基于多系统协调的密封舱压力智能化控制

掘进面地层水土压力和密封舱压力相平衡是盾构机安全掘进的关键，密封舱压力控制是当前盾构研究的热点。研究根据场切深指数(Field penetration index, FPI)及扭矩切深指数(Torque penetration index, TPI)指标判断土体参数，实现地质的在线识别，为盾构机推力、扭矩和推进速度的设定提供依据。根据质量守恒定律并考虑盾构密封舱渣土的可松性，建立土压平衡盾构密封舱压力控制机理模型，并通过模型预测控制器进行多系统协调控制。对比常规比例-积分-微分(Proportion- integration-differentiation, PID)控制器，多系统协调控制具有更优的控制性能，使盾构机处于工况稳定，掘进快速，节能高效的理想状态。

Intelligent Control for Earth Pressure in Chamber of Earth Pressure Balance Shield Machine Based on Multi-system Coordination

The most important part of the excavation for earth pressure balance (EPB) shield machine is keeping the earth pressure and the water-earth pressure underground in balance, and the earth pressure in chamber has recently become a research focus. The on-line recognition of soil mass can be realized according to the field penetration index (FPI) and torque penetration index (TPI), and the soil parameters can be used for setting the thrust, torque and advance rate of shield machine. An earth pressure control model for chamber is built based on the law of mass conservation and the performance of the residue earth. In this model, multi-system coordination control is applied with model predictive controller. Setting a target for advance rate of shield machine in the design of the model predictive controller is a way to operate the advance rate and rotation speed of the screw conveyor at the same time. Compared to the conventional PID controller, model predictive controller has a better performance.