基于施工数据的TBM支撑推进协调控制系统
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摘要
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.
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.
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.
引文
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[16]LIU Z B,XIE H B,YANG H Y.Analysis and comparison of two different hydraulic thrust systems on shield tunneling machine[C]//IEEE/ASMEInternational Conference Montreal on Advanced Intelligent Mechatronics.Montreal:IEEE,2010:563-568.
[17]LIU Z B,XIE H B,YANG H Y.Simulation analysis of pressure regulation of hydraulic thrust system on a shield tunneling machine[C]//International Conference on Intelligent Robotics and Applications.Singopore:Springer,2009:493-503.
[18]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 Mechanicsand Engineering,2010,29(12):2522-2532.
[19]ZHANG L M,WU X G,SKIBNIEWSKI M J.Simulation-based analysis of tunnel boring machine performance in tunneling excavation[J].Journal of Computing in Civil Engineering,2015,30(4):04015073.
[20]GAO X D,YANG J X,CHEN K.Study on thrust hydraulic system of TBM based on AMESim and MATLAB/Simulink interface[C]//International Conference on Mechatronics,Materials,Chemistry and Computer Engineering.Xi’an:Atlantis Press,2015:2809-2814.
[21]郝培,余海东,赵勇.考虑隧道表面特性的硬岩全断面掘进装备撑靴接触界面刚度分析[J].上海交通大学学报,2014,48(6):827-832.HAO Pei,YU Hai-dong,ZHAO Yong.Normal stiffness of tunnel surface contacting with thrusting boots of TBM with various surface characteristics[J].Journal of Shanghai Jiaotong University,2014,48(6):827-832.
[2]杜彦良,杜立杰.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.
[3]HUANG T,WANG X L,LIU H T,et al.Force analysis of an open TBM gripping-thrustingregripping mechanism[J].Mechanism and Machine Theory,2016,98:101-113.
[4]YANG H Y,SHI H,GONG G F,et al.Electrohydraulic proportional control of thrust system for shield tunneling machine[J].Automation in Construction,2009,18(7):950-956.
[5]EBRAHIM F,JAMAL R.Effect of adverse geological condition on TBM operation in Ghomroud tunnel conveyance project[J].Tunnelling and Underground Space Technology,2009,24(4):436-446.
[6]ERIKA P,FEDERICALUCIA S,JIAN Z.Analysis and estimation of gripper TBM performances in highly fractured and faulted rocks[J].Tunnelling and Underground Space Technology,2016,52:44-61.
[7]LIU J,CAO P,DU C H,et al.Effects of discontinuities on penetration of TBM cutters[J].Journal of Central South University,2015,22(9):3624-3632.
[8]施虎,龚国芳,杨华勇,等.盾构掘进机推进力计算模型[J].浙江大学学报:工学版,2011,45(1):126-131.SHI Hu,GONG Guo-fang,YANG Hua-yong,et al.Determination of thrust force for shield tunneling machine[J].Journal of Zhejiang University:Engineering Science,2011,45(1):126-131.
[9]霍军周,杨静,孙伟,等.不同TBM支撑结构形式下的围岩稳定性分析[J].东北大学学报:自然科学版,2014,35(11):1602-1606.HUO Jun-zhou,YANG Jing,SUN Wei,et al.Stability analysis of surrounding rock under different TBM supporting forms[J].Journal of Northeastern University:Natural Science,2014,35(11):1602-1606.
[10]RAO Y Y,GONG G F,YANG X,et al.Research on geologic adaptive control of ground pressure for single gripping TBM[C]//International Conference on Control,Automation and Information Sciences.Changchun:IEEE,2015:7-11.
[11]孙伟,凌静秀,霍军周,等.TBM水平支撑不同接触面积下的围岩稳定性分析[J].哈尔滨工程大学学报,2014,50(21):92-98.SUN Wei,LING Jing-xiu,HUO Jun-zhou,et al.Stability analysis of surrounding rock of TBMgripper with different contact areas[J].Journal of Harbin Engineering University,2014,50(21):92-98.
[12]WU Y,TAO J,LIU C,et al.Stiffness modeling of thrust cylinder in hard rock tunnel boring machine[C]//International Conference on Fluid Power and Mechatronics.Harbin:IEEE,2015:157-162.
[13]YAO J,XIA Y,CHENG Y,et al.Endocrine intelligent control of thrust hydraulic system for TBM[C]//International Conference on Intelligent Robotics and Applications.South Korea:Springer,2013:720-726.
[14]牛文文.TBM支撑推进机构掘进性能分析[D].天津:天津大学,2014:10-15.NIU Wen-wen.Analysis on excavating performance of gripper and thrust mechanism of TBM[D].Tianjin:Tianjin University,2014:10-15.
[15]彭欢,张怀亮,袁坚,等.硬岩掘进机比例调速阀选型方法[J].机械工程学报,2014,50(21):92-98.PENG Huan,ZHANG Huai-liang,YUAN Jian,et al.Tunnel boring machine proportional flow control valve selection method[J].Journal of Mechanical Engineering,2014,50(21):92-98.
[16]LIU Z B,XIE H B,YANG H Y.Analysis and comparison of two different hydraulic thrust systems on shield tunneling machine[C]//IEEE/ASMEInternational Conference Montreal on Advanced Intelligent Mechatronics.Montreal:IEEE,2010:563-568.
[17]LIU Z B,XIE H B,YANG H Y.Simulation analysis of pressure regulation of hydraulic thrust system on a shield tunneling machine[C]//International Conference on Intelligent Robotics and Applications.Singopore:Springer,2009:493-503.
[18]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 Mechanicsand Engineering,2010,29(12):2522-2532.
[19]ZHANG L M,WU X G,SKIBNIEWSKI M J.Simulation-based analysis of tunnel boring machine performance in tunneling excavation[J].Journal of Computing in Civil Engineering,2015,30(4):04015073.
[20]GAO X D,YANG J X,CHEN K.Study on thrust hydraulic system of TBM based on AMESim and MATLAB/Simulink interface[C]//International Conference on Mechatronics,Materials,Chemistry and Computer Engineering.Xi’an:Atlantis Press,2015:2809-2814.
[21]郝培,余海东,赵勇.考虑隧道表面特性的硬岩全断面掘进装备撑靴接触界面刚度分析[J].上海交通大学学报,2014,48(6):827-832.HAO Pei,YU Hai-dong,ZHAO Yong.Normal stiffness of tunnel surface contacting with thrusting boots of TBM with various surface characteristics[J].Journal of Shanghai Jiaotong University,2014,48(6):827-832.
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