盾构掘进过程模拟的姿态复制原理与设计
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摘要
针对一般的盾构模拟实验台只能模拟盾构推进的单环工作过程、无法再现盾构在整个掘进过程中轨迹和姿态发生变化的多环连续模拟问题,提出盾构掘进模拟机构实现多环推进模拟的姿态复制原理,设计出模拟盾构整个掘进过程的实验装置。该装置由两个PRPR机构组成,通过姿态复制记录盾构掘进过程中水平方向的横摆角和竖直方向的俯仰角,在同一位置展示不同时刻盾构的姿态,从而完成整个掘进过程的模拟。通过建立该实验装置的数学模型,分析了其工作空间并通过盾构水平推进模拟实验验证了姿态复制原理的有效性,为盾构的多环连续掘进模拟提供了新的方法。
Considering that the shield machine's simulator test rigs can only simulate a single-ring thrust process but discover the changes of trial and attitude during the multiple-ring thrust process,this paper proposes a principle called attitude copying about simulating the multiple-ring thrust with a shield machine modeling rig and design a relative experimental device. This device includes two PRPR mechanisms which can record the yaw and pitch angles when the shield machine is excavating based on the attitude copying principle. The device will simulate the whole thrust process by presenting the shield machine's attitudes of different moments in the same place. This paper also establishes the device's mathematical model and analysis its working space. By simulating experiment about the shield machine's horizontal excavating,the feasibility of the attitude copying was verified.
Considering that the shield machine's simulator test rigs can only simulate a single-ring thrust process but discover the changes of trial and attitude during the multiple-ring thrust process,this paper proposes a principle called attitude copying about simulating the multiple-ring thrust with a shield machine modeling rig and design a relative experimental device. This device includes two PRPR mechanisms which can record the yaw and pitch angles when the shield machine is excavating based on the attitude copying principle. The device will simulate the whole thrust process by presenting the shield machine's attitudes of different moments in the same place. This paper also establishes the device's mathematical model and analysis its working space. By simulating experiment about the shield machine's horizontal excavating,the feasibility of the attitude copying was verified.
引文
[1]洪开荣,陈馈,冯欢欢.中国盾构技术的创新与突破[J].隧道建设,2013,33(10):801-808.
[2]侯典清.盾构推进系统顺应特性及掘进姿态控制研究[D].杭州:浙江大学,2013.
[3]傅德明,李向红,刘计山.大型多功能盾构掘进模拟试验台的研制[J].工程机械,2005,36(12):14-17.
[4]何於琏.泥水盾构控制系统检测试验台的研制[J].工程机械,2007,38(11):28-31.
[5]杨扬,龚国芳,胡国良,等.模拟盾构试验平台推进电液控制系统的研究[J].液压与气动,2006(1):3-5.
[6]刘鹏亮.盾构掘进机推进系统的关键技术研究[D].上海:上海交通大学,2008.
[7]GUO W,GUO W.A novel self-adaptive thrust system of shield machine under complex geological working condition[J].Tunnelling and Underground Space Technology,2017,63:133-143.
[8]张厚美,古力.盾构机姿态参数的测量及计算方法研究[J]现代隧道技术,2004,41(2):14-20.
[9]周宗锡,佟明安.刚体姿态控制及其在机器人控制中的应用研究[D].西安:西北工业大学,2002.
[10]熊有伦.机器人技术基础[M].武汉:华中科技大学出版社,1996.
[11]陈强.小半径曲线地铁隧道盾构施工技术[J].隧道建设,2009,29(4):446-450.
[12]洪嘉振,杨长俊.理论力学[M].北京:高等教出版社,2008.
[2]侯典清.盾构推进系统顺应特性及掘进姿态控制研究[D].杭州:浙江大学,2013.
[3]傅德明,李向红,刘计山.大型多功能盾构掘进模拟试验台的研制[J].工程机械,2005,36(12):14-17.
[4]何於琏.泥水盾构控制系统检测试验台的研制[J].工程机械,2007,38(11):28-31.
[5]杨扬,龚国芳,胡国良,等.模拟盾构试验平台推进电液控制系统的研究[J].液压与气动,2006(1):3-5.
[6]刘鹏亮.盾构掘进机推进系统的关键技术研究[D].上海:上海交通大学,2008.
[7]GUO W,GUO W.A novel self-adaptive thrust system of shield machine under complex geological working condition[J].Tunnelling and Underground Space Technology,2017,63:133-143.
[8]张厚美,古力.盾构机姿态参数的测量及计算方法研究[J]现代隧道技术,2004,41(2):14-20.
[9]周宗锡,佟明安.刚体姿态控制及其在机器人控制中的应用研究[D].西安:西北工业大学,2002.
[10]熊有伦.机器人技术基础[M].武汉:华中科技大学出版社,1996.
[11]陈强.小半径曲线地铁隧道盾构施工技术[J].隧道建设,2009,29(4):446-450.
[12]洪嘉振,杨长俊.理论力学[M].北京:高等教出版社,2008.