阅读说明：本技术 盾构机相对于隧道轴线的姿态自动修正系统及方法 (System and method for automatically correcting attitude of shield tunneling machine relative to tunnel axis ) 是由 秦元 朱叶艇 朱雁飞 龚卫 程瀛 黄圣 翟一欣 沈辉 袁鹏 张艳栋 于 2021-07-19 设计创作，主要内容包括：本发明的盾构机相对于隧道轴线的姿态自动修正系统及方法,该系统包括：第一采集模块、角度纠偏模块、第二采集模块和推力纠偏模块,该推力纠偏模块包括用于将该实际总推力的实际水平总分力和实际竖直总分力分别与相应预设的目标水平总分力和目标竖直总分力进行比较并得到该实际总推力的修正量的推力修正单元；用于根据该修正量修正当前相应该实际总推力并控制盾构机进行推进的推进控制单元。本发明解决了现有技术中在盾构机难以准确地修正盾构机姿态的技术问题,并高效的对盾构机的姿态进行自动地修正,对整个盾构机机头的掘进角度做精密的控制,对盾构机推进油缸出力大小精准控制,从而使盾构机的姿态精准可控。(The invention relates to a system and a method for automatically correcting the posture of a shield tunneling machine relative to a tunnel axis, wherein the system comprises: the thrust deviation rectifying module comprises a thrust correcting unit which is used for comparing the actual horizontal total component force and the actual vertical total component force of the actual total thrust with corresponding preset target horizontal total component force and target vertical total component force respectively and obtaining the correction quantity of the actual total thrust; and the propulsion control unit is used for correcting the current corresponding actual total thrust according to the correction amount and controlling the shield tunneling machine to carry out propulsion. The invention solves the technical problem that the shield machine posture is difficult to accurately correct in the prior art, automatically corrects the posture of the shield machine with high efficiency, precisely controls the tunneling angle of the whole shield machine head, and precisely controls the output force of the thrust oil cylinder of the shield machine, thereby accurately controlling the posture of the shield machine.)

1. An automatic attitude correction system for a shield tunneling machine relative to a tunnel axis, comprising:

the first acquisition module is used for acquiring the position of the shield tunneling machine and the position of the tunnel axis in real time;

the angle module of rectifying includes: a deviation angle calculation unit for determining a horizontal deviation angle and a vertical deviation angle of the shield machine axis deviating from the tunnel axis position according to the shield machine position and the tunnel axis position; the angle deviation rectifying control unit is used for controlling the shield tunneling machine to execute horizontal direction deflection according to the horizontal deviation angle and execute vertical direction deflection according to the vertical deviation angle;

the second acquisition module is used for acquiring the actual total thrust of the shield tunneling machine in real time;

thrust deviation rectifying module includes: the thrust correction unit is used for comparing the actual horizontal total component force and the actual vertical total component force of the actual total thrust with corresponding preset target horizontal total component force and target vertical total component force respectively and obtaining the correction amount of the actual total thrust; and the propulsion control unit is used for correcting the current corresponding actual total thrust according to the correction amount and controlling the shield tunneling machine to carry out propulsion.

2. The system according to claim 1, further comprising an adaptive control module, configured to collect data information of the first acquisition module and the second acquisition module, predict an actual propulsion attitude of the shield machine according to the data information, and form an adjustment strategy for the horizontal deviation angle, the vertical deviation angle, and the correction amount, where the adaptive control module establishes data connections with the first acquisition module, the deviation angle calculation unit, and the thrust correction unit, respectively.

3. The system of claim 1 for automatically correcting the attitude of the shield machine relative to the tunnel axis, wherein:

the shield machine is provided with a plurality of oil cylinders for realizing the propulsion of the shield machine;

the second acquisition module comprises: a plurality of collecting units which correspondingly collect the actual thrust of the plurality of oil cylinders one by one; the merging calculation unit is used for merging the actual thrust of the oil cylinders into the actual total thrust;

the propulsion control unit includes: the difference calculation unit is used for dividing the correction quantity into a plurality of sub-correction quantities according to the position of each oil cylinder; and the oil cylinder control unit is used for controlling the oil cylinders to propel according to the sub-correction quantities in a one-to-one correspondence manner.

4. A method for automatically correcting the attitude of a shield tunneling machine relative to a tunnel axis is characterized by comprising the following steps:

s1: acquiring the position of a shield machine and the position of a tunnel axis in real time, and confirming the horizontal deviation angle and the vertical deviation angle of the axis of the shield machine deviating from the position of the tunnel axis;

s2: the real-time control shield machine executes horizontal deflection according to the current horizontal deviation angle and executes vertical deflection according to the current vertical deviation angle;

s3: acquiring actual total thrust of the shield tunneling machine in real time, and comparing actual horizontal total component force and actual vertical total component force of the actual total thrust with corresponding preset target horizontal total component force and target vertical total component force respectively to obtain correction quantity of the actual total thrust;

s4: and the real-time control shield machine corrects the current actual total thrust according to the current correction amount and controls the shield machine to carry out propulsion.

5. The method for automatically correcting the attitude of the shield tunneling machine relative to the tunnel axis according to claim 4, wherein:

the shield machine is provided with a plurality of oil cylinders for realizing the propulsion of the shield machine;

when step S3 is performed, the actual thrusts of the multiple oil cylinders are respectively collected in real time, and the actual thrusts of the multiple oil cylinders are combined to obtain the actual total thrust;

in step S4, the obtained correction amount is divided into a plurality of partial correction amounts according to the position of each cylinder, and the plurality of cylinders are controlled to advance in a one-to-one correspondence to the plurality of partial correction amounts.

6. The method of claim 4, wherein steps S3 and S4 are performed simultaneously with steps S1 and S2.

Technical Field

The invention relates to the field of shield construction engineering, in particular to a system and a method for automatically correcting the posture of a shield machine relative to a tunnel axis.

Background

The product of the shield machine construction is a tunnel, the axis control of the tunnel is an important index for measuring the tunnel quality, when one shield machine is not provided with a hinged system, in order to control the tunneling axis of the shield machine, the prior art mainly controls the pressure of a thrust oil cylinder during propulsion and adjusts the propulsion speed of the thrust oil cylinder, thereby achieving the aim of adjusting the posture of the whole shield machine. When the shield machine has deviation of the tunneling axis or has a trend of deviation of the tunneling axis, the oil pressure of each partition of the propulsion system needs to be adjusted, so that the posture of the shield machine nose reaches a required state, and the aim of steering the posture of the shield machine is fulfilled. In the prior art, a shield driver is used for adjusting pressure reducing valves of partitions of the shield machine, so that the thrust of each thrust cylinder in the shield machine is adjusted to achieve the purpose of correcting the posture of the shield machine.

Disclosure of Invention

The invention provides a system and a method for automatically correcting the posture of a shield machine relative to a tunnel axis, which solve the technical problem that the posture of the shield machine is difficult to accurately correct in the prior art.

The invention relates to an automatic posture correction system of a shield tunneling machine relative to a tunnel axis, which comprises:

the first acquisition module is used for acquiring the position of the shield tunneling machine and the position of the tunnel axis in real time;

the angle module of rectifying includes: a deviation angle calculation unit for determining a horizontal deviation angle and a vertical deviation angle of the shield machine axis deviating from the tunnel axis position according to the shield machine position and the tunnel axis position; the angle deviation rectifying control unit is used for controlling the shield tunneling machine to execute horizontal direction deflection according to the horizontal deviation angle and execute vertical direction deflection according to the vertical deviation angle;

the second acquisition module is used for acquiring the actual total thrust of the shield tunneling machine in real time;

thrust deviation rectifying module includes: the thrust correcting unit is used for comparing the actual horizontal total component force and the actual vertical total component force of the actual total thrust with corresponding preset target horizontal total component force and target vertical total component force respectively and obtaining the correction amount of the actual total thrust; and the propulsion control unit is used for correcting the current corresponding actual total thrust according to the correction amount and controlling the shield tunneling machine to carry out propulsion.

The system for automatically correcting the attitude of the shield machine relative to the axis of the tunnel is further improved in that the system further comprises a self-adaptive control module, wherein the self-adaptive control module is used for collecting data information of the first acquisition module and the second acquisition module, estimating the actual propulsion attitude of the shield machine according to the data information and forming an adjustment strategy for the horizontal deviation angle, the vertical deviation angle and the correction amount, and the self-adaptive control module is in bidirectional data connection with the first acquisition module, the deviation angle calculation unit and the thrust correction unit.

The automatic posture correction system of the shield tunneling machine relative to the tunnel axis is further improved in that a plurality of oil cylinders for realizing the propulsion of the shield tunneling machine are arranged on the shield tunneling machine;

this second acquisition module includes: a plurality of collecting units which correspondingly collect the actual thrust of the plurality of oil cylinders one by one; the merging calculation unit is used for merging the actual thrust of the oil cylinders into the actual total thrust;

the propulsion control unit includes: the difference calculation unit is used for dividing the correction into a plurality of sub-corrections according to the position of each oil cylinder; and the oil cylinder control unit is used for controlling the oil cylinders to propel according to the sub-correction quantities in a one-to-one correspondence manner.

The invention also provides a method for automatically correcting the posture of the shield tunneling machine relative to the tunnel axis, which comprises the following steps:

s1: acquiring the position of a shield machine and the position of a tunnel axis in real time, and confirming the horizontal deviation angle and the vertical deviation angle of the axis of the shield machine deviating from the position of the tunnel axis;

s2: the real-time control shield machine executes horizontal deflection according to the current horizontal deviation angle and executes vertical deflection according to the current vertical deviation angle;

s3: acquiring actual total thrust of the shield tunneling machine in real time, and comparing actual horizontal total component force and actual vertical total component force of the actual total thrust with corresponding preset target horizontal total component force and target vertical total component force respectively to obtain correction quantity of the actual total thrust;

s4: and the real-time control shield machine corrects the current actual total thrust according to the current correction amount and controls the shield machine to carry out propulsion.

The method for automatically correcting the posture of the shield machine relative to the axis of the tunnel is further improved in that a plurality of oil cylinders for realizing the propulsion of the shield machine are arranged on the shield machine;

when step S3 is performed, the actual thrusts of the multiple oil cylinders are respectively collected in real time, and the actual thrusts of the multiple oil cylinders are combined to obtain the actual total thrust;

in step S4, the obtained correction amount is divided into a plurality of sub-correction amounts according to the position of each of the cylinders, and the plurality of cylinders are controlled to advance in a one-to-one correspondence to the plurality of sub-correction amounts.

The method for automatically correcting the attitude of the shield machine relative to the tunnel axis is further improved in that the step S3 and the step S4 are carried out while the step S1 and the step S2 are carried out.

Compared with the prior art, the invention has positive and obvious effect. The invention sets the input quantity according to the target position, measures and feeds back the actual position to obtain the deviation of the input quantity and the feedback quantity, and then adjusts the input quantity according to the deviation to form a closed-loop control system.

Drawings

Fig. 1 is a system block diagram of an automatic posture correction system of a shield tunneling machine relative to a tunnel axis.

Fig. 2 is a flowchart of the method for automatically correcting the attitude of the shield tunneling machine relative to the tunnel axis.

Fig. 3 is a schematic diagram of an embodiment of the method for automatically correcting the attitude of the shield tunneling machine relative to the tunnel axis.

Detailed Description

The invention is further described below with reference to the figures and examples.

As shown in fig. 1, the system for automatically correcting the attitude of the shield machine relative to the tunnel axis of the present invention includes:

the first acquisition module is used for acquiring the position of the shield tunneling machine and the position of the tunnel axis in real time;

the angle module of rectifying includes: a deviation angle calculation unit for determining a horizontal deviation angle and a vertical deviation angle of the shield machine axis deviating from the tunnel axis position according to the shield machine position and the tunnel axis position; the angle deviation rectifying control unit is used for controlling the shield tunneling machine to execute horizontal direction deflection according to the horizontal deviation angle and execute vertical direction deflection according to the vertical deviation angle;

the second acquisition module is used for acquiring the actual total thrust of the shield tunneling machine in real time;

thrust deviation rectifying module includes: the thrust correcting unit is used for comparing the actual horizontal total component force and the actual vertical total component force of the actual total thrust with corresponding preset target horizontal total component force and target vertical total component force respectively and obtaining the correction amount of the actual total thrust; and the propulsion control unit is used for correcting the current corresponding actual total thrust according to the correction amount and controlling the shield tunneling machine to carry out propulsion.

When the first acquisition module acquires information, the gap between the tail of the shield machine and the inner wall of the tunnel needs to be acquired so as to control the shield machine to deflect in the reasonable gap. The thrust deviation rectifying module is a basic algorithm unit, calculates the corrected accurate thrust magnitude and thrust direction of the thrust generated by the propulsion speed of the propulsion oil cylinder, enables the shield tunneling machine to tunnel accurately and fit the designed axis of the tunnel.

Preferably, the system further comprises an adaptive control module, which is used for collecting data information of the first acquisition module and the second acquisition module, estimating the actual propulsion attitude of the shield tunneling machine according to the data information and forming an adjustment strategy for the horizontal deviation angle, the vertical deviation angle and the correction amount, and the adaptive control module establishes bidirectional data connection with the first acquisition module, the deviation angle calculation unit and the thrust correction unit.

The system adds the function of self-adaptive control through a self-adaptive control module, and the self-adaptive control module comprises three links of estimation (identification) of the attitude of the shield machine, decision of steering of the shield machine and modification of steering of the shield machine, so that the shield machine is always in the optimal working state.

Preferably, the shield machine is provided with a plurality of oil cylinders for realizing the propulsion of the shield machine;

this second acquisition module includes: a plurality of collecting units which correspondingly collect the actual thrust of the plurality of oil cylinders one by one; the merging calculation unit is used for merging the actual thrust of the oil cylinders into the actual total thrust;

the propulsion control unit includes: the difference calculation unit is used for dividing the correction into a plurality of sub-corrections according to the position of each oil cylinder; and the oil cylinder control unit is used for controlling the oil cylinders to propel according to the sub-correction quantities in a one-to-one correspondence manner.

And distributing the correction quantity to each propulsion oil cylinder for propulsion implementation, so that the propulsion thrust of each propulsion oil cylinder is accurate, and the error is reduced.

As shown in fig. 2, the present invention further provides a method for automatically correcting the attitude of the shield tunneling machine relative to the tunnel axis, which comprises the following steps:

s1: acquiring the position of a shield machine and the position of a tunnel axis in real time, and confirming the horizontal deviation angle and the vertical deviation angle of the axis of the shield machine deviating from the position of the tunnel axis;

s2: the real-time control shield machine executes horizontal deflection according to the current horizontal deviation angle and executes vertical deflection according to the current vertical deviation angle;

s3: acquiring actual total thrust of the shield tunneling machine in real time, and comparing actual horizontal total component force and actual vertical total component force of the actual total thrust with corresponding preset target horizontal total component force and target vertical total component force respectively to obtain correction quantity of the actual total thrust;

s4: and the real-time control shield machine corrects the current actual total thrust according to the current correction amount and controls the shield machine to carry out propulsion.

In the step S2, the angle between the central axis of the shield machine and the tunnel axis can be selected to determine the deviation angle, in the step S4, the position of the shield machine is monitored in real time through the self-adaptive adjustment and control of a PID system, and the deflection and position correction are performed in time when the shield machine deviates from the tunnel axis, so that the accuracy of the steering and correction of the shield machine is greatly improved.

Preferably, the shield machine is provided with a plurality of oil cylinders for realizing the propulsion of the shield machine;

when step S3 is performed, the actual thrusts of the multiple oil cylinders are respectively collected in real time, and the actual thrusts of the multiple oil cylinders are combined to obtain the actual total thrust;

in step S4, the obtained correction amount is divided into a plurality of sub-correction amounts according to the position of each of the cylinders, and the plurality of cylinders are controlled to advance in a one-to-one correspondence to the plurality of sub-correction amounts.

As shown in fig. 3 as an embodiment of the present invention, the actual total thrust Σ F1 is the resultant force of F1, F2, F3, F4, F5, and F6 … … of all the thrust cylinder divisions; the component force of each cylinder for which the thrust force is first applied after the correction is F1_△、F2_△、F3_△、F4_△、F5_△、F6_△… …, the resultant force of the first thrust force components of the cylinders is Σ F1_△。

Calculating the first total thrust Σ F1 applied after correction_△: the moment point coordinate of the actual total thrust sigma F1 is calculated by the pressure of each propulsion oil cylinder and the structural form of the shield tunneling machine during the manual propulsion of the shield tunneling machine [ (M1)_X，M1_Y)，F1]F1 is the force, after the first total thrust is applied, the A point moves to the B point position, and the horizontal variation quantity delta M of the position of the A point moving to the B point position is obtained_XAnd vertical variation Δ M_YThen passes through the horizontal coordinate M1 of the point A_XPlus horizontal variation Δ M_XObtaining the horizontal coordinate M1 of the point B_X+△M_XBy the vertical coordinate M1 of point A_YPlus vertical variation Δ M_YThe vertical coordinate M1 of the point B is obtained_Y+△M_YObtaining the coordinate of the point B, namely the coordinate sigma F1 of the first total thrust_△：[(M1_X+△M_X，M1_Y+△M_Y)，F1]The coordinates of point B are the total thrust force first applied after the correction force is calculated, the coordinates of point B are compared again with the coordinates after the target thrust force is applied, and if there is a deviation, the correction comparison is performed again until the coordinates are the same as the coordinates after the target thrust force is applied. The thrust deviation correcting module calculates the displacement coordinate of the moment point, and compared with the prior art, the thrust correcting module achieves the purpose of correcting the posture of the shield machine by adjusting the thrust of the thrust oil cylinder by a pressure reducing valve of the shield machine by a driver, the mode of calculating the moment is more accurate, and the error of manual operation is reduced.

Preferably, step S3 and step S4 are performed while step S1 and step S2 are performed.

The whole system correction process is accelerated by correcting the deviation angle and the thrust of the shield machine, so that the tunnel axis is designed to be more fit to the posture of the shield machine, the construction efficiency is improved, and the engineering quality is improved.

The invention sets the input quantity according to the target position, measures and feeds back the actual position to obtain the deviation of the input quantity and the feedback quantity, and then adjusts the input quantity according to the deviation to form a closed-loop control system.

Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.