针对全断面硬岩隧道掘进机（TBM）在较强推进负载冲击下撑靴打滑、偏软岩层段靴体压溃侧壁围岩等问题，提出基于推进力限定和支撑力恒定的支撑推进控制系统（TFRSFCGT），以及基于掘进方向推进分力恒定和支撑力恒定的支撑推进控制系统（TFCSFCGT）. 建立TBM支撑推进机构力学模型，推导支撑油缸输出力、推进油缸输出力和支撑处围岩类别的耦合关系，设计2种基于新型控制策略的电液控制系统，利用AMESim软件和Matlab软件分别搭建液压系统模型和控制系统模型，最后搭建电液联合仿真模型. 仿真结果表明：TFRSFCGT系统和TFCSFCGT系统在提供系统所需推进力的前提下，能保持围岩实际所受支撑力恒定，最大超调量别为0.928%、0.378%；在相同负载特性下，TFCSFCGT系统掘进速度更快，而TFRSFCGT系统对负载冲击顺应性更强.%The control system based on restricted thrust force and constant support force in gripper and thrust system (TFRSFCGT), and the control system based on constant thrust force along the tunneling direction and constant support force in gripper and thrust system (TFCSFCGT) were proposed, in order to solve the problems that the gripper shoes equipped in TBM failed to support the surrounding rock under a strong thrust load impact or crushed the surrounding rock in a soft rock formation. The coupling relationship among the output force of support cylinder, the output force of thrust cylinder and the type of surrounding rock at the place of supporting was derived after establishing the mechanical model of the gripper and thrust mechanism. The electro-hydraulic systems of these two control strategies were designed, then the hydraulic system models were set up in AMESim software and the control system models were set up in Matlab software, respectively. Finally, the performance of these two control strategies was compared and analyzed by using co-simulation method. Results showed that the TFRSFCGT system and the TFCSFCGT system can maintain the support force acting on the surrounding rock under the premise of providing required propulsion, and the maximum overshoot values were 0.928% and 0.378%, respectively. The TFCSFCGT system has a faster tunneling speed, while the TFRSFCGT system has better adaptability to load impact under the same load.
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