CN110067568B - Self-adaptive control method and system for shield deviation-correcting oil pressure output - Google Patents

Self-adaptive control method and system for shield deviation-correcting oil pressure output Download PDF

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CN110067568B
CN110067568B CN201910460390.3A CN201910460390A CN110067568B CN 110067568 B CN110067568 B CN 110067568B CN 201910460390 A CN201910460390 A CN 201910460390A CN 110067568 B CN110067568 B CN 110067568B
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oil pressure
deviation
partition
jack
equation
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CN110067568A (en
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杨宏燕
孙连
李磊
包蓁
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Shanghai Tunnel Engineering Co Ltd
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
    • E21D9/093—Control of the driving shield, e.g. of the hydraulic advancing cylinders

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  • Environmental & Geological Engineering (AREA)
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Abstract

The invention relates to a self-adaptive control method and a self-adaptive control system for shield deviation-rectifying oil pressure output, wherein the method comprises the following steps: partitioning a jack on the shield tunneling machine; establishing a conversion model of the deviation rectifying torque and the deviation rectifying oil pressure of each partition jack according to the partition of the jack; acquiring the actual oil pressure of each partition jack; acquiring the deviation rectifying oil pressure of each partition jack corresponding to the deviation rectifying moment of the current ring through the conversion model to serve as deviation rectifying set oil pressure; and carrying out self-adaptive treatment on the deviation-rectifying set oil pressure according to the obtained actual oil pressure of each partition jack to obtain and output the deviation-rectifying output oil pressure of each partition jack. The invention realizes the characteristics of accurately decoupling the shield plane moment and the elevation moment and accurately conforming to the actual load of the notch elevation pressure gradient, realizes the effect of automatically adapting and matching the actual load and the set oil pressure, and reduces the deviation correcting risk caused by the error in oil pressure setting caused by manual operation.

Description

Self-adaptive control method and system for shield deviation-correcting oil pressure output
Technical Field
The invention relates to the field of shield construction engineering, in particular to a self-adaptive control method and a self-adaptive control system for shield deviation-rectifying oil pressure output.
Background
The goal of tunnel construction de-skew is to bring the tunnel construction axis as close as possible to the tunnel design axis (DTA). The actual tunnel construction axis is generally "snake" shaped near DTA within the quality control range. In the prior art, the shield is manually operated to correct the deviation, and the principle of the strategy of manually correcting and controlling the oil pressure of the subarea is 'duty correction, slow correction', and actually a method for repeatedly trying and obtaining the oil pressure of the actual subarea. The level of operator experience in manual rectification determines the "snake" amplitude and frequency. The manual deviation correction in the shield deviation correction control output link has the following technical difficulties:
firstly, decoupling of shield plane moment and elevation moment cannot be accurately realized. The jack on the shield machine is usually set to be that the number of the jacks on the lower half part is larger than that of the jacks on the upper half part due to the consideration of the pressure gradient of the buried depth of the tunnel axis, the elevation moment of the jack can be adjusted without influencing the plane moment when the jacks on the top and the bottom are adjusted, but the elevation moment is hardly influenced when the plane moment is adjusted when the jacks on the two side parts are adjusted, so that the plane moment is hardly and accurately adjusted to avoid the influence on the elevation moment when the oil pressure of the jack is manually adjusted.
Secondly, the actual load characteristics of the incision elevation pressure gradient cannot be accurately met. The set value of the tunneling oil pressure is in accordance with the characteristics of the elevation soil body pressure gradient of the shield cut, but the manual deviation rectifying operation is difficult to accurately judge the actual soil body pressure gradient of the shield cut elevation.
The problem that the actual load is matched with the set oil pressure cannot be accurately realized, the set oil pressure value is the limit value of a partitioned overflow valve, and when the actual resistance load exceeds the set value, the overflow valve is unloaded and the oil pressure cannot be increased; when the actual resistance is smaller than the set value, the current oil pressure reflects the actual resistance load. The propulsion oil pressure set value is not necessarily the actual torque. When the set oil pressure in a certain area is larger than the load of the area for a long time, the difference between the set deviation correcting moment and the actual deviation correcting moment is an operational disturbance factor.
The technical difficulty is difficult to accurately judge by manual deviation correction, and a new disturbance factor is possibly hidden while the current posture is adjusted, and the new disturbance factor can be gradually displayed along with the working condition. The condition is repeated, and the stability of the shield deviation rectification is difficult to maintain.
The effect of the so-called "snake" amplitude and frequency of the tunnel construction axis depends on the actual working experience and ability of the operator, and therefore the quality control effect of manual deviation correction has certain discreteness.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a self-adaptive control method and a self-adaptive control system for shield deviation-rectifying oil pressure output, and solves the problems that the decoupling of shield plane moment and elevation moment cannot be accurately realized, the actual load characteristic of notch elevation pressure gradient cannot be accurately met, and the matching of actual load and set oil pressure cannot be accurately realized, so that the poor shield deviation-rectifying stability and the shield deviation-rectifying quality control effect have certain discreteness.
The technical scheme for realizing the purpose is as follows:
the invention provides a self-adaptive control method for shield deviation-rectifying oil pressure output, which comprises the following steps:
s11: partitioning a jack on the shield tunneling machine to form a top partition, a bottom partition, a left upper waist partition, a left lower waist partition, a right upper waist partition and a right lower waist partition jack;
s12: establishing a conversion model of the deviation rectifying torque and the deviation rectifying oil pressure of each partition jack according to the partition of the jack;
s13: acquiring the actual oil pressure of each partition jack;
s14: acquiring the deviation rectifying oil pressure of each partition jack corresponding to the deviation rectifying moment of the current ring through the conversion model to serve as deviation rectifying set oil pressure; and
s15: and carrying out self-adaptive treatment on the deviation-rectifying set oil pressure according to the obtained actual oil pressure of each partition jack to obtain and output the deviation-rectifying output oil pressure of each partition jack.
The self-adaptive control method establishes a conversion model of the deviation-correcting torque and the deviation-correcting oil pressure of the jacks in each partition through the partition of the jacks, and the established conversion model can accurately realize the decoupling of the shield plane torque and the shield elevation torque and accurately meet the actual load characteristics of the incision elevation pressure gradient, thereby overcoming the accuracy which cannot be achieved by manual experience. Before deviation correction set oil pressure is output, the deviation correction set oil pressure is subjected to self-adaptive processing by using actual oil pressure, the effect of automatic adaptive matching of actual load and set oil pressure is realized, and the deviation correction risk caused by oil pressure setting errors caused by manual operation is reduced.
The self-adaptive control method for shield deviation-correcting oil pressure output is further improved in the following step 15: according to the obtained actual oil pressure of each partition jack, the deviation rectification set oil pressure is subjected to self-adaptive processing to obtain deviation rectification output oil pressure of each partition jack and output the deviation rectification output oil pressure, and the method comprises the following steps:
s151: calculating the difference value between the deviation correcting set oil pressure and the actual oil pressure of each partition jack, and obtaining the maximum difference value;
s152: judging whether the partition corresponding to the obtained maximum difference value is a top partition or a bottom partition,
if so, subtracting the maximum difference value from the deviation-correcting set oil pressure of the jacks in the top partition and the bottom partition to be used as deviation-correcting output oil pressure and outputting the deviation-correcting output oil pressure, and using the half of the deviation-correcting set oil pressure plus the maximum difference value of the jacks in the upper left waist partition, the lower left waist partition, the upper right waist partition and the lower right waist partition to be used as deviation-correcting output oil pressure and outputting the deviation-correcting output oil pressure;
if not, feeding back the actual oil pressure of the partition jack corresponding to the maximum difference value as a fixed value to the conversion model in step S14 to recalculate the deviation correction set oil pressure of each partition jack, and executing steps S151 to S152.
The self-adaptive control method for outputting the shield deviation-correcting oil pressure is further improved in that the step of establishing a conversion model of the deviation-correcting torque and the deviation-correcting oil pressure of each partition jack comprises the following steps:
establishing an equation of the deviation rectifying oil pressure and the deviation rectifying resultant force of each partition jack as a first equation:
Figure BDA0002077872000000031
in equation one, FCombination of Chinese herbsTo correct resultant forces, PASetting oil pressure for top zoned deviation correction, PDSetting oil pressure for bottom zoned deviation correction, PBFSetting a pressure equalization of oil pressure for the deviation correction of the upper right lumbar zone and the upper left lumbar zone, PBF＝(PB+PF)/2，PBSetting oil pressure, P, for deviation correction of upper right lumbar zoneFSetting oil pressure, P, for deviation correction of upper left lumbar zoneCESetting a pressure equalization of oil pressure for the deviation correction of the lower right lumbar zone and the lower left lumbar zone, PCE＝(PC+PE)/2，PCSetting oil pressure for deviation correction of right lower lumbar region, PESetting oil pressure for deviation correction of left lower waist distribution, n1The number of jacks in the other zones except the bottom zone, n2Number of jacks for bottom divisionS is the piston area of the jack;
establishing an equation of the elevation moment and the deviation correcting oil pressure of each partition jack as a second equation, wherein the second equation is as follows:
Figure BDA0002077872000000032
in equation two, MzIs the elevation moment, R is the distance from the shield center to the jack center, theta1Is the angle between the centre line of the upper right waist section and the horizontal line, theta2Is the included angle between the central line of the right lower waist partition and the horizontal line;
establishing an equation of the plane moment and the deviation correcting oil pressure of each partition jack as a third equation, wherein the third equation is as follows:
My＝n1SR[cosθ1(PB-PF)+cosθ2(PC-PE)]equation three
In equation III, MyIs a plane moment;
establishing a fourth equation according to the oil pressure proportional relation of each partition jack, wherein the fourth equation is as follows:
Figure BDA0002077872000000041
the self-adaptive control method for outputting the shield deviation-rectifying oil pressure is further improved in that the deviation-rectifying oil pressure of each subarea corresponding to the deviation-rectifying moment of the current ring is obtained through the conversion model and is used as the step of deviation-rectifying set oil pressure, and the step comprises the following steps of:
calculating a plane moment and an elevation moment according to the deviation correcting moment of the current ring;
and performing iterative solution on the equations I to IV to obtain the deviation correction set oil pressure of each subarea.
The self-adaptive control method for shield deviation-correcting oil pressure output is further improved in that the method further comprises the following steps:
and controlling the oil pressure of the jacks of each subarea by using the deviation rectifying output oil pressure of each subarea.
The invention also provides a self-adaptive control system for shield deviation rectifying oil pressure output, which comprises the following steps:
the model building unit is used for partitioning the jack on the shield tunneling machine to form a top partition, a bottom partition, a left upper waist partition, a left lower waist partition, a right upper waist partition and a right lower waist partition; the system is also used for establishing a conversion model of the deviation rectifying torque and the deviation rectifying oil pressure of each partition jack according to the partition of the jack;
the oil pressure acquisition unit is used for acquiring the actual oil pressure of each partition jack; and
the correction oil pressure setting unit is connected with the model establishing unit and the oil pressure collecting unit and used for acquiring correction oil pressure of each partition jack corresponding to the correction moment of the current ring as correction setting oil pressure through the conversion model; and the deviation correcting set oil pressure is also used for carrying out self-adaptive treatment on the deviation correcting set oil pressure according to the actual oil pressure of each partition jack so as to obtain and output the deviation correcting output oil pressure of each partition jack.
The self-adaptive control system for outputting the shield deviation-rectifying oil pressure is further improved in that the deviation-rectifying oil pressure setting unit comprises a deviation-rectifying oil pressure calculating module connected with the model establishing unit, a difference value calculating module connected with the deviation-rectifying oil pressure calculating module and the oil pressure collecting unit, a judging module connected with the difference value calculating module and a self-adaptive adjusting module connected with the judging module;
the correction oil pressure calculation module is used for acquiring the correction oil pressure of each partition jack corresponding to the correction torque of the current ring as the correction set oil pressure through the conversion model;
the difference value calculation module is used for obtaining and calculating the difference value between the deviation correction set oil pressure and the actual oil pressure of each partition jack;
the judgment module is used for finding out the maximum difference value from the difference values calculated by the difference value calculation module and judging whether the partition corresponding to the maximum difference value is a top partition or a bottom partition;
when the judgment result of the judgment module is yes, the self-adaptive adjustment module subtracts the maximum difference value from the deviation correcting set oil pressure of the jacks at the top partition and the bottom partition to obtain deviation correcting output oil pressure and outputs the deviation correcting output oil pressure, and uses the half of the deviation correcting set oil pressure of the jacks at the upper left waist partition, the lower left waist partition, the upper right waist partition and the lower right waist partition to obtain deviation correcting output oil pressure and outputs the deviation correcting output oil pressure; and when the judgment structure of the judgment module is negative, feeding back the actual oil pressure of the partition jack corresponding to the maximum difference value as a fixed value to the deviation-rectifying oil pressure calculation module so as to recalculate the deviation-rectifying set oil pressure of each partition jack.
The self-adaptive control system for shield deviation rectifying oil pressure output is further improved in that the model establishing unit comprises a first calculation model, a second calculation model, a third calculation model and a fourth calculation model;
the first calculation model is used for establishing an equation of the deviation rectifying oil pressure and the deviation rectifying resultant force of each partition jack as a first equation:
Figure BDA0002077872000000051
in equation one, FCombination of Chinese herbsTo correct resultant forces, PASetting oil pressure for top zoned deviation correction, PDSetting oil pressure for bottom zoned deviation correction, PBFSetting a pressure equalization of oil pressure for the deviation correction of the upper right lumbar zone and the upper left lumbar zone, PBF＝(PB+PF)/2，PBSetting oil pressure, P, for deviation correction of upper right lumbar zoneFSetting oil pressure, P, for deviation correction of upper left lumbar zoneCESetting a pressure equalization of oil pressure for the deviation correction of the lower right lumbar zone and the lower left lumbar zone, PCE＝(PC+PE)/2，PCSetting oil pressure for deviation correction of right lower lumbar region, PESetting oil pressure for deviation correction of left lower waist distribution, n1The number of jacks in the other zones except the bottom zone, n2The number of jacks with partitioned bottoms, and S is the area of a piston of each jack;
the second calculation model is used for establishing an equation of the elevation moment and the deviation correcting oil pressure of each partition jack as an equation two, and the equation two is as follows:
Figure BDA0002077872000000052
in equation two, MzIs the elevation moment, R is the distance from the shield center to the jack center, theta1Is the angle between the centre line of the upper right waist section and the horizontal line, theta2Is the included angle between the central line of the right lower waist partition and the horizontal line;
the third calculation model is used for establishing an equation of the plane moment and the deviation correcting oil pressure of each partition jack as a third equation:
My＝n1SR[cosθ1(PB-PF)+cosθ2(PC-PE)]equation three
In equation III, MyIs a plane moment;
the fourth calculation model is used for establishing an equation four according to the oil pressure proportional relation of each partition jack, wherein the equation four is as follows:
Figure BDA0002077872000000061
the self-adaptive control system for shield deviation-correcting oil pressure output is further improved in that the deviation-correcting oil pressure setting unit is used for calculating a plane moment and an elevation moment according to the deviation-correcting moment of the current ring and performing iterative solution on the first calculation model to the fourth calculation model to obtain the deviation-correcting set oil pressure of each subarea.
The self-adaptive control system for shield deviation-correcting oil pressure output is further improved in that the self-adaptive control system further comprises a control unit connected with the deviation-correcting oil pressure setting unit and used for controlling the oil pressure of the jack of each subarea by using the deviation-correcting output oil pressure of each subarea.
Drawings
FIG. 1 is a flow chart of an adaptive control method for shield deviation rectifying oil pressure output according to the present invention.
Fig. 2 is a schematic diagram of a jack partition in the shield deviation-correcting oil pressure output adaptive control method and system of the present invention.
FIG. 3 is a diagram showing the proportional relationship between the oil pressure and the burial depth of each partition jack in the shield deviation-correcting oil pressure output adaptive control method and system of the present invention.
FIG. 4 is a schematic diagram of the distribution of the jacks in each zone in the shield deviation-correcting oil pressure output adaptive control method and system of the present invention.
FIG. 5 is a regression diagram of the relational expression between the correction moment of the jack and the stroke difference angle of the jack.
FIG. 6 is a non-linear relationship diagram of the actual stroke difference angle value of the jack and the actual moment value of the jack according to the present invention.
Fig. 7 is a schematic diagram of calculating the jack stroke difference angle according to the present invention.
FIG. 8 is a schematic structural diagram of a YOX coordinate system when calculating the deviation rectifying distance.
FIG. 9 is a schematic structural diagram of an XOZ coordinate system when calculating the deviation rectifying distance according to the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
Referring to fig. 1, the invention provides a self-adaptive control method and system for shield deviation-correcting oil pressure output, which are used for solving the problem that the effect of the amplitude and the frequency of the snake-shaped line of a tunnel construction axis depends on the actual working experience and the capability of an operator, so that the deviation-correcting quality control effect has certain discreteness. The self-adaptive control method and the system can realize automatic decoupling of plane torque and elevation torque, realize automatic distribution of partition thrust according with the load gradient characteristic of a cut elevation soil body, realize the automatic adaptive matching effect of actual load and set oil pressure, and reduce the deviation rectifying risk caused by oil pressure setting errors caused by manual operation. The invention solves the control problem of controlling the oil pressure characteristic and the notch soil fluidity difference characteristic, and is one of the technical bases for realizing the artificial intelligent shield deviation correction. The self-adaptive control method and system for shield deviation-correcting oil pressure output of the invention are explained below with reference to the accompanying drawings.
The self-adaptive control system for shield deviation-correcting oil pressure output comprises a model establishing unit, an oil pressure collecting unit and a deviation-correcting oil pressure setting unit, wherein the deviation-correcting oil pressure setting unit is connected with the model establishing unit and the oil pressure collecting unit;
the model building unit is used for partitioning a jack on the shield tunneling machine to form a top partition, a bottom partition, a left upper waist partition, a left lower waist partition, a right upper waist partition and a right lower waist partition jack; the system is also used for establishing a conversion model of the deviation rectifying torque and the deviation rectifying oil pressure of each partition jack according to the partition of the jack; as shown in fig. 2, six regions are divided into a section of the shield tunneling machine in a clockwise direction, which are respectively a region a to a region F, and correspondingly, the region a is a top region, the region D is a bottom region, the region B is an upper right waist region, the region C is a lower right waist region, the region F is an upper left waist region, the region E is a lower left waist region, and the divided six regions are symmetrically distributed. When each zone is divided, the number of the jacks in the zone D is more than that of the jacks in the other zones so as to resist the larger soil pressure of the bottom zone and ensure that the shield tunneling machine keeps stable tunneling. Taking 19 sets of jacks as an example, the number of the jacks in the area D is 4, and the number of the jacks in the other areas is 3.
The oil pressure acquisition unit is used for acquiring the actual oil pressure of each partition jack; in the propelling process of the shield machine, the PLC of the shield machine can record the oil pressure of a jack on the shield machine in real time, and the oil pressure acquisition unit can be connected with the PLC of the shield machine to acquire the actual oil pressure of the jack of each partition from the PLC of the shield machine; or pressure sensors are arranged at the jacks of each partition, and the oil pressure of each jack is detected in real time by the pressure sensors and is sent to the oil pressure acquisition unit.
The correction oil pressure setting unit is used for acquiring the correction oil pressure of each partition jack corresponding to the correction torque of the current ring as the correction setting oil pressure through the conversion model; and the system is also used for carrying out self-adaptive treatment on the deviation-rectifying set oil pressure according to the actual oil pressure of each partition jack so as to obtain and output the deviation-rectifying output oil pressure of each partition jack. When the deviation correcting oil pressure setting unit calculates the deviation correcting oil pressure of each partition jack, the conversion model is read, the deviation correcting oil pressure of each partition jack corresponding to the known deviation correcting moment calculation position serves as the deviation correcting set oil pressure, then the deviation correcting oil pressure setting unit correspondingly obtains the deviation correcting set oil pressure and carries out self-adaptive processing according to the actual oil pressure, and the actual oil pressure reflects the actual load, so that the self-adaptive processing is carried out by utilizing the actual oil pressure, and the effect of automatically adaptively matching the actual load and the set oil pressure can be achieved.
As a preferred embodiment of the present invention, the correction oil pressure setting unit includes a correction oil pressure calculation module connected to the model building unit, a difference calculation module connected to the correction oil pressure calculation module and the oil pressure collection unit, a judgment module connected to the difference calculation module, and an adaptive adjustment module connected to the judgment module;
the correction oil pressure calculation module is used for acquiring the correction oil pressure of each partition jack corresponding to the correction torque of the current ring as the correction set oil pressure through the conversion model;
the difference value calculation module is used for obtaining and calculating the difference value between the deviation rectification set oil pressure and the actual oil pressure of each partition jack;
the judgment module is used for finding out the maximum difference value from the difference values calculated by the difference value calculation module and judging whether the partition corresponding to the maximum difference value is a top partition or a bottom partition;
when the judgment result of the judgment module is yes, the self-adaptive adjustment module subtracts the maximum difference value from the deviation correcting set oil pressure of the jacks at the top partition and the bottom partition to serve as deviation correcting output oil pressure and outputs the deviation correcting output oil pressure, and the half of the deviation correcting set oil pressure of the jacks at the upper left waist partition, the lower left waist partition, the upper right waist partition and the lower right waist partition plus the maximum difference value serves as deviation correcting output oil pressure and outputs the deviation correcting output oil pressure; and when the judgment structure of the judgment module is negative, feeding back the actual oil pressure of the partition jack corresponding to the maximum difference value as a fixed value to the deviation-rectifying oil pressure calculation module so as to recalculate the deviation-rectifying set oil pressure of each partition jack. After the deviation correcting set oil pressure of the trip is calculated by the deviation correcting oil pressure calculating module, the difference calculating module, the judging module and the self-adaptive adjusting module recalculate the new deviation correcting set oil pressure until the deviation correcting output oil pressure of each partition jack is obtained and output.
The deviation-correcting oil pressure calculation module, the difference calculation module, the judgment module and the self-adaptive adjustment module form a calculation cycle, when the obtained partition corresponding to the maximum difference is in the upper left waist partition, the lower left waist partition, the upper right waist partition or the lower right waist partition, the actual oil pressure of the partition corresponding to the maximum difference is fed back to the deviation-correcting oil pressure calculation module to recalculate the deviation-correcting set oil pressure, so that the continuous self-adaptive processing of the deviation-correcting set oil pressure by using the actual oil pressure is realized until the partition corresponding to the maximum difference is the top partition or the bottom partition. The oil pressure of the jacks in the top and bottom subareas is reduced (namely, the oil pressure is set by the deviation correction of the top subarea and the bottom subarea and is half of the maximum difference value), so that the oil pressure of the jacks in the top and bottom subareas is reduced and the oil pressure of the jacks in the two sides is uniformly increased under the condition of inconvenient total thrust, the jacking force of the jacks in the two sides is not converged, the jack has the characteristic of uniform divergence, and the stability of the propulsion process is improved.
Further, the model establishing unit comprises a first calculation model, a second calculation model, a third calculation model and a fourth calculation model;
the first calculation model is used for establishing an equation of the deviation rectifying oil pressure and the deviation rectifying resultant force of each partition jack as a first equation:
Figure BDA0002077872000000091
in equation one, FCombination of Chinese herbsTo correct resultant forces, PASetting oil pressure for top zoned deviation correction, PDSetting oil pressure for bottom zoned deviation correction, PBFSetting a pressure equalization of oil pressure for the deviation correction of the upper right lumbar zone and the upper left lumbar zone, PBF＝(PB+PF)/2，PBSetting oil pressure, P, for deviation correction of upper right lumbar zoneFSetting oil pressure, P, for deviation correction of upper left lumbar zoneCESetting a pressure equalization of oil pressure for the deviation correction of the lower right lumbar zone and the lower left lumbar zone, PCE＝(PC+PE)/2，PCSetting oil pressure for deviation correction of right lower lumbar region, PESetting oil pressure for deviation correction of left lower waist distribution, n1The number of jacks in the other zones except the bottom zone, n2The number of jacks with partitioned bottoms, and S is the area of a piston of each jack; take 19 sets of jacks as an example, where n1Is 3, n2Equation one is derived from the resultant moment equation, where F is ∑ nipiS, wherein F represents resultant moment, niRepresenting the number of jacks of the ith group, piThe oil pressure of the jack of the ith group is shown, and S represents the piston area of the jack of the ith group.
The second calculation model is used for establishing an equation of the elevation moment and the deviation correcting oil pressure of each partition jack as an equation two, wherein the equation two is as follows:
Figure BDA0002077872000000092
in equation two, MzIs the elevation moment, R is the distance from the shield center to the jack center, theta1Is the angle between the centre line of the upper right waist section and the horizontal line, theta2Is the included angle between the central line of the right lower waist partition and the horizontal line; included angle theta1And theta2Please refer to fig. 4;
the third calculation model is used for establishing an equation of the plane moment and the deviation correcting oil pressure of each partition jack as an equation three:
My＝n1SR[cosθ1(PB-PF)+cosθ2(PC-PE)]equation three
In equation III, MyIs a plane moment;
the second equation and the third equation are derived according to a plane moment calculation formula and an elevation moment calculation formula of the jack, wherein the plane moment calculation formula is MFlat plate＝∑nipiS cosθiThe elevation moment calculation formula is MHeight of＝∑nipiS sinθiWherein theta isiThe central angle (clockwise is positive) corresponding to the ith jack.
The fourth calculation model is used for establishing an equation four according to the oil pressure proportional relation of each partition jack, and the equation four is as follows:
Figure BDA0002077872000000101
as shown in FIG. 3, the oil pressures of the jacks at the top, upper waist, lower waist and bottom are distributed in a trapezoidal shape in consideration of the soil pressure gradient, h in FIG. 3 represents the depth, P represents the oil pressure, and P is P of the oil pressureAFor oil pressure of jack with partitioned top part, PBFIs the average value of oil pressure of jacks in the left and right upper waist partsCEIs the average value of oil pressure of left and right lower lumbar partition jacks, PDFor the oil pressure of the jack partitioned at the bottom, the oil pressure distribution shows a gradual and increasing change from the top to the bottom, and thus equation four can be derived from the oil pressure distribution. When the oil pressure distribution is calculated by using the equation four, the trapezoidal distribution of oil pressure can be met, the soil pressure gradient is met, and the calculated oil pressure set value of each partition jack can meet the requirement that the soil body with the notch elevation meets the gradient characteristic.
And the correction oil pressure setting unit is used for calculating a plane moment and an elevation moment according to the correction moment of the current ring and performing iterative solution on the first calculation model to the fourth calculation model to obtain the correction setting oil pressure of each subarea. Specifically, the deviation-correcting oil pressure calculation module in the deviation-correcting oil pressure setting unit converts the relation between the plane moment and the elevation moment and the resultant moment according to a plane moment calculation formula, an elevation moment calculation formula and a resultant moment calculation formula, and because the central angles of the jacks are known, the jacks are usually uniformly distributed along the cross section of the shield tunneling machine, the central angles of the jacks can be calculated according to the number of the jacks, so that the plane moment and the elevation moment can be solved according to the known deviation-correcting moment of the current ring. The correction oil pressure calculation module reads four equations from the first calculation model to the fourth calculation model, wherein the four equations have two equations, namely 5 equations and 6 unknowns, and the correction oil pressure calculation module utilizes iterative solution to set a numerical value for one of the unknowns so as to solve other values. Preferably, the unknown value is selected according to the corresponding actual oil pressure. When the self-adaptive adjusting module feeds back an actual oil pressure as a fixed value, the deviation rectifying calculation module takes the fixed value as the deviation rectifying set oil pressure of the corresponding partition jack and calculates the deviation rectifying set oil pressures of other partition jacks.
As another preferred embodiment of the present invention, the adaptive control system of the present invention further includes a control unit connected to the deviation-correcting oil pressure setting unit, for controlling the oil pressure of the jack of each section by using the deviation-correcting output oil pressure of each section.
The corrective moment of the current ring in the adaptive control system of the present invention can be manually input and also can be sent by other systems or modules.
In a preferred embodiment, a correction torque prediction subsystem provides correction torque for the adaptive control system, and comprises a real-time acquisition unit, a self-learning unit and a prediction unit, wherein the real-time acquisition unit is connected with the self-learning unit, and the self-learning unit is connected with the prediction unit; the real-time acquisition unit is used for acquiring an actual moment value of a jack and an actual stroke difference angle value of the jack in real time in the shield tunneling construction process; the self-learning unit reads the actual moment value and the actual stroke difference angle value of the jack acquired by the real-time acquisition unit, and the corresponding relational expression of the deviation correcting moment of the jack and the stroke difference angle of the jack is solved by using the actual moment value and the actual stroke difference angle value of the jack acquired in real time; the prediction unit is used for receiving an input jack stroke difference angle prediction value of the current ring, substituting the jack stroke difference angle prediction value into a relational expression of the jack deviation correction moment and the jack stroke difference angle, and obtaining a corresponding jack deviation correction moment value as the jack deviation correction moment prediction value of the current ring. And the predicted value of the jack deviation-rectifying moment of the current ring is sent to the self-adaptive control system to be used as the deviation-rectifying moment of the current ring.
Further, the real-time acquisition unit comprises a stroke difference angle calculation module; the stroke difference angle calculation module calculates the actual stroke difference angle of the jack by the following steps:
the first step is as follows: calculating the space coordinate (x) of the position of the stroke sensor of each jacki,yi,zi)：
xi＝li
yi＝Rsinθi
zi＝Rcosθi
Wherein: liIs the length of the jack stroke sensor, θiThe circle angle corresponding to the circle where the jack is located, i is the serial number of the jack, and R is the radius of the circle where the jack is located;
the second step is that: solving the following equation of once-in-three:
Figure BDA0002077872000000111
wherein,
Figure BDA0002077872000000112
a12＝a21＝∑xiyi,a13＝a31＝∑xizi,a32＝a23＝∑ziyi,
c1＝∑xi,c2＝∑yi,c3＝∑zi,
get it solved
Figure BDA0002077872000000121
Figure BDA0002077872000000122
Figure BDA0002077872000000123
The third step: calculating an included angle between the projection of the jack and a coordinate axis:
Figure BDA0002077872000000124
wherein αyIs the travel difference angle in the plane direction, αzIs the elevation direction stroke difference angle.
The jack props between shield structure machine and section of jurisdiction, and the top of jack pushes away the shield structure machine and can promote forward movement, and under the design axis of tunnel construction for the curve or the two rings of front and back shield structure gesture takes place the circumstances that deflects, the stroke of the jack of left and right sides will be different to make the jack of two rings of ring pipe section rings have produced the stroke difference angle.
Preferably, the first acquisition module and the second acquisition module are connected with a PLC of the shield tunneling machine, and required construction data are directly read from the PLC of the shield tunneling machine. Or a distance sensor is arranged at each jack to measure the moving distance of each jack, so that the travel difference can be obtained; the diameter of the circumferential jacks between the jacks can be determined according to the size and model of the shield tunneling machine, and the diameter of the circumferential jacks between the jacks can be input into the second acquisition module in advance.
Furthermore, the real-time acquisition module also comprises a thrust acquisition module and a moment calculation module connected with the thrust acquisition module; the thrust acquisition module is used for acquiring the thrust value of each jack; the moment calculation module is used for calculating the moment value of each jack according to the thrust value of each jack and summing the moment values to obtain the actual moment value of each jack. Preferably, the thrust acquisition module is connected with the PLC of the shield tunneling machine and directly reads the inference value of each jack from the PLC of the shield tunneling machine; or a pressure sensor is arranged at each jack and used for detecting the jacking force of each jack in real time. When the moment calculation module calculates the moment value of each jack, the force arm of each jack needs to be known, the force arm of each jack can be known from the setting position of the jack, and the force arm can be input into the moment calculation module in advance.
The correction torque prediction subsystem further comprises a data table connected with the real-time acquisition unit and the self-learning unit, the data table is used for storing the actual moment value of the jack and the actual stroke difference angle value of the jack in pairs, and the real-time acquisition unit and the self-learning unit store and read data in the data table according to a first-in first-out rule. The real-time acquisition unit acquires the nearest actual construction data according to the set number of sampling rings, namely the actual moment value of the jack and the actual stroke difference angle value of the jack, preferably, the number of the sampling rings is set to 3 rings, namely, the construction data of the constructed three-ring pipe piece nearest to the current construction pipe piece ring is acquired, so that the total data volume of the acquired data can be obtained according to the period of real-time sampling, and the storage volume of the data table is established according to the total data volume.
The self-learning unit comprises a first calculation module connected with the data table and a second calculation module connected with the first calculation module, wherein the first calculation module reads the actual moment value and the actual stroke difference angle value of the jack from the data table and substitutes the actual moment value and the actual stroke difference angle value into a formula II to solve a0And a1The value of (d), formula two is:
Figure BDA0002077872000000131
in the formula II, yiIs the actual moment value of the jack, n is the number of sampling rings, xiThe value of (A) is the actual stroke difference angle value of the jack; the first calculation module calculates a0And a1Sending the value of (a) to a second calculation module;
the second calculation module receives a solved by the first calculation module0And a1Substituting the value into the formula I to obtain a relation table of the deviation correcting moment of the jack and the stroke difference angle of the jackThe expression, formula one is:
yj＝a0+a1xiis like
In the formula I, yjCorrecting the moment for the jack; x is the number ofiIs the travel difference angle of the jack. As shown in fig. 5, a regression diagram of the expression is shown, where the x-axis in fig. 5 represents the actual jack stroke difference angle value and the y-axis represents the actual jack torque value.
The self-learning unit converts the non-linear relationship between the actual moment value of the jack and the actual stroke difference angle value of the jack into an approximate broken line linear relationship in a segmented region by a piecewise function method, and when the relationship between the actual moment value of the jack and the actual stroke difference angle value of the jack is researched, the actual moment value of the jack and the actual stroke difference angle value of the jack are paired, and the actual moment value of the jack and the actual stroke difference angle value of the jack are determined as a small-square-difference relationship (∑) by taking the least square-difference relationship between the actual moment value of the jack and the actual stroke difference angle value of the jack as a series of corrected moment values, and then determining the correction moment value of the jack by using the least square-difference method, wherein as shown in FIG. 6, the x axis represents the actual stroke difference angle value of the jack, the y axis represents the actual moment value of the jack, the curve e represents the elevation component of the actual moment of the jack, and the curve P represents the plane component of the actual moment of the jacki-yj)2Minimum criterion, function ∑ (y)i-yj)2To a0And a1And calculating a derivative, and if the partial derivative is zero, obtaining a second formula, so that a relational expression of the jack deviation-correcting moment corresponding to the current ring and the jack stroke difference angle can be calculated according to the data in the data table, wherein the relational expression is suitable for calculating the jack deviation-correcting moment of the current ring.
Further onIn the shield tunneling construction process, the self-learning unit continuously solves the problem a by utilizing the real moment value of the jack and the real stroke difference angle value of the jack which are acquired in real time0And a1And updating the relational expression of the deviation correcting moment of the jack and the stroke difference angle of the jack. Taking the sampling ring number as 3 rings as an example for explanation, when the deviation correcting moment of the jack of the current ring is predicted, the data of the front 3 rings adjacent to the current ring is known, and the corresponding a is solved by using the known actual moment value of the jack of the front 3 rings and the actual stroke difference angle value of the jack0And a1And then updating the relational expression of the jack deviation correcting moment and the jack stroke difference angle, and obtaining the predicted value of the jack deviation correcting moment by using the updated relational expression.
The jack stroke difference angle predicted value of the current ring received by the prediction unit can be manually input and can also be provided through other systems or modules.
In a preferred embodiment, the predicted jack stroke difference angle value inputted by manual input or other systems or modules can be calculated as follows: and if the design axis of the shield is a curve, the predicted value of the jack stroke difference angle of the current ring is the shield attitude corner change value plus the corner change value of the design axis. As shown in fig. 7, the curve DTA is a design axis, and in the example shown in fig. 7, the predicted value of the jack stroke difference angle of the current ring is the shield attitude rotation angle variation value plus the rotation angle variation value of the design axis. In fig. 7, a point Ci-1 is a position point where the center of the cut of the i-1 th annular duct piece is located on the design axis DTA, and a point Ti-1 is a position point where the center of the shield tail of the i-1 th annular duct piece is located on the design axis DTA, so that a connecting line of the point Ci-1 and the point Ti-1 represents a shield axis a1 when the cut and the shield tail of the shield machine at the stroke corresponding to the i-1 th annular duct piece are both located on the curve DTA; the point Ci is a position point of the center of the cut of the ith annular duct piece on the curve DTA, and the point Ti is a position point of the center of the shield tail of the ith annular duct piece on the curve DTA, so that a connecting line of the point Ci and the point Ti represents a shield axis A2 when the cut and the shield tail of the shield machine at the stroke corresponding to the ith annular duct piece are both positioned on the curve DTA; an included angle d theta 0 between the shield axis A1 and the shield axis A2 is a rotation angle change value of a design axis corresponding to the ith ring pipe piece; the point dCi-1 is the position point of the notch center when the segment axis center of the (i-1) th ring segment is positioned on the curve DTA, the point dTi-1 is the position point of the shield tail center when the segment axis center of the (i-1) th ring segment is positioned on the curve DTA, and the connecting line of the point dCi-1 and the point dTi-1 represents the shield axis A3 when the segment axis center at the corresponding (i-1) th ring segment stroke is positioned on the curve DTA; the point dCi is the position point of the notch center when the segment axis center of the ith ring segment is positioned on the design axis DTA, the point dTi is the position point of the shield tail port center when the segment axis center of the ith ring segment is positioned on the design axis DTA, and the connecting line of the point dCi and the point dTi represents the shield axis A4 when the segment axis center corresponding to the ith ring segment stroke is positioned on the curve DTA; the included angle d theta 1 between the shield axis A1 and the shield axis A2 is the shield attitude rotation angle change value. The curve DTA is a design axis of the shield, coordinate values of all position points on the curve DTA are known, so that the included angles d theta 0 and d theta 1 can be calculated, and the two included angles are added to obtain the predicted value of the jack stroke difference angle of the current ring.
In another preferred embodiment, the prediction unit is connected to a current ring jack forming difference angle prediction subsystem, and the current ring jack forming difference angle prediction subsystem is used for outputting a current ring jack forming difference angle prediction value to the prediction unit. The jack forming difference angle prediction subsystem of the current ring comprises a training data acquisition unit, a model training unit, a prediction data acquisition unit and a target prediction execution unit, wherein the training data acquisition unit is connected with the model training unit; the target prediction execution unit is connected with the model training unit and the prediction data acquisition unit; the system comprises a training data acquisition unit, a data processing unit and a data processing unit, wherein the training data acquisition unit is used for acquiring a first training data set and a second training data set, and the first training data set comprises relative deviation information of a shield machine corresponding to a current pipe segment ring and a jack stroke difference angle of a previous pipe segment ring; the second training data set comprises a jack stroke difference angle corresponding to the current pipe sheet ring; the first training data set and the second training data set may establish a correspondence through the same segment rings. The model training unit is used for establishing a neural network deviation-rectifying prediction model of the first training data set and the second training data set by utilizing a neural network model; the prediction data acquisition unit is used for acquiring relative deviation information corresponding to the current pipe sheet ring and a jack stroke difference angle of the previous pipe sheet ring as prediction input data in the shield construction process; and the target prediction execution unit receives the prediction input data of the prediction data acquisition unit, inputs the prediction input data into the neural network deviation correction prediction model, and further acquires a jack stroke difference angle output by the neural network deviation correction prediction model as a difference angle prediction value formed by the current segment ring jack.
Specifically, the training data acquisition unit comprises a parameter input module, a chord height calculation module and a calculation processing module; preferably, the system for predicting the difference angle formed by the jacks of the current ring comprises a storage unit, and the construction parameters of the tunneling construction of the shield tunneling machine and/or the construction parameters of the existing tunnel are stored in the storage unit; the parameter input module, the deviation-rectifying distance calculation module and the calculation processing module are all connected with the storage unit and can read the construction parameters stored in the storage unit. The parameter input module is used for inputting a design axis of tunnel construction, real-time deviation information of the shield machine in the tunnel construction process and the current stroke of the shield machine; the chord height calculation module is used for taking the position of the axis center of the assembled duct piece as a deviation correction axial reference position point when the notch center and the shield tail center of the shield tunneling machine are both positioned on the design axis according to the current stroke of the shield tunneling machine, and calculating the chord height of the reference position point from the design axis; the calculation processing module is used for setting a corresponding proportional coefficient according to the size of the shield machine, converting the chord height into a steady-state target offset value of the shield machine according to the proportional coefficient, and calculating to obtain relative deviation information of the shield machine according to the steady-state target offset value and the real-time deviation information. Therefore, the chord height calculation module and the calculation processing module feed back the chord height of the shield machine and the steady-state target offset value of the shield machine to the training data acquisition unit, and the training data acquisition unit stores the relative deviation information of the chord height of the shield machine and the shield machine according to the corresponding segment ring.
Preferably, the chord height calculated by the chord height calculating module includes a plane chord height and an elevation chord height, and the chord height meter is shown in fig. 8 and 9The calculation module searches out corresponding design coordinate values of the notch center and the shield tail center of the shield tunneling machine on a design axis according to the current stroke of the shield tunneling machine; in fig. 8, a coordinate diagram in a plane defined by the X axis and the Y axis in the geodetic coordinate system is shown, a curve DTA is a design axis of tunnel construction, a point C is a notch center of the shield machine, a point T is a shield tail center of the shield machine, the point C and the point T are both located on the curve DTA, a connection line of the point C and the point T is a shield axis, which also represents a shield posture, the current stroke of the shield machine is obtained according to the parameter input unit, so that the current segment ring number, the notch and mileage of the shield machine, and then the corresponding design coordinate values when the notch center and the shield tail center are both on the design axis are found out, and the coordinate (X-coordinate) of the point C (X-coordinate) is obtainedc,yc,zc) And coordinates (x) of point Tt,yt,zt). The searching module is also used for correspondingly calculating the coordinate value (x) of the reference position point M1,y1,z1) And the reference position point M is the axial center of the assembled duct piece corresponding to the shield axial line.
The chord height calculation module calculates the chord height of the projection point of the reference position point from the design axis as the plane chord height in a plane defined by an X axis and a Y axis in a geodetic coordinate system of tunnel construction according to the coordinate value of the reference position point, the notch center of the shield machine and the design coordinate value of the shield center; the plane chord height is the distance from the point M to the point P in fig. 8, where the point P is the intersection point of the straight line passing through the point M and perpendicular to the straight line formed by the point C and the point T and the design axis, and the point P indicates that the axis center of the segment to be assembled falls on the design axis, specifically, the calculation formula is as follows:
Figure BDA0002077872000000161
ph＝(y1-yt)cosα-(x1-xt)sinα
in the above formula, ph is the plane deviation rectifying distance, and α is the included angle between the straight line formed by the point C and the point T and the X axis.
The chord height calculation module further calculates the chord height of the projection point of the reference position point from the design axis in the Z-axis direction as the elevation chord height in a plane defined by an X axis and a Z axis in a geodetic coordinate system of tunnel construction according to the coordinate value of the reference position point, the notch center of the shield machine and the design coordinate value of the shield center. Referring to fig. 9, the elevation chord height is the distance from the point M to the point P in the vertical direction, that is, the Z-axis direction, and specifically, the calculation formula is as follows:
Figure BDA0002077872000000162
in the above formula, eh is the height chord height. The coordinate value in the formula is known, so the elevation chord height calculation module can calculate the elevation chord height eh.
The chord height calculated by the chord height calculation module comprises an elevation chord height and a plane chord height, wherein the elevation chord height represents the deviation of the shield machine in the height direction (namely the Z-axis direction) in actual construction, and the plane chord height represents the deviation of the shield machine in the plane (namely the X-axis direction and the Y-axis direction) in actual construction.
And the calculation processing module substitutes the proportionality coefficient, the plane chord height, the elevation chord height and the size of the shield machine into the formula group I and the formula group II to calculate the plane offset value and the elevation offset value of the shield machine notch and the plane offset value and the elevation offset value of the shield tail of the shield machine. The first formula group is:
Figure BDA0002077872000000171
in the first formula group, dpcut is a plane offset value of a shield machine notch, decut is an elevation offset value of the shield machine notch, k is a proportionality coefficient, ph is a plane chord height, and eh is an elevation chord height;
the formula set two is:
Figure BDA0002077872000000172
in the second formula group, dptail is the plane offset value of the shield tail of the shield machine, and detail is the height of the shield tail of the shield machineThe range offset value, k is a proportionality coefficient, ph is a plane chord height, eh is an elevation chord height, L is the length of the shield tunneling machine, L0The distance between the axis center of the assembled duct piece and the center of the shield tail is the distance;
the shield machine size comprises the length of the shield machine and the distance between the axis center of the assembled duct piece and the center of the shield tail, the size information of the shield machine is input through a parameter input unit, a steady-state target offset conversion module of a processing unit reads the size of the shield machine input by the parameter input unit and substitutes the size into a formula group II to calculate the plane offset value and the elevation offset value of the shield tail.
After obtaining the plane offset value and the elevation offset value, the calculation processing module combines the real-time offset information of the shield tunneling machine to obtain the relative offset information of the shield tunneling machine, and concretely, sums the plane real-time offset value of the notch of the shield tunneling machine and the plane offset value of the notch of the shield tunneling machine to be used as the plane relative offset value of the notch of the shield tunneling machine; summing the real-time elevation deviation value of the shield machine notch and the elevation deviation value of the shield machine notch to obtain an elevation relative deviation value of the shield machine notch; summing the plane real-time deviation value of the shield tail of the shield machine with the plane offset value of the shield tail of the shield machine to obtain a plane relative deviation value of the shield tail of the shield machine; and summing the real-time elevation deviation value of the shield tail of the shield machine with the elevation deviation value of the shield tail of the shield machine to obtain the relative elevation deviation value of the shield tail of the shield machine.
The method for acquiring the stroke difference angle of the jack by the training data acquisition unit is the same as the method for acquiring the actual stroke difference angle value of the jack by the real-time acquisition unit in the invention. The description of the first acquisition module, the second acquisition module and the stroke difference angle calculation module of the real-time acquisition unit can be specifically referred to.
The model training unit takes the first training data set as input data of the neural network model and takes the second training data set as output data of the neural network model, and the neural network model is trained to obtain the neural network deviation rectification prediction model.
The method for acquiring the relative deviation information of the shield tunneling machine corresponding to the current ring segment and the jack stroke difference angle of the previous segment ring is the same as the method for acquiring the training data, and the description of the training data acquisition unit can be referred to specifically.
The self-adaptive control method for shield deviation rectifying oil pressure output of the invention is explained below.
The invention discloses a self-adaptive control method for shield deviation-rectifying oil pressure output, which comprises the following steps:
as shown in fig. 1, step S11 is performed: partitioning a jack on the shield tunneling machine to form a top partition, a bottom partition, a left upper waist partition, a left lower waist partition, a right upper waist partition and a right lower waist partition jack; then, step S12 is executed;
step S12 is executed: establishing a conversion model of the deviation rectifying torque and the deviation rectifying oil pressure of each partition jack according to the partition of the jack; then, step S13 is executed;
step S13 is executed: acquiring the actual oil pressure of each partition jack; then, step S14 is executed;
step S14 is executed: obtaining the deviation rectifying oil pressure of each partition jack corresponding to the deviation rectifying moment of the current ring through a conversion model to serve as deviation rectifying set oil pressure; then, step S15 is executed;
step S15 is executed: and carrying out self-adaptive treatment on the deviation-rectifying set oil pressure according to the obtained actual oil pressure of each partition jack to obtain and output the deviation-rectifying output oil pressure of each partition jack.
As shown in fig. 2, six regions are divided into a section of the shield tunneling machine in a clockwise direction, which are respectively a region a to a region F, and correspondingly, the region a is a top region, the region D is a bottom region, the region B is an upper right waist region, the region C is a lower right waist region, the region F is an upper left waist region, the region E is a lower left waist region, and the divided six regions are symmetrically distributed. When each zone is divided, the number of the jacks in the zone D is more than that of the jacks in the other zones so as to resist the larger soil pressure of the bottom zone and ensure that the shield tunneling machine keeps stable tunneling. Taking 19 sets of jacks as an example, the number of the jacks in the area D is 4, and the number of the jacks in the other areas is 3. In the propelling process of the shield machine, the PLC of the shield machine can record the oil pressure of the jack on the shield machine in real time, so that the step S13 can obtain the actual oil pressure of each partition jack from the PLC of the shield machine by connecting with the PLC of the shield machine; or pressure sensors are arranged at the jacks of each partition, and the oil pressure of each jack is detected in real time by using the pressure sensors.
The self-adaptive control method establishes a conversion model of the deviation-correcting torque and the deviation-correcting oil pressure of the jacks in each partition through the partition of the jacks, and the established conversion model can accurately realize the decoupling of the shield plane torque and the shield elevation torque and accurately meet the actual load characteristics of the incision elevation pressure gradient, thereby overcoming the accuracy which cannot be achieved by manual experience. Before deviation correction set oil pressure is output, the deviation correction set oil pressure is subjected to self-adaptive processing by using actual oil pressure, the effect of automatic adaptive matching of actual load and set oil pressure is realized, and the deviation correction risk caused by oil pressure setting errors caused by manual operation is reduced.
As a preferred embodiment of the present invention, step 15: according to the obtained actual oil pressure of each partition jack, self-adaptive processing is carried out on the deviation rectification set oil pressure so as to obtain the deviation rectification output oil pressure of each partition jack and output the deviation rectification output oil pressure, and the method comprises the following steps:
s151: calculating the difference value between the deviation correcting set oil pressure and the actual oil pressure of each partition jack, and obtaining the maximum difference value;
s152: judging whether the partition corresponding to the obtained maximum difference value is a top partition or a bottom partition,
if so, subtracting the maximum difference value from the deviation-correcting set oil pressure of the jacks in the top partition and the bottom partition to be used as deviation-correcting output oil pressure and outputting the deviation-correcting output oil pressure, and using the half of the deviation-correcting set oil pressure plus the maximum difference value of the jacks in the upper left waist partition, the lower left waist partition, the upper right waist partition and the lower right waist partition to be used as deviation-correcting output oil pressure and outputting the deviation-correcting output oil pressure;
if not, feeding back the actual oil pressure of the partition jack corresponding to the maximum difference value as a fixed value to the conversion model in step S14 to recalculate the deviation correction set oil pressure of each partition jack, and executing steps S151 to S152.
Further, the step of establishing a conversion model of the deviation rectifying torque and the deviation rectifying oil pressure of each partition jack comprises the following steps:
an equation of the deviation rectifying oil pressure and the deviation rectifying resultant force of each partition jack is established as an equation I, wherein the equation I is as follows:
Figure BDA0002077872000000191
in equation one, FCombination of Chinese herbsTo correct resultant forces, PASetting oil pressure for top zoned deviation correction, PDSetting oil pressure for bottom zoned deviation correction, PBFSetting a pressure equalization of oil pressure for the deviation correction of the upper right lumbar zone and the upper left lumbar zone, PBF＝(PB+PF)/2，PBSetting oil pressure, P, for deviation correction of upper right lumbar zoneFSetting oil pressure, P, for deviation correction of upper left lumbar zoneCESetting a pressure equalization of oil pressure for the deviation correction of the lower right lumbar zone and the lower left lumbar zone, PCE＝(PC+PE)/2，PCSetting oil pressure for deviation correction of right lower lumbar region, PESetting oil pressure for deviation correction of left lower waist distribution, n1The number of jacks in the other zones except the bottom zone, n2The number of jacks with partitioned bottoms, and S is the area of a piston of each jack; take 19 sets of jacks as an example, where n1Is 3, n2Is 4;
establishing an equation of the elevation moment and the deviation correcting oil pressure of each partition jack as an equation two, wherein the equation two is as follows:
Figure BDA0002077872000000201
in equation two, MzIs the elevation moment, R is the distance from the shield center to the jack center, theta1Is the angle between the centre line of the upper right waist section and the horizontal line, theta2Is the included angle between the central line of the right lower waist partition and the horizontal line; included angle theta1And theta2Please refer to fig. 4;
establishing an equation of the plane moment and the deviation correcting oil pressure of each partition jack as a third equation:
My＝n1SR[cosθ1(PB-PF)+cosθ2(PC-PE)]equation three
In equation III, MyIs a plane moment;
establishing an equation four according to the oil pressure proportional relation of each partition jack, wherein the equation four is as follows:
Figure BDA0002077872000000202
as shown in FIG. 3, the oil pressures of the jacks at the top, upper waist, lower waist and bottom are distributed in a trapezoidal shape in consideration of the soil pressure gradient, h in FIG. 3 represents the depth, P represents the oil pressure, and P is P of the oil pressureAFor oil pressure of jack with partitioned top part, PBFIs the average value of oil pressure of jacks in the left and right upper waist partsCEIs the average value of oil pressure of left and right lower lumbar partition jacks, PDFor the oil pressure of the jack partitioned at the bottom, the oil pressure distribution shows a gradual and increasing change from the top to the bottom, and thus equation four can be derived from the oil pressure distribution. When the oil pressure distribution is calculated by using the equation four, the trapezoidal distribution of oil pressure can be met, the soil pressure gradient is met, and the calculated oil pressure set value of each partition jack can meet the requirement that the soil body with the notch elevation meets the gradient characteristic.
And further, obtaining the deviation correcting oil pressure of each subarea corresponding to the deviation correcting moment of the current ring through the conversion model as the step of deviation correcting set oil pressure, wherein the step comprises the following steps of:
calculating a plane moment and an elevation moment according to the deviation correcting moment of the current ring;
and performing iterative solution on the equations I to IV to obtain the deviation correction set oil pressure of each subarea.
Specifically, the relation between the plane moment, the elevation moment and the resultant moment is converted according to a plane moment calculation formula, an elevation moment calculation formula and a resultant moment calculation formula, and the central angles of the jacks are known and are generally uniformly distributed along the cross section of the shield tunneling machine, so that the central angles of the jacks can be calculated according to the number of the jacks, and the plane moment and the elevation moment can be calculated according to the known correction moment of the current ring. The above four equations, four of which are two equations, i.e., 5 equations and 6 unknowns, are solved by iteration, and a value is set for one of the unknowns, thereby solving the other value. Preferably, the unknown value is selected according to the corresponding actual oil pressure. And when an actual oil pressure is fed back as a fixed value, taking the fixed value as the deviation correction set oil pressure of the corresponding partition jack, and calculating the deviation correction set oil pressures of other partition jacks.
As another preferred embodiment of the present invention, the present invention further comprises:
and controlling the oil pressure of the jacks of each subarea by using the deviation rectifying output oil pressure of each subarea.
The correction torque of the current ring in the self-adaptive control method can be manually input and can also be sent by other systems or modules.
In a preferred embodiment of the present invention,
in another preferred embodiment, the method for predicting the shield deviation rectifying moment comprises the steps of acquiring an actual moment value of a jack and an actual stroke difference angle value of the jack in real time in the shield tunneling construction process; solving a corresponding relational expression of the jack deviation correcting moment and the jack stroke difference angle by using the real-time acquired jack actual moment value and the real jack stroke difference angle value; and acquiring a jack stroke difference angle predicted value of the current ring, substituting the jack stroke difference angle predicted value into a relational expression of the jack deviation-rectifying torque and the jack stroke difference angle, and obtaining a corresponding jack deviation-rectifying torque value as the jack deviation-rectifying torque predicted value of the current ring. The method comprises the following steps of solving a corresponding relational expression of the deviation correcting moment of the jack and the stroke difference angle of the jack by utilizing the real moment value of the jack and the real stroke difference angle of the jack which are obtained in real time, wherein the method comprises the following steps: setting the number of sampling loops, and establishing a corresponding data table according to the data quantity of the set number of sampling loops; the real moment value of the jack and the real stroke difference angle value of the jack which are obtained in real time are stored in a data table in pairs, and data in the data table are stored and read according to a first-in first-out rule; fitting the deviation correcting moment of the jack and the stroke difference angle of the jack into a linear relation to obtain the following expression:
yj＝a0+a1xiis like
In the formula I, yjCorrecting the moment for the jack; x is the number ofiThe stroke difference angle of the jack is used; a is0And a1Is a parameter to be determined;
∑ (y) is the square sum of the difference between the actual moment value of the jack and the correction moment of the jacki-yj)2Minimum criterion, function ∑ (y)i-yj)2To a0And a1Taking the derivative and making the partial derivative zero, we get:
Figure BDA0002077872000000221
in the formula II, yiIs the actual moment value of the jack, n is the number of sampling rings, xiThe value of (A) is the actual stroke difference angle value of the jack;
the actual moment value of the jack and the travel difference angle value of the jack stored in the data table are substituted into the second formula to solve the problem that a is generated0And a1A value of (d); will solve a0And a1Substituting the value into the formula I to obtain a relational expression of the deviation correcting moment of the jack and the stroke difference angle of the jack.
Specifically, the prediction method of the shield deviation-correcting moment is the same as the calculation method of the deviation-correcting moment prediction subsystem, so the description of the deviation-correcting moment prediction subsystem can be referred to for the calculation method and the principle, and the description is omitted here.
While the present invention has been described in detail and with reference to the embodiments thereof as illustrated in the accompanying drawings, it will be apparent to one skilled in the art that various changes and modifications can be made therein. Therefore, certain details of the embodiments are not to be interpreted as limiting, and the scope of the invention is to be determined by the appended claims.

Claims (8)

1. A self-adaptive control method for shield deviation rectifying oil pressure output is characterized by comprising the following steps:
s11: partitioning a jack on the shield tunneling machine to form a top partition, a bottom partition, a left upper waist partition, a left lower waist partition, a right upper waist partition and a right lower waist partition jack;
s12: establishing a conversion model of the deviation rectifying torque and the deviation rectifying oil pressure of each partition jack according to the partition of the jack;
s13: acquiring the actual oil pressure of each partition jack;
s14: acquiring the deviation rectifying oil pressure of each partition jack corresponding to the deviation rectifying moment of the current ring through the conversion model to serve as deviation rectifying set oil pressure; and
s15: performing self-adaptive processing on the deviation correcting set oil pressure according to the obtained actual oil pressure of each partition jack to obtain and output deviation correcting output oil pressure of each partition jack;
the method comprises the following steps of establishing a conversion model of the deviation rectifying torque and the deviation rectifying oil pressure of each partition jack, wherein the conversion model comprises the following steps:
establishing an equation of the deviation rectifying oil pressure and the deviation rectifying resultant force of each partition jack as a first equation:
Figure FDA0002448485670000011
in equation one, FCombination of Chinese herbsTo correct resultant forces, PASetting oil pressure for top zoned deviation correction, PDSetting oil pressure for bottom zoned deviation correction, PBFSetting a pressure equalization of oil pressure for the deviation correction of the upper right lumbar zone and the upper left lumbar zone, PBF＝(PB+PF)/2，PBSetting oil pressure, P, for deviation correction of upper right lumbar zoneFSetting oil pressure, P, for deviation correction of upper left lumbar zoneCESetting a pressure equalization of oil pressure for the deviation correction of the lower right lumbar zone and the lower left lumbar zone, PCE＝(PC+PE)/2，PCSetting oil pressure for deviation correction of right lower lumbar region, PESetting oil pressure for deviation correction of left lower waist distribution, n1The number of jacks in the other zones except the bottom zone, n2The number of jacks with partitioned bottoms, and S is the area of a piston of each jack;
establishing an equation of the elevation moment and the deviation correcting oil pressure of each partition jack as a second equation, wherein the second equation is as follows:
Figure FDA0002448485670000012
in equation two, MzIs the elevation moment, R is the distance from the shield center to the jack center, theta1Is the angle between the centre line of the upper right waist section and the horizontal line, theta2Is the included angle between the central line of the right lower waist partition and the horizontal line;
establishing an equation of the plane moment and the deviation correcting oil pressure of each partition jack as a third equation, wherein the third equation is as follows:
My＝n1SR[cosθ1(PB-PF)+cosθ2(PC-PE)]equation three
In equation III, MyIs a plane moment;
establishing a fourth equation according to the oil pressure proportional relation of each partition jack, wherein the fourth equation is as follows:
Figure FDA0002448485670000021
2. the adaptive control method for shield deviation-rectifying oil pressure output according to claim 1, characterized by the step 15: according to the obtained actual oil pressure of each partition jack, the deviation rectification set oil pressure is subjected to self-adaptive processing to obtain deviation rectification output oil pressure of each partition jack and output the deviation rectification output oil pressure, and the method comprises the following steps:
s151: calculating the difference value between the deviation correcting set oil pressure and the actual oil pressure of each partition jack, and obtaining the maximum difference value;
s152: judging whether the partition corresponding to the obtained maximum difference value is a top partition or a bottom partition,
if so, subtracting the maximum difference value from the deviation-correcting set oil pressure of the jacks in the top partition and the bottom partition to be used as deviation-correcting output oil pressure and outputting the deviation-correcting output oil pressure, and using the half of the deviation-correcting set oil pressure plus the maximum difference value of the jacks in the upper left waist partition, the lower left waist partition, the upper right waist partition and the lower right waist partition to be used as deviation-correcting output oil pressure and outputting the deviation-correcting output oil pressure;
if not, feeding back the actual oil pressure of the partition jack corresponding to the maximum difference value as a fixed value to the conversion model in step S14 to recalculate the deviation correction set oil pressure of each partition jack, and executing steps S151 to S152.
3. The adaptive control method for shield deviation correcting oil pressure output according to claim 1, wherein the step of obtaining the deviation correcting oil pressure of each segment corresponding to the deviation correcting torque of the current ring as the deviation correcting set oil pressure by the conversion model comprises:
calculating a plane moment and an elevation moment according to the deviation correcting moment of the current ring;
and performing iterative solution on the equations I to IV to obtain the deviation correction set oil pressure of each subarea.
4. The adaptive control method for shield deviation-rectifying oil pressure output according to claim 1, further comprising:
and controlling the oil pressure of the jacks of each subarea by using the deviation rectifying output oil pressure of each subarea.
5. The utility model provides a shield constructs adaptive control system of oil pressure output of rectifying, its characterized in that includes:
the model building unit is used for partitioning the jack on the shield tunneling machine to form a top partition, a bottom partition, a left upper waist partition, a left lower waist partition, a right upper waist partition and a right lower waist partition; the system is also used for establishing a conversion model of the deviation rectifying torque and the deviation rectifying oil pressure of each partition jack according to the partition of the jack;
the oil pressure acquisition unit is used for acquiring the actual oil pressure of each partition jack; and
the correction oil pressure setting unit is connected with the model establishing unit and the oil pressure collecting unit and used for acquiring correction oil pressure of each partition jack corresponding to the correction moment of the current ring as correction setting oil pressure through the conversion model; the system is also used for carrying out self-adaptive treatment on the deviation-rectifying set oil pressure according to the actual oil pressure of each partition jack so as to obtain and output the deviation-rectifying output oil pressure of each partition jack;
the model establishing unit comprises a first calculation model, a second calculation model, a third calculation model and a fourth calculation model;
the first calculation model is used for establishing an equation of the deviation rectifying oil pressure and the deviation rectifying resultant force of each partition jack as a first equation:
Figure FDA0002448485670000031
in equation one, FCombination of Chinese herbsTo correct resultant forces, PASetting oil pressure for top zoned deviation correction, PDSetting oil pressure for bottom zoned deviation correction, PBFSetting a pressure equalization of oil pressure for the deviation correction of the upper right lumbar zone and the upper left lumbar zone, PBF＝(PB+PF)/2，PBSetting oil pressure, P, for deviation correction of upper right lumbar zoneFSetting oil pressure, P, for deviation correction of upper left lumbar zoneCESetting a pressure equalization of oil pressure for the deviation correction of the lower right lumbar zone and the lower left lumbar zone, PCE＝(PC+PE)/2，PCSetting oil pressure for deviation correction of right lower lumbar region, PESetting oil pressure for deviation correction of left lower waist distribution, n1The number of jacks in the other zones except the bottom zone, n2The number of jacks with partitioned bottoms, and S is the area of a piston of each jack;
the second calculation model is used for establishing an equation of the elevation moment and the deviation correcting oil pressure of each partition jack as an equation two, and the equation two is as follows:
Figure FDA0002448485670000032
in equation two, MzIs the elevation moment, R is the distance from the shield center to the jack center, theta1Is the angle between the centre line of the upper right waist section and the horizontal line, theta2Is the included angle between the central line of the right lower waist partition and the horizontal line;
the third calculation model is used for establishing an equation of the plane moment and the deviation correcting oil pressure of each partition jack as a third equation:
My＝n1SR[cosθ1(PB-PF)+cosθ2(PC-PE)]equation three
In equation III, MyIs a plane moment;
the fourth calculation model is used for establishing an equation four according to the oil pressure proportional relation of each partition jack, wherein the equation four is as follows:
Figure FDA0002448485670000041
6. the adaptive control system for shield deviation oil pressure output according to claim 5, wherein the deviation oil pressure setting unit comprises a deviation oil pressure calculation module connected to the model building unit, a difference calculation module connected to the deviation oil pressure calculation module and the oil pressure collection unit, a judgment module connected to the difference calculation module, and an adaptive adjustment module connected to the judgment module;
the correction oil pressure calculation module is used for acquiring the correction oil pressure of each partition jack corresponding to the correction torque of the current ring as the correction set oil pressure through the conversion model;
the difference value calculation module is used for obtaining and calculating the difference value between the deviation correction set oil pressure and the actual oil pressure of each partition jack;
the judgment module is used for finding out the maximum difference value from the difference values calculated by the difference value calculation module and judging whether the partition corresponding to the maximum difference value is a top partition or a bottom partition;
when the judgment result of the judgment module is yes, the self-adaptive adjustment module subtracts the maximum difference value from the deviation correcting set oil pressure of the jacks at the top partition and the bottom partition to obtain deviation correcting output oil pressure and outputs the deviation correcting output oil pressure, and uses the half of the deviation correcting set oil pressure of the jacks at the upper left waist partition, the lower left waist partition, the upper right waist partition and the lower right waist partition to obtain deviation correcting output oil pressure and outputs the deviation correcting output oil pressure; and when the judgment structure of the judgment module is negative, feeding back the actual oil pressure of the partition jack corresponding to the maximum difference value as a fixed value to the deviation-rectifying oil pressure calculation module so as to recalculate the deviation-rectifying set oil pressure of each partition jack.
7. The adaptive control system for shield deviation-correcting oil pressure output according to claim 5, wherein the deviation-correcting oil pressure setting unit is configured to calculate a plane moment and an elevation moment according to the deviation-correcting moment of the current ring, and perform iterative solution on the first calculation model to the fourth calculation model to obtain the deviation-correcting setting oil pressure of each partition.
8. The adaptive control system for shield deflection correction oil pressure output of claim 5, further comprising a control unit connected to the deflection correction oil pressure setting unit for controlling the oil pressure of the jacks of each segment using the deflection correction output oil pressure of each segment.
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