Abstract
The hydraulic thrust system of the shield machine is used for driving forward and pose adjustment. It is of great significance to figure out the thrust mechanism and motion characteristics of the shield machine to ensure the safety of tunnel excavation. This study aims to develop a model to explore the influence of thrust cylinder advancement on the motions of the shield machine. Firstly, the study carried out mechanism analysis of the thrust mechanism for the shield machine and established a method to describe the position and attitude of the shield machine during the tunneling process by the homogeneous transformation matrix. Then, a new inverse kinematic model was proposed to quantify the relationship between the telescoping movements of cylinders and shield machine motions, and the Jacobian matrix was derived to solve the instantaneous kinematics analysis. Furthermore, a virtual prototype model was developed to simulate the kinematic behavior of the shield machine and validate the accuracy of the kinematic model. The model provides the basic constraint relations for the practical position control system and lays a strong foundation for the dynamic model and automatic trajectory tracking control of shield machines for future studies. Based on the proposed model, the displacement, velocity, and acceleration of cylinders that drive the shield machine to the target motions can be solved exactly. It can provide a reference for the pose control of the shield machine during the practical shield tunneling.
Highlights
Characterized by high security, environmental friendliness, and automation, the shield tunneling method serves as an effective method for excavating tunnels and has found wide application in tunnel construction [1,2,3]
As one of the major systems of shield machines, the hydraulic thrust system composed of a series of circular-distributed thrust cylinders plays a key role during shield tunneling operation
Research on the kinematic behavior of the shield machine is the basis of realizing the accurate control of the shield pose [7]
Summary
Characterized by high security, environmental friendliness, and automation, the shield tunneling method serves as an effective method for excavating tunnels and has found wide application in tunnel construction [1,2,3]. The explicit solutions for angular velocity and angular acceleration of the shield machine are not solved Motivated by these considerations, this study aims to propose a new analytical solution to solve the inverse kinematics of shield thrust mechanism, in which all equations are explicit equations, and all the parameters are easy to determine. Based on the proposed model, the displacement, velocity, and acceleration of cylinders that drive the shield machine to the target motions can be solved exactly These solutions provide the basic constrain relations for practical position control system. The analytical solutions of the inverse kinematics can be embedded into the hardware for real-time application to solve the motion state of the thrust cylinders when the shield machine is tracking a target trajectory, so as to achieve the purpose of real-time control of the shield pose. A virtual prototype model of the shield thrust mechanism was developed to simulate the kinematic behaviors of the shield machine and validate the accuracy of the proposed kinematic model
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