Automation Control of Shield Machine Propulsion System Based on Three-Ring Nested Control Architecture

With the continuous development of shield machine automation control technology, realizing accurate and efficient propulsion system control has become an important research direction in the field of shield machine automation control. This paper proposes a shield machine propulsion system automation control scheme based on a three-ring nested control architecture. The control system realizes precise control of the total propulsion thrust through the outer ring, precise control of the horizontal and vertical deviation of the attitude through the middle ring, and precise control of the four sets of partition cylinders through the inner ring. In particular, the precise control of the four groups of partition cylinders is the basis for realizing the precise control of the propulsion total thrust and the attitude deviation. In addition, there is a close coupling and interdependence between the total thrust control of the outer ring and the attitude control of the middle ring. The effectiveness of this control architecture in practical applications is verified through field tests. The test results show that after adopting this three-ring nested control system, the shield machine is able to realize precise control of horizontal and vertical deviation of attitude, total thrust and propulsion speed, and the control effect is close to the manual control effect, showing good control performance and stability.