Coupled modeling and dynamic characteristics of TBM cutterhead system under uncertain factors

Huo, Junzhou; Xu, Zhisheng; Meng, Zhichao; Li, Jianbin; Dong, Jianghui; Wang, Liping

doi:10.1016/j.ymssp.2020.106664

Cited by 22 publications

(4 citation statements)

References 28 publications

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“…Taking the storage cabin and cutter on the spoke arm as starting point and ending point, respectively, the main extension area of the robot arm is in the mud water balance chamber with 8630 mm diameter and 995 mm depth, the air cushion chamber with 8630 mm diameter and 1425 mm depth, and four tilted brackets arranging at the back of cut-terhead, as shown in Fig. 2, b [30]. The robot arm is designed with six degrees of freedom, which can effectively avoid the collision with the inner structure of shield machine.…”

Section: Configuration Of Cutter Changing Robot Armmentioning

confidence: 99%

Accessibility and Trajectory Planning of Cutter Changing Robot Arm for Large-Diameter Slurry Shield

Yang

Zeng

Ren

et al. 2023

mech

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Aiming at solving the problems of huge cost, long cycle and high risky during manual cutter changing process for shield machine, a cutter changing robot was designed to adapt to its narrow and complex space, the workspace and motion path of cutter changing robot arm were studied. Firstly, by analyzing the internal space and cutter layout characteristic, the configuration of the robot arm was proposed, and the dimension of each rod was designed using multi-objective optimization method. The kinematic model of the robot arm was established by using the D-H model method to analyze its reachable working space. While the inverse kinematic model of the robot arm was solved by the Newton-Raphson iterative method to complete the trajectory planning of the arm for all cutter locations, where the relationship between the target position and the joint variables was established. The motion stability of the robot was verified by virtual simulation and test. The results show that the working space of the designed robot arm meets the cutter changing requirements that all the cutter position can be reached. Moreover, the power output of the drive is smooth, which can transport the cutter weighing up to 250kg.

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Section: Configuration Of Cutter Changing Robot Armmentioning

confidence: 99%

Accessibility and Trajectory Planning of Cutter Changing Robot Arm for Large-Diameter Slurry Shield

Yang

Zeng

Ren

et al. 2023

mech

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“…However, the SM has a higher degree of mechanization and automation, is less affected by human factors, and has a higher construction speed. Besides, due to the development of TBM (tunnel boring machine) technology, the application range of SM is gradually expanding [19,20].…”

Section: Introductionmentioning

confidence: 99%

Movements and Its In‐Process Control of Ground and Built Structures due to Tunnelling in Urban Areas

Zhang

Cao

Fei

et al. 2022

Advances in Civil Engineering

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Tunnelling-induced environmental responses including ground movements and deformation of the environmental structures are the two prominent issues needed to be carefully disposed in urban areas. This paper tries to develop a theoretical framework to evaluate and control the environmental deformation to avoid two disasters including ground collapse and structural failure. According to the mechanical responses of the ground due to tunnelling, the urban ground in China can be roughly divided into three types including composite multilayered ground, highly water-bearing ground, and mixed rock ground. The displacements of ground and environmental structures due to tunnelling in multilayered ground are emphatically discussed in view of its largest proportion distribution. The cumulative and mutational characteristics of the displacements are considered, which can be the main basis for distinguishing the occurrence of two types of disasters. Based on the development of the displacements, the three-stage evolution model of disaster is established. Combined with the existing displacement and degeneration of the ground and structures and the safety factor, the displacement control standards can be eventually determined. The theoretical framework of in-process control is established which is based on the prediction, measurement, and control standards of the displacements. In the framework, the prediction model can be modified in time, and the tunnelling parameters can be adjusted synchronously. The current research is successfully applied in the Qinghuayuan Tunnel Project.

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“…Therefore, the relationship between monitoring parameters and geology can be described by data analysis. However, the coupling relationship of many parameters in the monitoring data and the high-dimensional characteristics of the data make it difficult to analyze these data using simple statistical analysis methods [ 14 , 15 ]. These factors make the analysis of such data challenging.…”

Section: Introductionmentioning

confidence: 99%

Prediction of Geological Parameters during Tunneling by Time Series Analysis on In Situ Data

Liu

Yang

Cai

et al. 2021

Computational Intelligence and Neuroscience

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A tunnel boring machine (TBM) is a type of heavy load equipment that is widely used in underground tunnel construction. The geological conditions in the tunneling process are decisive factors that directly affect the control of construction equipment. Because TBM tunneling always takes place underground, the acquisition of geological information has become a key issue in this field. This study focused on the internal relationships between the sequential nature of tunnel in situ data and the continuous interaction between equipment and geology and introduced the long short-term memory (LSTM) time series neural network method for processing in situ data. A method for predicting the geological parameters in advance based on TBM real-time state monitoring data is proposed. The proposed method was applied to a tunnel project in China, and the R2 of the prediction results for five geological parameters are all higher than 0.98. The performance of the LSTM was compared with that of an artificial neural network (ANN). The prediction accuracy of the LSTM was significantly higher compared with that of the ANN, and the generalization and robustness of LSTM are also better than those of ANN, which indicates that the proposed LSTM method could extract the sequence properties of the in situ data. The rule of equipment-geology interaction was reflected by increasing the memory structure of the model through the introduction of the “gate” concept, and the accurate prediction of geological parameters during tunneling was realized. Additionally, the influence of time window and distance of prediction on the model is discussed. The proposed method provides a new approach toward obtaining geological information during TBM construction and also provides a certain reference for the effective analysis of the in situ data with sequence properties.

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Coupled modeling and dynamic characteristics of TBM cutterhead system under uncertain factors

Cited by 22 publications

References 28 publications

Accessibility and Trajectory Planning of Cutter Changing Robot Arm for Large-Diameter Slurry Shield

Accessibility and Trajectory Planning of Cutter Changing Robot Arm for Large-Diameter Slurry Shield

Movements and Its In‐Process Control of Ground and Built Structures due to Tunnelling in Urban Areas

Prediction of Geological Parameters during Tunneling by Time Series Analysis on In Situ Data

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