为提升存量传统盾构循环利用率、践行我国地下工程绿色可持续发展目标，结合上海轨道交通某区间盾构工程项目，设计一种针对存量地铁盾构进行自主掘进姿态控制功能加载的微改造方案。通过系统架构设计、分区目标油压寻优计算，实现基于推力矢量技术的盾构自主掘进姿态控制方法的跨直径、跨模式工程应用。研究结果表明： 1)基于目标推力矢量分配的推进分区目标油压执行情况良好，控制精度达±5%； 2)为确保盾构持续匀速掘进能力，目标推力控制在高于实际推力3%的范围，掘进速度控制在设定值±3 mm/min； 3)盾构姿态变化与推力矢量作用点位移之间呈现镜像对称的交互特征，单个区间内盾构切口水平和高程姿态控制在设定目标±10 mm的管片环数比例达98%以上。

To improve the utilization rate of existing conventional shield machines and align with China′s sustainable development strategies in underground engineering, the authors propose a micro-transformation scheme for retrofitting the automatic tunneling attitude control function of existing shield machines. The approach is contextualized within a shield tunneling project in the Shanghai metro. The system architecture is designed, and thrust distribution calculations are performed in different propulsion zones, enabling a cross-diameter and cross-mode engineering application of a thrust vectoring adaptive control method for shield attitude regulation. The following conclusions are drawn: (1) The execution of target oil pressures in the propulsion zones, based on target thrust vector distribution, achieves a control accuracy within ±5%. (2) To maintain consistent and uniform advancement capability, the target thrust is controlled approximately 3% higher than the actual thrust, with the shield speed controlled within ±3 mm/min of the set value. (3) The interaction characteristics between changes in shield attitude and the displacement of the thrust vector action point exhibit a mirror-symmetrical relationship, with over 98% of the total segments maintaining horizontal and vertical attitude control within the target range of ±10 mm across individual sections.