Adaptive attitude control of thrust system for hard rock tunnel boring machine
ZHANG Zhen1, GONG Guo fang1, WU Wei qiang1, LIU Tong1, RAO Yun yi1, ZHOU Jian jun2
1. State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China;2. State Key Laboratory of Shield Machine and Boring Technology, China Railway Tunnel Group Limited Company, Zhengzhou 450003, China
A new adaptive attitude (ADA) tunnel boring machine (TBM) thrust system was proposed to overcome the problem of the service life of critical components and tunnel excavation precision reduced by disturbing force produced by four cylinders connected in parallel (CCP) thrust system. The mathematical model of thrust mechanism was established. Four cylinders were divided into two groups and working pressure of each group was adjusted in real time. The comparison of ADA thrust system and CCP thrust system was conducted by using co simulation of ADAMS AMESim and Simulink when the deflection angle was 0.1°, 0.3° and 0.5°
under rated thrust force. Results showed that the disturbing force in ADA thrust system was 2% comparing to disturbing force in CCP thrust system. The overshoot of force paralleled to main beam in ADA thrust system was less than 5%. ADA thrust system can significantly improve performance in reducing the disturbing force, and the system has a good stability.
ZHANG Zhen, GONG Guo fang, WU Wei qiang, LIU Tong, RAO Yun yi, ZHOU Jian jun. Adaptive attitude control of thrust system for hard rock tunnel boring machine. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2015, 49(10): 1870-1877.
[1] 杜彦良,杜世杰.全断面岩石隧道掘进机 系统原理与集成设计[M].武汉:华中科技大学出版社,2011: 1-16.
[2] 吴波,阳军生.岩石隧道全断面掘进机施工技术[M].合肥:安徽科学技术出版社,2008: 1-3.
[3] 周赛群.全断面硬岩掘进机TBM)驱动系统的研究[D].杭州:浙江大学,2008.
ZHOU Sai qun. Study on drive system of the full face rock tunnel boring machine [D]. Hangzhou: Zhejiang University, 2008.
[4] 张镜剑,傅冰骏.隧道掘进机在我国应用的进展[J].岩石力学与工程学报,2007,26(2): 226-238.
ZHANG Jing jian, FU Bing jun. Advances in tunnel boring machine application in China [J]. Chinese Journal of Rock Mechanics and
Engineering, 2007, 26(2):226-238.
[5] YAGIZ S, GOKCEOGLU C, SEZER E. Application of two non linear prediction tools to the estimation of tunnel boring machine performance [J]. Engineering Applications of Articial Intelligence, 2009, 22 (4/5): 808-814.
[6] GHOLAMNEJAD J, TAYARANI N. Application of artificial neural networks to the prediction of tunnel boring machine penetration rate [J]. Mining Science and Technology, 2010, 20(5): 727-733.
[7] 龚秋明,佘祺锐,侯哲生,等.高地应力作用下大理岩岩体的TBM掘进试验研究[J].岩石力学与工程学报,2010,29(12): 2522-2532.
GONG Qiu ming, SHE Qi rui, HOU Zhe sheng, et al. Experimental study of TBM penetration in marble rock mass under high geostress [J]. Chinese Journal of Rock Mechanics and Engineering, 2010, 29(12): 2522-2532.
[8] YAZDANI CHAMZINI A, YAKHCHALI S H. Tunnel boring machine (TBM) selection using fuzzy multicriteria decision making methods [J]. Tunnelling and Underground Space Technology, 2012, 30: 194-204.
[9] 黄先祥,马长林,高钦和,等.大型装置起竖系统协同仿真研究[J].系统仿真学报,2007,19(1): 1-2.
HUANG Xian xiang, MA Chang lin, GAO Qin he, et al. Studies for collaborative simulation of large erection mechanism system [J]. Journal of System Simulation, 2007,19(1): 1-2.
[10] 李剑峰,汪建兵,林建军,等.机电系统联合仿真与集成优化案例解析[M].北京:电子工业出版社,2010: 1-10.
[11] 熊光楞,郭斌,陈晓波,等.协同仿真与虚拟样机技术[M].北京:清华大学出版社,2004:15.
[12] 韩寿松,晁智强,刘相波. 基于ADAMS 和AMESim 的液压六自由度平台联合仿真研究[J].机床与液压,2013,41(9): 157-159.
HAN Shou song, CHAO Zhi qiang, LIU Xiang bo. Co simulation study on stewart platform based on ADAMS and AMESim [J]. Machine Tool and Hydraulics, 2013, 41(9): 157-159.
[13] 王伟,傅新,谢海波,等.基于AMESim的液压并联机构建模及耦合特性仿真[J]. 浙江大学学报:工学版,2007,41(11): 1876-1880.
WANG Wei, FU Xin, XIE Hai bo, et al. Modeling of AMESim based hydraulic parallel mechanism and simulation of its coupling characteristics [J]. Journal of Zhejiang University: Engineering Science, 2007, 41(11): 1876-1880.
[14] 魏建华,杜恒,方向,等.基于ADAMS/Simulink/AMESim的油气悬架道路友好性分析[J].农业机械学报,2010,41(10): 11-17.
WEI Jian hua, DU Heng, FANG Xiang,et al. Road friendliness of interconnected hydro pneumatic suspension based on ADAMS/ Simulink/ AMESim [J]. Transactions of the Chinese Society for Agricultural Machinery, 2010, 41(10): 11-17.
[15] 侯典清.盾构推进系统顺应性及掘进姿态控制研究[D].杭州:浙江大学,2013.
HOU Dian qing. Research on compliance characteristics and attitude control of shield propulation system [D]. Hangzhou: Zhejiang University, 2013.