Design And Analysis Of Main Propulsion Of Scale TBM Thruster Mechanisms Test Rig

China has increasing demand for TBM on the railway,highway,subway and municipal engineering construction at present,however,the core technologies of TBM are still mastered by a few TBM companies of the developed countries,causing the price of TBM is always high,and so the localization of TBM has broad market prospects.Propulsion system is the key subsystem of a TBM,it need to be subjected the heavy load,snap load and intense vibration load which come from the harsh environment,besides,it need to transfer great propulsion forces and ensure accuracy motions.On the one hand,if the Thruster Mechanism(TM)is of lower rigidity,it will be difficult to bear external heavy payload and will increase the movement attitude deviation.On the other hand,if the TM is of lower flexibility,it will be difficult to accommodating the interrupt payload.In order to resolve the contradiction,the research group developed a new parallel-series TBM thruster mechanism which has better excavation performance.This paper is based on the construction of the TBM thruster mechanism scale test rig,several research works are investigated surrounding the development of the main propulsion of the test rig:1.According to the Similarity Theory we selected the 10:1 scale to determine the performance parameters of the TBM thruster mechanism scale test rig’s main propulsion by referring to the design parameters of the same test rig.We established the three dimensional simplified model of the main propulsion by using SolidWorks,then according to the basic theory of parallel mechanism,analyzed its kinematics and driving force of each propulsive cylinder.We analyzed the physical model of the main propulsion in detail,designed its hydraulic system and finished its solid assembly model.2.Established the stiffness model of the main propulsion single propulsion cylinder with Sub-assembly structure.According to the structure size of the prototype machine and scale test rig,analyzed the stiffness variation regular of both propulsion cylinder,obtained the ratio of the stiffness is 10:1.Used the virtual displacement principle to deduce the stiffness model of the main pusher,studied the relationship between the freedom of six directions of two machines and the propulsion displacement of the oil cylinder by using the way of performance spectrum method,and concluded that the stiffness variation regular of the two machines is similar and the ratio of the stiffness is 100:1.It showed the scale design of the TBM thruster mechanism test rig is reasonable.3.According to the structural characteristics of the scale test rig’s main propulsion,we simplified the modeling and imported into ADAMS to establish its virtual prototype.Carried out the dynamics simulation of the multi rigid body and multi flexible body which considering the compressibility of hydraulic oil and flexible support of the gripper shoes based on the Virtual Prototype Technology,and obtained the driving force and power of each propulsive cylinder while the mechanism performs.The results show that considering the compressibility of hydraulic oil and flexible support of the gripper shoes is more suitable to actual conditions by comparing the dynamics simulation results of two models.4.Created an electromechanical system co-simulation platform of the virtual prototype to analyze the performance of the scale test rig’s main propulsion from mechanical system and control system.Aiming at the motion control of the main propulsion’s moveable platform,we built joint space PD trajectory control simulation model in matlab/simulink modular and realized the co-simulation of the virtual prototype dynamics model and matlab control system.The results show the control strategy meets the actual needs of the test rig.The paper provides the theoretical references for the development of the new TBM thruster mechanism test rig.