| Full face hard rock tunnel boring machine(TBM) is widely used in hard rock tunneling, it consists of propel system, cutterhead system and attitude control system, etc. The attitude control system is the key sub-system to keep the machine move forward along the designed trajectory and reduce the deviation between the Tunnel excavation axis and designed tunnel axis. However, research on the full face tunnel boring machine is focused on tunnel shield machine, which is widely used in tunnle excavation in soft soil and very rare in hardrock. In the sole research, the relationship attitude control system and other system is neglected.This issue was supported by National High-tech Research and Development Program (863 Program). TBM test rig was designed, and the diameter was 2.5 m. We did some simulation about the hydraulic system, and got the reason why some problems happened in the tunnelling. New propel and attitude control systems were designed, and we put forward some control strategies. The validity of new system was verified baesd on the co-simulation.The main research works are as follows.1.We designed the hydraulic system of the TBM test rig according to the paratemers of Robbins machine type. To overcome the existing problems of hydraulic system, we made some improvement including dividing propel cylinders into two groups and designing new attitude control system using proportional directional valve and balance valve. And we elaborated the design process of hydraulic system.2. The techonolgy of trajectory tracking was intruduced into the attitude control system. Using the displacement and deflection angle of main beam, we got the describing equation of position and attitude of the machine based on the parameter equations of three typical tunnel axis, straight curve,circular curve and easement cuve included. Also, with this method, the target motion features of thrust cylinders, gripper cylinders and torque cylinders can be acquired. So the basic parameters for attitude control system was provided.3. We built the mathmatical equations of angle between main beam and thrust cylinders, the displacement of thrust cylinders and the the angle between main beam and vertical plane as the argument. And we got the relationship between direction of total thrust force and the angle. A new adaptive attitude 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. Using Co-simulation of ADAMS, AMESim and Simulink, we found disturbing force was reduced.4. The displacement error between left and right torque cylinders will be produced when the torque cylinders move upward or downward and TBM is tunneling. The machine has the danger of capsizing. Based on the new attitude control hydraulic system, we put forward a synchronization control system, one side’s cylinders as the reference cylinders, and the other cylinders will follow the reference cylinders. The paper did the simulations in AMESim, and the synchronization control system can reduce the displacement error between two sides’cylinders. |
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