| TBM (Tunnel Boring Machine) is a new advanced tunnel construction machinery us-ing rotary digging tool, broking inside rock and tunneling at the same time, to form the tunnel section. It controls the instability and collapse of the excavation surface and surrounding, which does not occur. At the same time, it also does the tunnel boring, slag-off, assembling the segments to form a lining inside the machine, and the implementation of grouting, which does not disturb the rock while the construction of the tunnel. TBM is a large underground tunnel lining equipment, which highly rolls mechanical, hydraulic, laser, controlling technolo-gies into one. It is comprised of host and post equipment and geological detection systems and other accessories.Digital prototyping technology is an emerging engineering technology, by means of this technology, engineers can set up virtual models of mechanical systems on computers in order to simulate systems kinematics and dynamics related features in real environment. Engineers can also optimize the design of mechanical systems according to the simulation results, find-ing mechanical system problems and potential defect in the stage of product design, eliminat-ing the dependence on physical prototyping in traditional design, shortening the product de-velopment cycles, reducing R&D costs and making enterprise more competitive in market competition.Although there are many powerful modeling and analysis software, it is difficult to si-mulate the whole mechanical working process through single software. Based on this situa-tion, the major software companies work together, providing interfaces of software in differ-ent areas to achieve connections between different software, and completing the whole simu-lation process of mechanical systems.This study project is the digital prototyping of Φ11.182m slurry balanced TBM. The thesis is mainly divided into the following four parts.The first part is the development of digital prototype, using measurements modeling software Pro/Engineer to establish the digital prototype of tunnel machine. The second part is, based on virtual prototyping technology, studying the relationship between the speed and driving force, cutter torque and rotational speed of the TBM by using the dynamic analysis software ADAMS.The third part is using ADAMS and MATLAB/Simulink to make dynamics and control co-simulation for digital prototyping, using PID and fuzzy adaptive PID control strategies, compare the advantages of the two control methods study the control performance of the con-trol for thrust-velocity and find the change patterns of the velocity response curve, to give some guidance for the construction process.The fourth part is, by using co-simulation method, achieving the control for attitude of boring machine. Mainly studying the method of correcting deviation when boring machine deviating from the intended axis on horizontal plane, applying this method to achieve the construction of small radius curves. And verify the method on the digital prototyping.By applying digital prototyping technology, this paper achieves to make dynamics re-lated co-simulation for TBM. This method is not only suitable for the design and development of boring machine, but also it can be extended to R&D for other complicated mechanical sys-tem. So the research methods in this paper have the significant practical value. |
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