discharged to the conveying worm at the rear of above-mentioned shield structure body,
Drive the helical feed machine actuating device of above-mentioned conveying worm,
Be supplied to the shield structure jack hydraulic circuit of the working oil of above-mentioned shield structure jack by control, and this shield structure jack hydraulic circuit, to the hydraulic pump unit of above-mentioned shield structure jack supply working oil,
Be supplied to the cutting disc hydraulic circuit of the working oil of above-mentioned cutting disc drive unit by control, and this cutting disc hydraulic circuit, to the hydraulic pump unit of above-mentioned cutting disc drive unit supply working oil,
Be supplied to the conveying worm hydraulic circuit of the working oil of above-mentioned helical feed machine actuating device by control, and this conveying worm hydraulic circuit, to the hydraulic pump unit of above-mentioned conveying worm drive unit supply working oil,
The casting adjusting device of the native sand discharge rate that adjustment is discharged by above-mentioned conveying worm,
Be trapped in the above-mentioned cutting disc chamber with full state by making by the native sand under the above-mentioned cutting disc excavation, make to produce the soil pressure that the excavation face keeps usefulness, meanwhile, this soil pressure is kept on the limit, discharge the soil of the excavation in cutting disc chamber sand with above-mentioned conveying worm on the limit to the rear of above-mentioned shield structure body
It is characterized in that: also comprise:
Detect the soil pressure checkout gear of the soil pressure in the above-mentioned cutting disc chamber,
When making above-mentioned shield structure body facing to preplaning good Planned Route when advancing, when this shield structure body has departed from Planned Route, detect the level of the relative Planned Route of shield structure body and the angle of slope of vertical direction, and according to this angle of slope, by above-mentioned shield structure jack hydraulic circuit, select the above-mentioned a plurality of shield structure jack of control, control the direction-control apparatus of the direction of propulsion of shield structure body
According to the predefined management soil pressure of the condition of the soil pressure of measuring by above-mentioned soil pressure checkout gear and the soil body, control above-mentioned shield structure jack with hydraulic circuit, above-mentioned cutting disc with hydraulic circuit and above-mentioned casting adjusting device, make soil pressure in the above-mentioned cutting disc chamber meet the soil pressure control device of above-mentioned management soil pressure
The operational situation of above-mentioned each hydraulic pump unit and the operational situation of above-mentioned shield structure jack, above-mentioned helical feed machine actuating device, above-mentioned cutting disc drive unit, casting adjusting device and above-mentioned each hydraulic pump unit are monitored, and according to this supervision result, send running instruction and halt instruction to above-mentioned direction-control apparatus and soil pressure control device, make the automatic operation controller of the full-automatic running of shield structure body.
2. Suporting structure as claimed in claim 1 is characterized in that, also comprises: the fltting speed checkout gear that detects the fltting speed of above-mentioned shield structure jack; Detect the speed detector of the rotating speed of above-mentioned conveying worm; Detect the cutting disc torque detecting apparatus of the moment of torsion of above-mentioned cutting disc; Detect the conveying worm torque detecting apparatus of the moment of torsion of above-mentioned conveying worm; By the rotating speed of the above-mentioned conveying worm of above-mentioned conveying worm driving device controls, so that the soil pressure of measuring with above-mentioned soil pressure checkout gear and the 1st roughly consistent control device of deviation of above-mentioned management soil pressure; When judging, only with the rotating speed of controlling above-mentioned conveying worm, can not make when soil pressure is maintained at the setting soil pressure in the above-mentioned cutting disc chamber, with reference to this judged result, and the testing result of above-mentioned fltting speed checkout gear, helical feed tachometer, cutting disc torque detecting apparatus and conveying worm torque detecting apparatus, the rule that starting inference controlled quentity controlled variable is used, thus reason out the expert system of the controlled quentity controlled variable of at least one side in the casting amount of the fltting speed of above-mentioned shield structure jack and above-mentioned casting adjusting device; The controlled quentity controlled variable that obtains with the inference result from above-mentioned expert system is that the basis is controlled, the aperture of the fltting speed of above-mentioned shield structure jack and/or casting adjusting device is increased or reduce, thereby make soil pressure and the 2nd roughly consistent control device of setting soil pressure in cutting disc the chamber in.
3. Suporting structure comprises:
Be located at the cutting disc of shield structure body portion;
Drive the cutting disc drive source that above-mentioned cutting disc makes its rotation;
Be equipped on the shield structure jack that puts on this shield structure body between above-mentioned shield structure body and the fan-shaped lining segment, with propulsive force;
Order about above-mentioned shield structure jack and make flexible shield structure jack drive source;
The soil-discharging device of the excavation soil under excavating by above-mentioned cutting disc to the discharge of the rear of shield structure body;
It is characterized in that, also comprise;
Detect the shield structure jack pressure checkout gear that above-mentioned shield structure jack pushes the power of above-mentioned fan-shaped lining segment;
Detect the propulsive force checkout gear of the propulsive force of above-mentioned shield structure body;
Detection imposes on the cutting disc driving force checkout gear of the driving force of above-mentioned cutting disc from above-mentioned cutting disc drive source;
Detect the casting amount detecting device of the time per unit discharge rate of the above-mentioned excavation soil that above-mentioned soil-discharging device discharges;
According to the testing result of above-mentioned shield structure jack pressure checkout gear, propulsive force checkout gear, cutting disc driving force checkout gear and casting amount detecting device, calculate the evaluation score calculating apparatus of the evaluation score that becomes above-mentioned shield structure body driving state index every the stipulated time;
According to nearest past of being calculated by above-mentioned evaluation score calculating apparatus and present evaluation score, output is estimated the score values of ambiguity output device of corresponding values of ambiguity respectively with these two;
According to distinguishing corresponding values of ambiguity with above-mentioned nearest past and present evaluation score, the membership qualification functional value output device of the membership qualification functional value that output is relevant respectively with this two evaluations score;
The fuzzy control rule save set of the fuzzy control rule that preservation is used do fuzzy control the driving speed of above-mentioned shield structure body;
According to above-mentioned fuzzy control rule, carry out fuzzy deduction device to the fuzzy deduction of above-mentioned membership qualification functional value;
According to the inference result of above-mentioned fuzzy deduction device, export the controlled quentity controlled variable output device of the driving speed controlled quentity controlled variable of above-mentioned shield structure body;
Detect the driving speed checkout gear of the driving speed of above-mentioned shield structure body;
According to the above-mentioned driving speed of measuring from the above-mentioned controlled quentity controlled variable and the above-mentioned driving speed checkout gear of above-mentioned controlled quentity controlled variable output device output, control the control device of above-mentioned shield structure jack drive source drives.
4. Suporting structure comprises:
Be located at the cutting disc of shield structure body portion;
Drive the cutting disc drive source that above-mentioned cutting disc makes its rotation;
Be equipped between above-mentioned shield structure body and the fan-shaped lining segment, propulsive force imposed on the shield structure jack of this shield structure body;
Order about above-mentioned shield structure jack and make flexible shield structure jack drive source;
The soil-discharging device of the excavation soil under excavating with above-mentioned cutting disc to the discharge of the rear of above-mentioned shield structure body;
It is characterized in that, also comprise:
Detection puts on the cutting disc driving force checkout gear of the driving force of above-mentioned cutting disc from above-mentioned cutting disc drive source;
Detect the shield structure jack pressure checkout gear that above-mentioned shield structure jack pushes the power of above-mentioned fan-shaped lining segment;
Detect the propulsive force checkout gear of the propulsive force of above-mentioned shield structure body;
Detection is by the casting amount detecting device of the discharge rate of the time per unit of the above-mentioned excavation soil of above-mentioned soil-discharging device discharge;
Detect the driving speed checkout gear of the driving speed of above-mentioned shield structure body;
Set peaked, the 1st to the 4th higher limit setting device of the discharge rate of the higher limit of the higher limit of the higher limit of the above-mentioned driving force that above-mentioned cutting disc drive source can bear, above-mentioned pushing force that above-mentioned shield structure jack can bear, above-mentioned propulsive force that above-mentioned this physical efficiency of shield structure is born and the above-mentioned excavation soil that above-mentioned soil-discharging device can be discharged respectively;
Above-mentioned cutting disc driving force checkout gear, shield structure jack pressure checkout gear, propulsive force checkout gear, and each testing result of casting amount detecting device, the 1st to the 4th comparison means that above-mentioned each value of setting with above-mentioned the 1st to the 4th higher limit setting device compares respectively;
Each comparative result according to above-mentioned the 1st to the 4th comparison means, the pick of exporting above-mentioned Suporting structure respectively pushes away the 1st to the 4th controlled quentity controlled variable output device of the controlled quentity controlled variable of speed, and with the above-mentioned driving speed that above-mentioned driving speed checkout gear is measured, control the control device of above-mentioned shield structure jack drive source drives.
5. Suporting structure as claimed in claim 4, it is characterized in that, the driving distance checkout gear that also has the driving distance that detects above-mentioned shield structure body, and, above-mentioned the 1st to the 4th controlled quentity controlled variable output device is exported the counting device that the number of times of above-mentioned controlled quentity controlled variable is counted by each controlled quentity controlled variable output device, and, the count value that above-mentioned control device counts out according to the testing result and the above-mentioned counting device of above-mentioned driving distance checkout gear, decision is to execution, the termination of above-mentioned shield structure jack drive source drives control.
6. Suporting structure as claimed in claim 4, it is characterized in that, according in the time of an above-mentioned fan-shaped lining segment length of above-mentioned shield structure body driving, the number of times of the above-mentioned controlled quentity controlled variable that above-mentioned the 1st to the 4th controlled quentity controlled variable output device is exported separately determines execution, the termination of above-mentioned shield structure jack drive source drives control.
7. as claim 4,5 or 6 described Suporting structures, it is characterized in that above-mentioned the 1st to the 4th comparison means carries out above-mentioned comparison with the intrinsic time interval respectively.
8. Suporting structure comprises:
Be located at shield structure body top ends, face the cutting disc of excavation face;
Propulsive force is imposed on a plurality of shield structure jack of above-mentioned shield structure body;
Be located at above-mentioned cutting disc the rear, allow native sand under excavating by this cutting disc drop into cutting disc chamber in it;
In above-mentioned cutting disc chamber, supply with the supply pump of muddy water;
Excavation soil in the above-mentioned cutting chamber is expelled to the excavationg pump at the rear of above-mentioned shield structure body with above-mentioned muddy water,
And, by making by the excavation soil under the above-mentioned cutting disc excavation in above-mentioned muddy water is trapped in above-mentioned cutting disc chamber, keep the muddy water of usefulness to press so that produce the excavation face, simultaneously, under the state of keeping this muddy water pressure, by above-mentioned excavationg pump the excavation soil in the above-mentioned cutting disc chamber with above-mentioned muddy water, be expelled to the rear of above-mentioned shield structure body
It is characterized in that, also comprise:
Detection puts on the excavation face muddy water of the above-mentioned muddy water pressure of above-mentioned excavation face and presses checkout gear;
Detect the driving speed checkout gear of the driving speed of above-mentioned shield structure body;
Detect the quantity delivered checkout gear that above-mentioned supply pump is supplied to the quantity delivered of the above-mentioned muddy water in the above-mentioned cutting disc chamber;
Detect the discharge rate checkout gear of the discharge rate of the above-mentioned muddy water that above-mentioned excavationg pump discharges in the above-mentioned cutting disc chamber;
Testing result according to above-mentioned driving speed checkout gear, quantity delivered checkout gear and discharge rate checkout gear, to the excessive or not enough deviation flow of the above-mentioned excavation soil discharge rate of giving discharge capacity of the above-mentioned relatively muddy water of indication, the deviation flow detector that detects every the stipulated time;
According to nearest past of being measured by above-mentioned deviation flow detector and present deviation flow, two deviation flows of output and this are the values of ambiguity output device of corresponding values of ambiguity respectively;
According to distinguishing corresponding values of ambiguity, export the membership qualification functional value output device of the membership qualification functional value relevant respectively with these two deviation flows with above-mentioned nearest past and each present deviation flow;
Preserve the fuzzy control rule save set of fuzzy control rule;
According to above-mentioned fuzzy control rule, carry out fuzzy deduction device to the fuzzy deduction of above-mentioned membership qualification functional value;
According to the inference result of above-mentioned fuzzy deduction device, export the controlled quentity controlled variable output device of the controlled quentity controlled variable of the above-mentioned muddy water pressure that puts on above-mentioned excavation face;
According to above-mentioned controlled quentity controlled variable, and, drive the control device of the above-mentioned supply pump of control by the above-mentioned mud hydraulic pressure that puts on above-mentioned excavation face that above-mentioned excavation face muddy water presses checkout gear to measure from above-mentioned controlled quentity controlled variable output device output.
CN94101989A 1994-03-07 1994-03-07 Suporting structure Expired - Fee Related CN1063826C (en)

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Application Number Priority Date Filing Date Title
CN94101989A CN1063826C (en) 1994-03-07 1994-03-07 Suporting structure

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Application Number Priority Date Filing Date Title
CN94101989A CN1063826C (en) 1994-03-07 1994-03-07 Suporting structure

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Publication Number Publication Date
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CN1063826C true CN1063826C (en) 2001-03-28

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CN1294339C (en) * 2003-06-12 2007-01-10 上海隧道工程股份有限公司 Articulated screw conveying machine
CN1584290B (en) * 2004-05-27 2010-05-05 上海市第二市政工程有限公司 Shielding three-dimensional gesturing precisioning monitoring systems
CN100344858C (en) * 2004-07-09 2007-10-24 浙江大学 Full power self adaptive shield cutter disc driving electrohydraulic control system
CN100516462C (en) * 2005-09-22 2009-07-22 上海交通大学 Deviation correcting pressure weight method for side rolling in double circle shield tunnel construction
CN1924293B (en) * 2006-09-03 2011-03-23 大连华锐股份有限公司 Rotary replaceable earth pressure cell for shield machine
CN101975068B (en) * 2010-11-05 2012-07-25 上海隧道工程股份有限公司 Construction method for tunnelling small-radius curve segment of tunnel through shield method
CN102568293B (en) * 2010-12-14 2014-03-12 上海市机械施工集团有限公司 Rectangular tunnel boring machine teaching system
CN102322272B (en) * 2011-08-30 2013-08-21 李志伟 Hard rock tunnel tunneling method
CN102493813B (en) * 2011-11-22 2013-12-11 张英华 Shield tunneling machine for underground pipeline
CN106150510A (en) * 2015-04-13 2016-11-23 李青峰 Pipeline underground horizontal direction is escaped structure construction and installation technology
CN105888678B (en) * 2016-06-17 2018-02-06 韶关市铁友建设机械有限公司 A kind of intelligent excavation push-bench
CN106979747B (en) * 2017-02-23 2019-04-02 广州市市政集团有限公司 Slurry shield earthwork measuring management method
CN107315370A (en) * 2017-07-13 2017-11-03 合肥引力波数据科技有限公司 A kind of shield machine construction Schedule monitoring system
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