1. A method for controlling the posture of a shield-type heading machine in a complex stratum in real time is characterized by comprising the following steps:

measuring the posture and the position of a shield type tunneling machine, and judging whether the shaft line offset s of the shield type tunneling machine reaches an allowable offset [ s ], namely judging whether posture correction is needed;

secondly, when deviation correction is needed, planning a deviation correction path according to the offset s and the posture of the shaft line of the shield type tunneling machine at the current position, determining single-ring deviation correction amount and single-ring deviation correction angle, and calculating needed deviation correction torque;

and step three, correspondingly adjusting the hydraulic propulsion system, and performing deviation correction work on the shield type tunneling machine.

2. The method for controlling the attitude of the shield-type heading machine for the complex stratum according to claim 1, which is characterized in that: in the first step, the distance s of the central point of the shield type tunneling machine deviating from the design axis on the vertical plane and the horizontal plane of the current position is obtained by utilizing the automatic attitude measuring device of the shield type tunneling machine_iAnd an included angle eta between the axis of the shield type tunneling machine and the designed axis, wherein the vertical plane i is equal to v, and the horizontal plane i is equal to h.

3. The method for controlling the attitude of the shield-type heading machine for the complex stratum according to claim 1, which is characterized in that: in the second step, a double-circular-arc interpolation method is adopted to determine a deviation rectifying path, and a deviation rectifying radius R is determined according to a formula (1)_rec(ii) a Calculating deviation-correcting mileage according to equation set (2)L and central angle theta of double circular arc₁And theta₂(ii) a Determining the number k of segment rings required by rectification according to a formula (3); determining a curve equation of the double-arc deviation rectifying path according to a formula (4), so as to obtain the coordinates of the shield type tunneling machine at each ring position on the deviation rectifying path, wherein the difference of longitudinal coordinates at two adjacent ring positions is the deviation of each ring, and the included angle between the connecting line at the two adjacent ring positions and the design axis is the deviation rectifying angle of each ring;

k＝[L/g]+1 (3)

in the formula, l is the length of the shield type tunneling machine, and d is the wedge-shaped amount of the duct piece; eta is the included angle between the axis of the shield type tunneling machine and the design axis, and g is the width of the single-ring duct piece; s_iFor the shaft line offset of the shield type tunneling machine, a vertical plane i is equal to v, and a horizontal plane i is equal to h; (x)₁,z₁) And (y)₁,z₁) Is the center O of a first section of circular arc on the horizontal and vertical surfaces₁And determining a deviation rectifying path consisting of two sections of circular arcs by a double circular arc interpolation method, wherein the deviation rectifying path is respectively represented by AQ and QB.

4. The method for controlling the attitude of the shield-type heading machine for the complex stratum according to claim 1, which is characterized in that:

in the second step, the calculation method of the deviation rectifying moment comprises the following steps:

1) calculating the section displacement of the shield-type tunneling machine and the load around the shield shell according to the single-ring deviation correction angle beta of the shield-type tunneling machine in the vertical plane, the single-ring deviation correction angle alpha in the horizontal plane and the initial single-ring deviation correction quantity delta, substituting the formula (6), and judging whether the force balance condition is met;

2) if so, determining the correction torque according to the formula (7);

3) if not, after correcting the deviation correction angle of the shield type tunneling machine, repeating the steps 1) and 2) until the deviation correction torque is calculated

In the formula (I), the compound is shown in the specification,a vertical adjusting moment for controlling the vertical pitch angle generated by the jack thrust difference,a horizontal adjusting moment for controlling a horizontal swinging angle generated by the difference of jack thrust; f_1vIs the gravity of a shield type tunneling machine; f_5vVertical load resultant force around the shield shell is caused by attitude change; f_5hThe resultant force of horizontal load around the shield shell is caused by the change of the posture; m_1vThe moment is caused by the eccentric distance between the gravity center and the centroid of the shield type tunneling machine; m_4vThe moment is a vertical moment caused by the front load of a cutter head of the shield type tunneling machine; m_5vVertical resultant moment generated by load around the shield shell due to attitude change; m_5hThe horizontal resultant moment generated by the load around the shield shell is caused by the change of the posture.

5. The method for controlling the attitude of the shield-type heading machine for the complex stratum according to claim 4, which is characterized in that:

solving for F_5v、F_5h、M_1v、M_4v、M_5hAnd M_5vThe calculation steps are as follows:

shield shell section centroid displacement delta s caused by attitude change_vAnd Δ s_hCalculated according to equation (8):

in the formula,. DELTA.s_vIs the vertical displacement of the centroid of the section of the shield shell, and delta s is the vertical displacement of the centroid caused by the gravity action of the shield-type tunneling machine_vAdding vertical displacement to the centroid caused by the action of attitude adjusting moment, wherein z is a coordinate along the length direction of the shield type tunneling machine, L is the length of the shield type tunneling machine, and delta s_hIs the horizontal displacement of the centroid of the shield shell section, delta_hAdding horizontal displacement to a centroid caused by the action of the attitude adjusting moment, wherein beta is a single-ring deviation rectifying angle of the shield type tunneling machine in a vertical plane, and alpha is a single-ring deviation rectifying angle of the shield type tunneling machine in a horizontal plane;

the curve equation of any point on the section of the shield shell is shown as the formula (9):

converting equation (9) to polar equation (10):

in the formula, R_cThe mean radius of the shield shell is shown, and theta is an included angle between a connecting line of a point on the shield shell and the circle center and a polar axis;

displacement of any point on the shield sectionCan be determined by equations (11) and (12):

wherein r is the coordinate of the polar axis;

determining all-line stratum distribution according to the geological survey report, acquiring engineering mechanical characteristics of each geotechnical layer, and determining parameters a and K in a foundation reaction force curve (5) of each layer of soil₀，K_minAnd K_max；

Wherein K is the soil pressure coefficient, i is v or h, which respectively represent the vertical direction and the horizontal direction, K_i0Is the coefficient of static soil pressure, K_iminIs the coefficient of active earth pressure, a_iIs a foundation reaction coefficient, U_iFor displacement of the soil mass in the direction i, K_imaxIs the passive soil pressure coefficient;

and (3) loading around the shield shell: dispersing the shield shell, wherein the shield shell comprises m units and n units along the length direction and the circumferential direction respectively, and the soil pressure applied to any point on the cross section of the shield shell can be determined by the formula (13):

wherein p represents the p-th cell in the longitudinal direction, q represents the q-th cell in the circumferential direction, σ_v,pqTo node vertical pressure, K_v,pqIs the vertical soil pressure coefficient, sigma_v0,pqTo initial vertical pressure, K_h,pqIs the horizontal soil pressure coefficient, sigma_h,pqTo node horizontal pressure, σ_h0,pqIs an initial horizontal pressure;

solving the attitude adjusting moment: the gravity of the shield type tunneling machine is G, and the eccentricity is l_sAnd then:

M_1v＝G·l_s (14)

the formation reaction force and the moment thereof are as follows:

the cutter head load moment is as follows:

M_4v＝FM₁+FM₂ (17)

in the formula FM₁Moment caused by the penetration resistance of the cutter head; FM₂Moment caused by stratum lateral soil pressure on a cutter head panel; d is the average diameter of the shield shell.

Background

In the tunneling process of the shield type tunneling machine, the moment of the shield type tunneling machine is easy to be unbalanced due to reasons such as stratum change and the like, so that the axis of the shield type tunneling machine deviates. In the prior art, according to attitude information of a shield-type tunneling machine obtained by an automatic measuring device, a driver of the shield-type tunneling machine corrects the deviation of the shield-type tunneling machine by virtue of personal operation experience, and the deviation correcting effect depends on the experience and decision level of an operator. Different technicians have different knowledge and understanding of the deviation correcting target value and the deviation correcting load of the shield type tunneling machine. An operator qualitatively predicts a deviation correcting target corner based on personal experience and determines the problems of under-correction and over-correction possibly caused by deviation correcting load: deviation quality problems can lead to segment damage, route drift, and potential operational problems. Therefore, it is necessary to provide a method for real-time quantitative control of the attitude of the shield-type heading machine based on the mechanical balance theory.

Disclosure of Invention

The invention aims to solve the problem that the existing shield-type tunneling machine posture adjustment is carried out by depending on manual experience, and provides a real-time control method for the posture of a shield-type tunneling machine in a complex stratum.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

a method for controlling the posture of a shield-type heading machine in a complex stratum in real time comprises the following steps:

measuring the posture and the position of a shield type tunneling machine, and judging whether the shaft line offset s of the shield type tunneling machine reaches an allowable offset [ s ], namely judging whether posture correction is needed;

secondly, when deviation correction is needed, planning a deviation correction path according to the offset s and the posture of the shaft line of the shield type tunneling machine at the current position, determining single-ring deviation correction amount and single-ring deviation correction angle, and calculating needed deviation correction torque;

and step three, correspondingly adjusting the hydraulic propulsion system, and performing deviation correction work on the shield type tunneling machine.

Further, in the first step, the distance s of the central point of the shield type tunneling machine deviating from the design axis on the vertical plane and the horizontal plane of the current position is obtained by utilizing the automatic attitude measuring device of the shield type tunneling machine_iAnd an included angle eta between the axis of the shield type tunneling machine and the designed axis, wherein the vertical plane i is equal to v, and the horizontal plane i is equal to h.

Further, in the second step, a double-circular-arc interpolation method is adopted to determine a deviation rectifying path, and a deviation rectifying radius R is determined according to a formula (1)_rec(ii) a Calculating the deviation-correcting mileage L and the central angle theta of the double arcs according to the equation set (2)₁And theta₂(ii) a Determining the number k of segment rings required by rectification according to a formula (3); determining a curve equation of the double-arc deviation rectifying path according to a formula (4), so as to obtain the coordinates of the shield type tunneling machine at each ring position on the deviation rectifying path, wherein the difference of longitudinal coordinates at two adjacent ring positions is the deviation of each ring, and the included angle between the connecting line at the two adjacent ring positions and the design axis is the deviation rectifying angle of each ring;

k＝[L/g]+1 (3)

in the formula, l is the length of the shield type tunneling machine, and d is the wedge-shaped amount of the duct piece; eta is the included angle between the axis of the shield type tunneling machine and the design axis, and g is the width of the single-ring duct piece; s_iFor the shaft line offset of the shield type tunneling machine, a vertical plane i is equal to v, and a horizontal plane i is equal to h; (x)₁,z₁)

And (y)₁,z₁) Is the center O of a first section of circular arc on the horizontal and vertical surfaces₁And determining a deviation rectifying path consisting of two sections of circular arcs by a double circular arc interpolation method, wherein the deviation rectifying path is respectively represented by AQ and QB.

Further, in the second step, the calculation method of the correction torque is as follows:

1) calculating the section displacement of the shield-type tunneling machine and the load around the shield shell according to the single-ring deviation correction angle beta of the shield-type tunneling machine in the vertical plane, the single-ring deviation correction angle alpha in the horizontal plane and the initial single-ring deviation correction quantity delta, substituting the formula (6), and judging whether the force balance condition is met;

2) if so, determining the correction torque according to the formula (7);

3) if not, after correcting the deviation correction angle of the shield type tunneling machine, repeating the steps 1) and 2) until the deviation correction torque is calculated

In the formula (I), the compound is shown in the specification,a vertical adjusting moment for controlling the vertical pitch angle generated by the jack thrust difference,a horizontal adjusting moment for controlling a horizontal swinging angle generated by the difference of jack thrust; f_1vIs the gravity of a shield type tunneling machine; f_5vVertical load resultant force around the shield shell is caused by attitude change; f_5hThe resultant force of horizontal load around the shield shell is caused by the change of the posture; m_1vThe moment is caused by the eccentric distance between the gravity center and the centroid of the shield type tunneling machine; m_4vThe moment is a vertical moment caused by the front load of a cutter head of the shield type tunneling machine; m_5vVertical resultant moment generated by load around the shield shell due to attitude change; m_5hThe horizontal resultant moment generated by the load around the shield shell is caused by the change of the posture.

Further, solve for F_5v、F_5h、M_1v、M_4v、M_5hAnd M_5vThe calculation steps are as follows:

shield shell section centroid displacement delta s caused by attitude change_vAnd Δ s_hCalculated according to equation (8):

in the formula,. DELTA.s_vIs the vertical displacement of the centroid of the section of the shield shell, and delta s is the vertical displacement of the centroid caused by the gravity action of the shield-type tunneling machine_vAdding vertical displacement to the centroid caused by the action of attitude adjusting moment, wherein z is a coordinate along the length direction of the shield type tunneling machine, L is the length of the shield type tunneling machine, and delta s_hIs the horizontal displacement of the centroid of the shield shell section, delta_hAdding horizontal displacement to a centroid caused by the action of the attitude adjusting moment, wherein beta is a single-ring deviation rectifying angle of the shield type tunneling machine in a vertical plane, and alpha is a single-ring deviation rectifying angle of the shield type tunneling machine in a horizontal plane;

the curve equation of any point on the section of the shield shell is shown as the formula (9):

converting equation (9) to polar equation (10):

in the formula, R_cThe mean radius of the shield shell is shown, and theta is an included angle between a connecting line of a point on the shield shell and the circle center and a polar axis;

displacement of any point on the shield sectionCan be determined by equations (11) and (12):

wherein r is the coordinate of the polar axis;

determining all-line stratum distribution according to the geological survey report, acquiring engineering mechanical characteristics of each geotechnical layer, and determining parameters a and K in a foundation reaction force curve (5) of each layer of soil₀，K_minAnd K_max；

Wherein K is the soil pressure coefficient, i is v or h, which respectively represent the vertical direction and the horizontal direction, K_i0Is the coefficient of static soil pressure, K_iminIs the coefficient of active earth pressure, a_iIs a foundation reaction coefficient, U_iFor displacement of the soil mass in the direction i, K_imaxIs the passive soil pressure coefficient;

and (3) loading around the shield shell: dispersing the shield shell, wherein the shield shell respectively comprises m units and n units along the length direction and the circumferential direction,

the earth pressure at any point on the shield section can be determined by equation (13):

wherein p represents the p-th cell in the longitudinal direction, q represents the q-th cell in the circumferential direction, σ_v,pqTo node vertical pressure, K_v,pqIs the vertical soil pressure coefficient, sigma_v0,pqTo initial vertical pressure, K_h,pqIs the horizontal soil pressure coefficient, sigma_h,pqTo node horizontal pressure, σ_h0,pqIs an initial horizontal pressure;

solving the attitude adjusting moment: the gravity of the shield type tunneling machine is G, and the eccentricity is l_sAnd then:

M_1v＝G·l_s (14)

the formation reaction force and the moment thereof are as follows:

the cutter head load moment is as follows:

M_4v＝FM₁+FM₂ (17)

in the formula FM₁Moment caused by the penetration resistance of the cutter head; FM₂Moment caused by stratum lateral soil pressure on a cutter head panel; d is the average diameter of the shield shell.

Compared with the prior art, the invention has the beneficial effects that: the method can effectively avoid the problems of under-correction and over-correction compared with the traditional correction strategy of the shield-type tunneling machine based on manual experience, thereby reducing the damage of the duct piece, the deviation of the route and the potential operation problem.

Drawings

FIG. 1 is a flow chart of the operation of a method for controlling the attitude of a shield-type heading machine in real time;

FIG. 2 is a schematic diagram of a target deviation rectifying path;

FIG. 3 is a schematic diagram of a reaction force curve of a stratum foundation;

FIG. 4 is a schematic diagram of the displacement of the shield shell section caused by the attitude change;

FIG. 5 is a flow chart of attitude correction torque solution.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings.

The first embodiment is as follows:

a real-time control method for the attitude of a shield-type heading machine in a complex stratum is shown in the general route of figure 1. And obtaining the attitude and the position of the shield-type tunneling machine according to the automatic attitude measuring device of the shield-type tunneling machine, and judging whether the shaft line offset s of the shield-type tunneling machine reaches the allowable offset [ s ], namely judging whether attitude correction is needed. When the correction is needed, planning a correction path according to the offset s and the posture of the shaft line of the shield type tunneling machine at the current position, determining the single-ring correction amount and the single-ring correction angle, and calculating the needed correction torque; and the hydraulic propulsion system makes corresponding adjustment to perform deviation correction work of the shield type tunneling machine.

The method comprises the following specific steps:

(1) automatic measurement device of the posture of the shield-type heading machine: the existing automatic total station and gyroscope combined guide system or other more advanced and accurate shield type heading machine attitude information measuring devices can be adopted. The automatic attitude measuring device of the shield type tunneling machine can acquire the distance s of the center point of the shield type tunneling machine deviating from the design axis on the vertical plane and the horizontal plane of the current position_iAnd an included angle eta between the axis of the shield type heading machine and the designed axis, wherein the vertical plane i is equal to v, and the horizontal plane i is equal to h.

(2) Deviation rectifying path planning system: determining the deviation rectifying path by adopting a double-arc interpolation method, as shown in figure 2, determining the deviation rectifying radius R according to the formula (1)_rec(ii) a Calculating the deviation-correcting mileage L and the central angle theta of the double arcs according to the equation set (2)₁And theta₂(ii) a Determining according to a formula (3) to obtain the number k of the segment rings required by rectification; determining a curve equation of the double arcs according to the formula (4) so as to obtain the coordinates of the shield type tunneling machine at each ring position on the deviation rectifying path, wherein the difference of the longitudinal coordinates at the adjacent two ring positions is the differenceFor the deviation of each ring, the included angle between the connecting line at the position of two adjacent rings and the design axis is the deviation-correcting angle of each ring.

k＝[L/g]+1 (3)

In the formula, l is the length of the shield type tunneling machine, and d is the wedge-shaped amount of the duct piece; g is the width of the single-ring pipe piece; s_iFor the shaft line offset of the shield type tunneling machine, a vertical plane i is equal to v, and a horizontal plane i is equal to h; (x)₁,z₁) And (y)₁,z₁) And determining a deviation rectifying path consisting of two sections of circular arcs by adopting a double circular arc interpolation method for the circle center coordinates of the first section of circular arc on the horizontal and vertical surfaces, wherein the deviation rectifying path is respectively represented by AQ and QB. (3) A stratum model: determining the all-line stratum distribution according to the geological survey report, acquiring the engineering mechanical characteristics of each geotechnical layer, and determining

Parameters a, K in the foundation reaction force curve (5) of the layers of soil in FIG. 3₀，K_minAnd K_max。

Wherein K is the soil pressure coefficient; i is v or h, which respectively represent the vertical direction and the horizontal direction; k_i0Is the coefficient of static soil pressure; k_iminIs the active soil pressure coefficient; a is_iIs the foundation reaction coefficient; u shape_iThe displacement of the soil body in the direction i; k_imaxIs the passive soil pressure coefficient.

(4) Deviation rectifying moment model

The shield type heading machine satisfies the force balance condition and the moment balance condition shown in the formulas (6) and (7):

in the formula F_1vIs the gravity of a shield type tunneling machine; f_5vVertical load resultant force around the shield shell is caused by attitude change; f_5hThe resultant force of horizontal load around the shield shell is caused by the change of the posture; m_1vThe moment is caused by the eccentric distance between the gravity center and the centroid of the shield type tunneling machine; m_4vThe moment is a vertical moment caused by the front load of a cutter head of the shield type tunneling machine; m_5vVertical resultant moment generated by load around the shield shell due to attitude change;a vertical adjusting moment for controlling a vertical pitch angle generated by the difference of jack thrust; m_5hThe horizontal resultant moment generated by the load around the shield shell caused by the attitude change;the horizontal adjusting moment for controlling the horizontal swing angle generated by the jack thrust difference.

Shield shell section displacement caused by attitude change

As shown in fig. 4, the centroid displacement of the shield shell section caused by the attitude change is calculated according to equation (8):

in the formula,. DELTA.s_vVertical displacement of the section centroid of the shield type tunneling machine; delta s is the vertical displacement of the centroid caused by the gravity action of the shield type tunneling machine; delta_vAdding vertical displacement to the centroid caused by the action of the attitude adjusting moment;z is a coordinate along the length direction of the shield type tunneling machine; l is the length of the shield type tunneling machine; Δ s_hThe horizontal displacement of the section centroid of the shield type tunneling machine is adopted; delta_hAdding horizontal displacement to the centroid caused by the action of the attitude adjusting moment; beta is a single-ring deviation rectifying angle of the shield type tunneling machine in a vertical plane; alpha is a single-ring deviation rectifying angle of the shield type tunneling machine in the horizontal plane.

The curve equation of any point on the section of the shield shell is shown as the formula (9):

conversion to polar equation (10):

in the formula, R_cThe mean radius of the shield shell is shown, and theta is an included angle between a connecting line of a point on the shield shell and the circle center and a polar axis;

displacement of any point on the shield sectionCan be determined by equations (11) and (12):

wherein r is the coordinate of the polar axis;

② load around shield shell

Dispersing the shield shell, wherein the shield shell comprises m units and n units along the length direction and the circumferential direction respectively, and the soil pressure applied to any point on the cross section of the shield shell can be determined by the formula (13):

wherein p represents the p-th cell in the longitudinal direction, q represents the q-th cell in the circumferential direction, σ_v,pqTo node vertical pressure, K_v,pqIs the vertical soil pressure coefficient, sigma_v0,pqTo initial vertical pressure, K_h,pqIs the horizontal soil pressure coefficient, sigma_h,pqTo node horizontal pressure, σ_h0,pqIs an initial horizontal pressure;

solving for attitude adjusting moment

The gravity of the shield type tunneling machine is G, and the eccentricity is l_sAnd then:

M_1v＝G·l_s (14)

the formation reaction force and the moment thereof are as follows:

the cutter head load moment is as follows:

M_4v＝FM₁+FM₂ (17)

in the formula FM₁Moment caused by the penetration resistance of the cutter head; FM₂The moment caused by the stratum lateral soil pressure on the cutter head panel is shown as D, and the average diameter of the shield shell is shown as D.

The corrective moment solving process is shown in FIG. 5. And obtaining a deviation correcting angle according to the planned deviation correcting path, calculating the displacement of each point on the shield type tunneling machine according to a formula (12), calculating the load around the shield shell according to a formula (13), and judging whether the load meets a force balance equation (6). If the correction torque is satisfied, determining the correction torque according to the torque balance equation (7). If not, correcting the deviation correcting angle of the shield type tunneling machine, and then carrying out the process again until the deviation correcting moment is calculated.

(5) A hydraulic propulsion system of a shield type heading machine.

And setting the hydraulic propulsion system according to the deviation correcting moment to finish the propulsion and deviation correction of the shield type tunneling machine.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.