In order to coordinate the gripper and thrust system of single gripping hard rock tunnel boring machine (TBM) and get higher complex geology adaptability, a gripper and thrust coordinated control system was designed. The mechanical model of TBM gripper and thrust was proposed, the theoretical optimal interrelation between gripper cylinder and thrust cylinder pressure was derived from it. A TBM hydraulic system coordinating gripper and thrust cylinder was designed, dynamic simulation analyses were performed with AMESim and the validity analysis was based on the thrust pressure spectrum of practical engineering. The results indicate that there is an approximate positive correlation between the theoretical optimal gripper cylinder pressure and thrust cylinder pressure. The gripper cylinder pressure curve determined by thrust cylinder pressure and displacement tracks the theoretical setting curve accurately, and its maximum relative error and mean square error are 1.45% and 0.05 MPa, which are superior to 1.72% and 0.12 MPa in the practical engineering. Therefore, the TBM gripper and thrust system are coordinated, and the new hydraulic system is effective.%为使单对水平支撑硬岩隧道掘进机(TBM)撑靴支撑系统和推进系统协调从而具有更高的复杂地质适应性,提出TBM支撑推进协调控制系统.建立TBM支撑推进机构力学模型,根据模型推导推进缸压力与撑靴支撑缸压力的理论最优关系;设计一种TBM支撑推进协调控制液压系统,利用AMESim仿真软件对液压系统进行动态仿真分析,并以某工程地段实际推进压力谱为标准对该系统进行有效性分析.研究结果表明:相同推进位移下,撑靴支撑缸压力理论最优值与推进缸压力近似呈线性正相关;系统的撑靴支撑缸压力曲线能较好地跟踪其理论设定曲线而与推进压力及位移相协调,且其最大相对误差与均方误差分别为1.45%和0.05 MPa,小于实际工程中的最大相对误差1.72%与均方误差0.12 MPa,可见所建立的支撑推进协调控制系统有效.
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