Coordinated control of gripper and thrust system for TBM based on construction data

doi:10.3785/j.issn.1008-973X.2019.02.007

Journal of ZheJiang University (Engineering Science)

2019, Vol. 53

Issue (2): 250-257 DOI: 10.3785/j.issn.1008-973X.2019.02.007

Mechanical Engineering

Coordinated control of gripper and thrust system for TBM based on construction data

Yu-xi CHEN(

),Guo-fang GONG*(

),Zhuo SHI,Hua-yong YANG

State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China

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Abstract

The control system based on restricted thrust force and constant support force in gripper and thrust system (TFRSFCGT), and the control system based on constant thrust force along the tunneling direction and constant support force in gripper and thrust system (TFCSFCGT) were proposed, in order to solve the problems that the gripper shoes equipped in TBM failed to support the surrounding rock under a strong thrust load impact or crushed the surrounding rock in a soft rock formation. The coupling relationship among the output force of support cylinder, the output force of thrust cylinder and the type of surrounding rock at the place of supporting was derived after establishing the mechanical model of the gripper and thrust mechanism. The electro-hydraulic systems of these two control strategies were designed, then the hydraulic system models were set up in AMESim software and the control system models were set up in Matlab software, respectively. Finally, the performance of these two control strategies was compared and analyzed by using co-simulation method. Results showed that the TFRSFCGT system and the TFCSFCGT system can maintain the support force acting on the surrounding rock under the premise of providing required propulsion, and the maximum overshoot values were 0.928% and 0.378%, respectively. The TFCSFCGT system has a faster tunneling speed, while the TFRSFCGT system has better adaptability to load impact under the same load.

Key words： tunnel boring machine (TBM) gripper and thrust system restricted thrust force constant thrust force constant support force co-simulation

Received: 25 April 2018 Published: 21 February 2019

CLC:

U 455

Corresponding Authors: Guo-fang GONG E-mail: kiwicyx@163.com;gfgong@zju.edu.cn

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Cite this article:

Yu-xi CHEN,Guo-fang GONG,Zhuo SHI,Hua-yong YANG. Coordinated control of gripper and thrust system for TBM based on construction data. Journal of ZheJiang University (Engineering Science), 2019, 53(2): 250-257.

URL:

http://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2019.02.007 OR http://www.zjujournals.com/eng/Y2019/V53/I2/250

基于施工数据的TBM支撑推进协调控制系统

针对全断面硬岩隧道掘进机（TBM）在较强推进负载冲击下撑靴打滑、偏软岩层段靴体压溃侧壁围岩等问题，提出基于推进力限定和支撑力恒定的支撑推进控制系统（TFRSFCGT），以及基于掘进方向推进分力恒定和支撑力恒定的支撑推进控制系统（TFCSFCGT）. 建立TBM支撑推进机构力学模型，推导支撑油缸输出力、推进油缸输出力和支撑处围岩类别的耦合关系，设计2种基于新型控制策略的电液控制系统，利用AMESim软件和Matlab软件分别搭建液压系统模型和控制系统模型，最后搭建电液联合仿真模型. 仿真结果表明：TFRSFCGT系统和TFCSFCGT系统在提供系统所需推进力的前提下，能保持围岩实际所受支撑力恒定，最大超调量别为0.928%、0.378%；在相同负载特性下，TFCSFCGT系统掘进速度更快，而TFRSFCGT系统对负载冲击顺应性更强.

关键词： 隧道掘进机(TBM), 支撑推进系统, 推进力限定, 推进力恒定, 支撑力恒定, 联合仿真

Fig.1 Simplified diagram of open type TBM gripper and thrust mechanism

Fig.2 Diagram of gripper mechanical analysis

Fig.3 Diagram of main beam mechanical analysis in horizontal direction

Fig.4 Simplified diagram of TFRSFCGT system control strategy

Fig.5 Schematic diagram of TFRSFCGT hydraulic system

Fig.6 Simplified diagram of TFCSFCGT system control strategy

Fig.7 Schematic diagram of TFCSFCGT hydraulic system

Tab.1 Main parameters of systems in simulation models

Fig.8 Curves of output force of cylinders and support force acting on surrounding rock in different systems

Fig.9 Curves of flow response of thrust cylinders in three different systems

Fig.10 Curves of thrust displacement in three different systems


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