A method for combined mechanical-electro-hydraulic simulation of a shield tunneling machine

Abstract

This invention provides a method for joint electro-hydraulic simulation of tunnel boring machines (TBMs), specifically including: establishing a geological simulation model of the supporting tunnel and a multi-body dynamics simulation model in dynamics simulation software; establishing an electro-hydraulic control system simulation model in hydraulic system simulation software; performing joint simulation: the electro-hydraulic control system simulation model transmits signals to the multi-body dynamics simulation model, driving the multi-body dynamics simulation model to perform dynamics simulation; the multi-body dynamics simulation model transmits the signals generated by the dynamics simulation back to the electro-hydraulic control system simulation model for reverse correction; and outputting simulation data. The advantages of this invention are that it can integrate the geological simulation model of the supporting tunnel, the multi-body dynamics simulation model, and the electro-hydraulic control system simulation model; simultaneously, based on bidirectional coupling, it can bidirectionally transmit physical parameters according to the needs of different subsystems, ensuring the accuracy, convenience, and efficiency of simulation analysis.

Description

Technical Field

[0001] This invention relates to the field of tunnel boring machines, and more specifically to a method for combined electromechanical-hydraulic simulation of tunnel boring machines. Background Technology

[0002] With the rapid development of infrastructure construction in my country, tunnel boring machines (TBMs) are increasingly being selected as specialized machinery for tunnel excavation. TBMs have a unique structure and are enormous, requiring the coordinated operation of mechanical, electrical, and hydraulic systems to function properly. However, strong coupling and nonlinear relationships exist between these systems. Furthermore, the complex geological environment in which TBMs operate leads to frequent load variations and inter-force coupling, making overall simulation analysis of the TBM highly challenging.

[0003] In existing technologies, the discrete element method (DEM) model is typically used to simulate soil particles in the tunnel geological simulation model supporting the shield body during tunnel boring machine (TBM) dynamics simulation. Under the action of this DEM-supported geological simulation model, the TBM maintains its tunneling posture. However, this method results in a large computational scale and low simulation efficiency. Furthermore, TBM tunneling simulations primarily focus on straight-line tunneling, with limited research on directional tunneling simulations. Alternatively, a highly complex DEM-supported geological simulation model can be used, coupled with a propulsion system based entirely on the actual model and featuring rear-end damping of the propulsion cylinders. However, this method also results in a large computational load and poor convergence.

[0004] Furthermore, the design and verification of the stiffness and strength of the main mechanical components and the hydraulic system in tunnel boring machines (TBMs) typically employ an independent verification method. This involves artificially setting ultimate load conditions based on experience and conducting static strength verification and independent hydraulic capacity verification under purely static conditions. However, this method, using independent static evaluation, struggles to accurately reflect the true dynamic state of each system and their coupling relationships. It also fails to assess whether the artificially defined conditions represent the worst-case scenario. Consequently, it easily leads to inaccurate assessments of the stress on the main mechanical components and the impact, fluctuation characteristics, and required ultimate capacity of the hydraulic system. This results in significant deviations from reality, potentially causing design verification failures and serious design problems in the product.

[0005] In summary, there is an urgent need for a combined electromechanical-hydraulic simulation method for tunnel boring machines (TBMs) that integrates the geological simulation model of the supporting tunnel, the mechanical multibody dynamics simulation model, and the electro-hydraulic control system simulation model, thereby addressing the shortcomings of existing technologies. Summary of the Invention

[0006] The purpose of this invention is to provide a combined electromechanical-hydraulic simulation method for tunnel boring machines, integrating the geological simulation model of the supporting tunnel, the mechanical multibody dynamics simulation model, and the electro-hydraulic control system simulation model. The specific technical solution is as follows:

[0007] A method for joint electromechanical-hydraulic simulation of a tunnel boring machine includes the following steps:

[0008] Step S100: Establish the simulation model, specifically:

[0009] Establish geological simulation models and mechanical multibody dynamics simulation models of the supporting tunnel in dynamics simulation software;

[0010] An electro-hydraulic control system simulation model is established in hydraulic system simulation software; wherein, the subsystems of the electro-hydraulic control system include a propulsion hydraulic system, an articulated hydraulic system, a screw conveyor hydraulic system, and a segment assembly machine hydraulic system;

[0011] Step S200: Co-simulation, specifically:

[0012] The electromechanical-hydraulic joint simulation technology is based on dynamic simulation software and hydraulic system simulation software, with a two-way joint simulation interface; in which, the dynamic simulation software is the master controller and the hydraulic system simulation software is the slave controller.

[0013] The electro-hydraulic control system simulation model in the hydraulic system simulation software transmits signals to the mechanical multibody dynamics simulation model in the dynamics simulation software, driving the mechanical multibody dynamics simulation model to perform dynamics simulation.

[0014] The mechanical multibody dynamics simulation model transmits the signals generated by the dynamics simulation back to the electro-hydraulic control system simulation model for reverse correction.

[0015] Output simulation data.

[0016] Preferably, in step S200, the co-simulation includes performing a co-simulation of the propulsion hydraulic system and the articulated hydraulic system, specifically including the following steps:

[0017] Step S201: Input the speed signal of the electro-hydraulic control system simulation model as the original control parameter into the hydraulic system simulation software;

[0018] Step S202: The hydraulic system simulation software runs the parameters to obtain the dynamic hydraulic pressure;

[0019] Step S203: The dynamic hydraulic pressure is used as an active input signal and transmitted to the mechanical multibody dynamics simulation model;

[0020] Step S204: The mechanical multibody dynamics simulation model receives the signal and performs dynamics simulation;

[0021] Step S205: The mechanical multibody dynamics simulation model transmits the velocity signal generated by the dynamics simulation back to the electro-hydraulic control system simulation model, and performs reverse correction on the control parameters of the electro-hydraulic control system simulation model.

[0022] Step S206: Output simulation data.

[0023] Preferably, in step S200, the co-simulation further includes co-simulating the hydraulic system of the screw conveyor and the hydraulic system of the segment assembly machine, specifically:

[0024] Step S211: Using PID control, the displacement signal or angle signal of the electro-hydraulic control system simulation model is used as the original control parameter and transmitted to the mechanical multibody dynamics simulation model.

[0025] Step S212: The mechanical multibody dynamics simulation model receives the signal and performs dynamics simulation;

[0026] Step S213: The mechanical multibody dynamics simulation model transmits the torque or torque signal generated by the dynamics simulation back to the electro-hydraulic control system simulation model, and performs reverse correction on the control parameters of the electro-hydraulic control system simulation model;

[0027] Step S214: Output simulation data.

[0028] Preferably, in step S100, a geological simulation model of the supporting tunnel is established, specifically by using CREO software to establish a rigid tunnel simulation model and a corresponding shield outer contour simulation model, and importing them into the dynamic simulation software; the rigid tunnel simulation model and the shield outer contour simulation model also include a six-way bushing unit and a rigid sliding unit.

[0029] The six-way bushing unit is connected to the rigid sliding unit and the outer contour simulation model of the shield body to simulate the force-displacement relationship between the soil and the shield body during the actual tunneling process of the tunnel boring machine; the rigid sliding unit is connected to the six-way bushing unit and the rigid tunnel simulation model to simulate the contact between the tunnel and the shield body during the actual tunneling process of the tunnel boring machine; the six-way bushing unit and the rigid sliding unit work together to simulate the tunneling of the shield body in the tunnel.

[0030] Preferably, step S100 further includes benchmarking and correcting the geological simulation model of the supporting tunnel. Specifically, based on the historical operating data of the actual tunneling of the shield machine, the mechanical multibody dynamics simulation model is loaded with partitioned hydraulic propulsion force, and the six-directional mechanical parameters of the six-directional bushing unit at the four quadrant points on the outer contour of the shield are benchmarked and corrected to complete the benchmarking and correction of the geological simulation model of the supporting tunnel.

[0031] The historical operational data includes the shield centerline trajectory, earth pressure at the four quadrant points on the outer contour of the shield, the zoned hydraulic thrust in the hydraulic system, the attitude trajectories of the front and rear sections of the shield, and the tunnel geological parameters during the same time period.

[0032] Preferably, in step S100, a mechanical multibody dynamics simulation model is established, specifically by using CREO software to construct a three-dimensional model of the main mechanical components of the tunnel boring machine, importing the three-dimensional model into the dynamics simulation software, establishing corresponding connection relationships in the dynamics simulation software, and assembling it into a mechanical multibody dynamics simulation model.

[0033] The main mechanical components include a cutterhead, a front shield, a middle shield, a rear shield, a main drive, a propulsion cylinder group, an articulated cylinder group, a screw conveyor, and a segment assembly machine.

[0034] Preferably, in step S100, in establishing the mechanical multibody dynamics simulation model, it is also necessary to perform redundancy removal work on the simulation models of the propulsion cylinder group and the articulated cylinder group, specifically including the following steps:

[0035] Step S101: Divide the propulsion cylinder group into zones according to the zoned control mode in the tunnel boring machine, and use a six-way bushing unit between each cylinder and the shield body to simulate the joint bearing and damping sleeve.

[0036] Step S102: Based on the structural and material parameters of the spherical bearing and the damping sleeve, establish the finite element model of the spherical bearing and the damping sleeve;

[0037] Step S103: Apply a unidirectional unit force or unit moment to the six-way bushing element and calculate the stiffness coefficient of the six-way bushing element to obtain the six-way stiffness coefficient.

[0038] Step S104: Based on the actual thrust cylinder pressure, stroke, and vehicle attitude trajectory data of the tunnel boring machine, adjust and correct the six-axis stiffness parameters in the mechanical multibody dynamics simulation model to complete the redundancy removal work.

[0039] Preferably, step S100 further includes benchmarking and correcting the mechanical multibody dynamics simulation model, specifically: applying gravity load to the mechanical multibody dynamics simulation model and taking the required data based on the historical operation data of the actual tunneling of the tunnel boring machine, and benchmarking and correcting the mechanical multibody dynamics simulation model.

[0040] The required data includes thrust and displacement data for the propulsion cylinder group, thrust and displacement data for the articulated cylinder group, main drive speed and torque data, speed and torque data for the hydraulic system of the screw conveyor, speed and torque data for the motor of the segment assembly machine hydraulic system, shield machine body posture data, and center trajectory data.

[0041] Preferably, in step S100, an electro-hydraulic control system simulation model is established. Specifically, based on the parameters of the tunnel boring machine, a principle model of the electro-hydraulic control system of the tunnel boring machine is established. The principle model of the electro-hydraulic control system is built in hydraulic system simulation software, a corresponding electro-hydraulic control system simulation model is established, and the subsystems of the electro-hydraulic control system are modeled for partitioned control.

[0042] Preferably, step S100 further includes benchmarking and correcting the electro-hydraulic control system simulation model, specifically:

[0043] Based on historical operating data of actual tunneling of the tunnel boring machine, the propulsion hydraulic system and articulated hydraulic system were benchmarked and corrected: the actual hydraulic cylinder thrust, displacement and speed data were taken, closed-loop simulation was performed, and the parameters of hydraulic control valves, actuators and simulation models were corrected.

[0044] Based on historical operating data from actual tunnel boring machine excavation, the hydraulic systems of the screw conveyor and the segment assembly machine were benchmarked and corrected: the hydraulic system parameter model was corrected by using PID control to control the motor speed, cylinder thrust, and displacement relationship.

[0045] The beneficial effects of applying the technical solution of this invention are as follows: The shield tunneling machine electromechanical-hydraulic joint simulation method provided by this invention is a multidisciplinary joint simulation method, which enables the shield tunneling machine to integrate the geological simulation model of the supporting tunnel, the mechanical multibody dynamics simulation model, and the electro-hydraulic control system simulation model on the basis of integrating the geological action of supporting the tunnel. The three types of simulation models have been benchmarked and corrected according to the historical operation data of the actual tunneling of the shield tunneling machine, thus providing a model basis for the joint simulation of the whole machine. At the same time, the joint simulation method is a two-way coupled joint simulation based on dynamic simulation software and hydraulic system simulation software. It can transmit physical parameters bidirectionally according to the needs of different subsystems, and complete the joint simulation of the whole machine through dynamic and iterative processes. It provides boundary conditions and load conditions for the design and verification of the whole machine, ensuring the accuracy, convenience, and efficiency of simulation analysis during the dynamic operation of the whole machine.

[0046] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0047] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0048] Figure 1This is a schematic diagram illustrating the working principle of the electromechanical-hydraulic joint simulation method for tunnel boring machines provided in a preferred embodiment of the present invention.

[0049] Figure 2 This is a schematic diagram of the connection between the front rigid tunnel simulation model and the rear rigid tunnel simulation model provided in a preferred embodiment of the present invention;

[0050] Figure 3 This is a schematic diagram of the connection between the rigid tunnel simulation model and the outer contour simulation model of the shield provided in a preferred embodiment of the present invention;

[0051] Among them, 1. Rigid tunnel simulation model, 1.1. Front section rigid tunnel simulation model, 1.2. Rear section rigid tunnel simulation model, 1.3. Rotation center, 2. Shield outer contour simulation model, 3. Six-way bushing element, 4. Rigid sliding element. Detailed Implementation

[0052] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered by the claims.

[0053] Example:

[0054] This embodiment discloses a preferred method for electromechanical-hydraulic joint simulation of tunnel boring machines. (See also...) Figure 1 A geological simulation model of the supporting tunnel and a mechanical multibody dynamics simulation model are established in dynamics simulation software, and an electro-hydraulic control system simulation model is established in hydraulic system simulation software. The electro-hydraulic control system includes subsystems such as a propulsion hydraulic system, an articulated hydraulic system, a screw conveyor hydraulic system, and a segment assembly machine hydraulic system. The preferred dynamics simulation software is Adams, and the preferred hydraulic system simulation software is Amesim. The three simulation models are benchmarked and corrected using historical operating data from actual tunneling operations of the tunnel boring machine, and then a joint simulation is performed. The specific steps include:

[0055] Step S100: Establish the simulation model, specifically:

[0056] In Adams, a geological simulation model of the supporting tunnel is created as follows:

[0057] Using CREO software, a rigid tunnel simulation model 1 was established based on the actual tunnel diameter; see [link / reference]. Figure 2 The preferred rigid tunnel simulation model 1 includes a front rigid tunnel simulation model 1.1 and a rear rigid tunnel simulation model 1.2. Both the front rigid tunnel simulation model 1.1 and the rear rigid tunnel simulation model 1.2 are rigid bodies and are connected at the rotation center 1.3 by using a six-way bushing unit to simulate a ball joint connection with stiffness and damping.

[0058] A shield body outer contour simulation model 2 is established corresponding to the rigid tunnel simulation model 1. The shield body of the outer contour simulation model 2 is divided into a front shield, a middle shield, and a rear shield, with the front and rear parts of the middle shield separated. The outer contour simulation model 2 works in conjunction with the rigid tunnel simulation model 1 to ensure that the length of the front section of the rigid tunnel simulation model 1.1 can cover the front and rear parts of the shield body from the front shield to the middle shield, and the length of the rear section of the rigid tunnel simulation model 1.2 can cover the front and rear parts of the middle shield to the rear shield.

[0059] Import the rigid tunnel simulation model 1 and the shield outer contour simulation model 2 into Adams; see [link / reference] Figure 3 The rigid tunnel simulation model 1 and the shield outer contour simulation model 2 also include a six-way bushing unit 3 and a rigid sliding unit 4. Specifically, the six-way bushing unit 3 is connected to the rigid sliding unit 4 and the shield outer contour simulation model 2 to simulate the force-displacement relationship between the soil and the shield during the actual tunneling process of the tunnel boring machine; the rigid sliding unit 4 is connected to the six-way bushing unit 3 and the rigid tunnel simulation model 1 to simulate the contact between the tunnel and the shield during the actual tunneling process of the tunnel boring machine; the six-way bushing unit 3 and the rigid sliding unit 4 cooperate to simulate the tunneling of the shield in the tunnel.

[0060] Specifically, by controlling the magnitude of the hydraulic pressure in the propulsion system zones, it is possible to simulate the curved turning motion of the shield body in the tunnel.

[0061] Specifically, this also includes benchmarking and correcting the geological simulation model of the supporting tunnel. Specifically, based on the historical operating data of the actual tunneling of the shield machine, the mechanical multibody dynamics simulation model is loaded with zoned hydraulic propulsion force, and the six-directional mechanical parameters of the six-directional bushing unit at the four quadrant points on the outer contour of the shield are benchmarked and corrected, including three-directional translation and three-directional rotation, to complete the benchmarking and correction of the geological simulation model of the supporting tunnel.

[0062] The historical operational data includes the shield centerline trajectory, earth pressure at the four quadrant points on the outer contour of the shield, the zoned hydraulic thrust in the hydraulic system, the attitude trajectories of the front and rear sections of the shield, and the tunnel geological parameters during the same time period.

[0063] To create a mechanical multibody dynamics simulation model in Adams, specifically:

[0064] Using CREO software, a three-dimensional model of the main mechanical components of the tunnel boring machine is constructed. The three-dimensional model is then imported into Adams, and corresponding connection relationships are established in Adams according to the constraint relationships of each main mechanical component in the tunnel boring machine. Corresponding material information or inertia information is assigned to each component, and the models are assembled into a mechanical multibody dynamics simulation model.

[0065] The main mechanical components include a cutter head, a front shield, a middle shield, a rear shield, a main drive, a propulsion cylinder group, an articulated cylinder group, a segment assembly machine, and a screw conveyor.

[0066] Furthermore, when constructing the 3D models of the main mechanical components, bolts, nuts, pins, and structural parts were ignored or simplified.

[0067] Preferably, when assembling the mechanical multibody dynamics simulation model, a rotary joint is used between the cutter head and the bearing housing, a fixed joint is used between the bearing housing and the main drive, a fixed joint is used between the front shield and the front part of the middle shield, and a fixed joint is used between the rear part of the middle shield and the rear shield.

[0068] Specifically, for the hydraulic system of the segment assembly machine, finite element analysis software is used to perform finite element modal calculation analysis on the chuck and support beam. To improve the speed and accuracy of subsequent simulations, a hexahedral mesh is used, and a flexible body model file with the suffix MNF is generated. The flexible body model is imported into the mechanical multibody dynamics simulation model, and the cantilever structure in the segment assembly machine is replaced by a flexible body model to establish a rigid-flexible coupling model. Specifically, the preferred finite element analysis software is Abaqus.

[0069] Specifically, in the process of establishing the mechanical multibody dynamics simulation model, it is also necessary to perform redundancy removal work on the simulation models of the propulsion cylinder group and the articulated cylinder group, which includes the following steps:

[0070] Step S101: Divide the propulsion cylinder group into zones according to the zoned control mode in the tunnel boring machine, and use a six-way bushing unit between each cylinder and the shield body to simulate the joint bearing and damping sleeve.

[0071] Step S102: Based on the structural and material parameters of the spherical bearing and the damping sleeve, establish the finite element model of the spherical bearing and the damping sleeve;

[0072] Step S103: Apply a unidirectional unit force or unit moment to the six-way bushing unit and calculate the stiffness coefficient of the six-way bushing unit to obtain the six-way stiffness coefficient; specifically, the six-way orientation is three-way translation and three-way rotation.

[0073] Step S104: Based on the actual thrust cylinder pressure, stroke, and vehicle attitude trajectory data of the tunnel boring machine, adjust and correct the six-axis stiffness coefficients in the mechanical multibody dynamics simulation model to complete the redundancy removal work.

[0074] Specifically, this also includes benchmarking and correcting the mechanical multibody dynamics simulation model. Specifically, based on the historical operating data of the actual tunneling of the tunnel boring machine, gravity loads are applied to the mechanical multibody dynamics simulation model and the required data is obtained. The mechanical multibody dynamics simulation model is then benchmarked and corrected.

[0075] The required data includes thrust and displacement data for the propulsion cylinder group, thrust and displacement data for the articulated cylinder group, main drive speed and torque data, speed and torque data for the hydraulic system of the screw conveyor, speed and torque data for the motor of the segment assembly machine hydraulic system, shield machine body posture data, and center trajectory data.

[0076] The steps to build a simulation model of an electro-hydraulic control system in Amesim are as follows:

[0077] Based on the parameters of the tunnel boring machine (TBM), a principle model of the TBM's electro-hydraulic control system is established. The principle model of the electro-hydraulic control system is then built in Amesim, and a corresponding simulation model of the electro-hydraulic control system is established. The subsystems of the electro-hydraulic control system are then modeled for zoned control.

[0078] Specifically, this also includes benchmarking and revising the simulation model of the electro-hydraulic control system, specifically:

[0079] Based on historical operating data of actual tunneling of the tunnel boring machine, the propulsion hydraulic system and articulated hydraulic system were benchmarked and corrected: the actual hydraulic cylinder thrust, displacement and speed data were taken, closed-loop simulation was performed, and the parameters of hydraulic control valves, actuators and simulation models were corrected.

[0080] Based on historical operating data from actual tunnel boring machine excavation, the hydraulic systems of the screw conveyor and the segment assembly machine were benchmarked and corrected: the hydraulic system parameter model was corrected by using PID control to control the motor speed, cylinder thrust, and displacement relationship.

[0081] Step S200: Co-simulation, specifically:

[0082] Based on the Adams-Amesim electromechanical-hydraulic co-simulation technology, a bidirectional co-simulation interface is used. Adams acts as the master controller, and Amesim acts as the slave controller. The electro-hydraulic control system simulation model in Amesim transmits signals to the mechanical multibody dynamics simulation model in Adams, driving the mechanical multibody dynamics simulation model to perform dynamic simulation. The mechanical multibody dynamics simulation model then transmits the signals generated by the dynamic simulation back to the electro-hydraulic control system simulation model for reverse correction. Simulation data is output.

[0083] Specifically, the joint simulation of the propulsion hydraulic system and the articulated hydraulic system includes the following steps:

[0084] Step S201: Input the speed signal of the electro-hydraulic control system simulation model as the original control parameter into Amesim; wherein, the speed signal is the flow electrical signal corresponding to the speed obtained by the change of the propulsion displacement of the electro-hydraulic control system with time during the actual tunneling process of the tunnel boring machine;

[0085] Step S202: Amesim runs the parameters to obtain the dynamic hydraulic pressure;

[0086] Step S203: The dynamic hydraulic pressure is used as an active input signal and transmitted to the mechanical multibody dynamics simulation model;

[0087] Step S204: The mechanical multibody dynamics simulation model receives the signal and performs dynamics simulation;

[0088] Step S205: The mechanical multibody dynamics simulation model transmits the velocity signal generated by the dynamics simulation back to the electro-hydraulic control system simulation model, and performs reverse correction on the control parameters of the electro-hydraulic control system simulation model.

[0089] Step S206: Output simulation data.

[0090] In the joint simulation of the propulsion hydraulic system and the articulated hydraulic system, the joint simulation process is bidirectional, dynamic, and iterative. During the joint simulation, the operating parameters of the mechanical system, propulsion hydraulic system, articulated hydraulic system, and control system, including the tunnel, can be dynamically obtained.

[0091] Specifically, a joint simulation of the hydraulic system of the screw conveyor and the hydraulic system of the segment assembly machine is conducted, including the following steps:

[0092] Step S211: Using PID control, the displacement signal or angle signal of the electro-hydraulic control system simulation model is used as the original control parameter and transmitted to the mechanical multibody dynamics simulation model.

[0093] Step S212: The mechanical multibody dynamics simulation model receives the signal and performs dynamics simulation;

[0094] Step S213: The mechanical multibody dynamics simulation model transmits the torque or torque signal generated by the dynamics simulation back to the electro-hydraulic control system simulation model, and performs reverse correction on the control parameters of the electro-hydraulic control system simulation model;

[0095] Step S214: Output simulation data.

[0096] In the joint simulation of the hydraulic systems of the screw conveyor and the segment assembly machine, the joint simulation is a two-way joint simulation. During the joint simulation, the operating parameters of the mechanical system of the tunnel, the hydraulic system of the screw conveyor, the hydraulic system of the segment assembly machine, and the control system can be dynamically obtained.

[0097] The shield tunneling machine electromechanical-hydraulic co-simulation method provided in this embodiment is a two-way coupled co-simulation based on Adams and Amesim. It can bidirectionally transmit physical parameters according to the needs of different subsystems, and dynamically and iteratively complete the co-simulation of the entire machine, providing boundary conditions and load conditions for the design and verification of the whole machine. Through the shield tunneling machine electromechanical-hydraulic co-simulation provided in this embodiment, the operating parameters of the tunnel, mechanical system, hydraulic system, and control system during the tunneling process can be obtained. For the main mechanical components of the shield tunneling machine, stress and strain data can be acquired in real time to verify stiffness and strength. Simultaneously, for the hydraulic system, the actual hydraulic operating conditions, including hydraulic shock, fluctuation characteristics, and ultimate capacity, can be obtained, thereby ensuring the accuracy, convenience, and efficiency of the simulation analysis and completing the verification of the hydraulic system.

[0098] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for combined mechanical-electro-hydraulic simulation of a tunneling machine, characterized in that, The method comprises the following steps: Step S100: establishing a simulation model, specifically: Establishing a supporting tunnel geological simulation model and a mechanical multi-body dynamics simulation model in a dynamics simulation software; Establishing an electro-hydraulic control system simulation model in a hydraulic system simulation software; wherein, the subsystems of the electro-hydraulic control system include a propulsion hydraulic system, an articulated hydraulic system, a screw conveyor hydraulic system, and a segment erector hydraulic system; Step S200: joint simulation, specifically: Based on the electro-mechanical-hydraulic joint simulation technology of the dynamics simulation software-hydraulic system simulation software, input a bidirectional joint simulation interface; wherein, the dynamics simulation software is the master control, and the hydraulic system simulation software is the slave control; The electro-hydraulic control system simulation model in the hydraulic system simulation software transmits signals to the mechanical multi-body dynamics simulation model in the dynamics simulation software, to drive the mechanical multi-body dynamics simulation model to perform dynamics simulation; The mechanical multi-body dynamics simulation model reversely transmits the signals generated by the dynamics simulation to the electro-hydraulic control system simulation model for reverse correction; Output simulation data; In step S100, the supporting tunnel geological simulation model is established, specifically: Using the CREO software, a rigid tunnel simulation model and a corresponding shield body outer contour simulation model are established, and are imported into the dynamics simulation software; the rigid tunnel simulation model and the shield body outer contour simulation model further comprise a six-way bushing unit and a rigid sliding unit; The six-way bushing unit and the rigid sliding unit are connected with the shield body outer contour simulation model, to simulate the force-displacement relationship between the soil and the shield body in the actual tunneling process of the shield machine; the rigid sliding unit and the six-way bushing unit are connected with the rigid tunnel simulation model, to simulate the contact between the tunnel and the shield body in the actual tunneling process of the shield machine; the six-way bushing unit and the rigid sliding unit cooperate to simulate the tunneling of the shield body in the tunnel; The mechanical multi-body dynamics simulation model is established, specifically:

2. The method of claim 1, wherein, Using the CREO software, a three-dimensional model of the main mechanical components of the shield machine is constructed, the three-dimensional model is imported into the dynamics simulation software, and the corresponding connection relationship is established in the dynamics simulation software, to assemble the mechanical multi-body dynamics simulation model; The main mechanical components include a cutter head, a front shield, a middle shield, a rear shield, a main drive, a propulsion cylinder group, an articulated cylinder group, a screw conveyor, and a segment erector. In step S200, the joint simulation includes joint simulation of the propulsion hydraulic system and the articulated hydraulic system, specifically comprising the following steps: Step S201: inputting the speed signal of the electro-hydraulic control system simulation model as the original control parameter into the hydraulic system simulation software; Step S202: obtaining dynamic hydraulic pressure by running the parameter in the hydraulic system simulation software; Step S203: transmitting the dynamic hydraulic pressure as the active input signal to the mechanical multi-body dynamics simulation model; Step S204: receiving the signal by the mechanical multi-body dynamics simulation model, to perform dynamics simulation; Step S205: reversely transmitting the speed signal generated by the dynamics simulation to the electro-hydraulic control system simulation model, to reversely correct the control parameter of the electro-hydraulic control system simulation model; Step S206: output simulation data.

3. The method of claim 2, wherein, In step S200, the co-simulation further includes co-simulating the screw conveyor hydraulic system and the segment erector hydraulic system, specifically: Step S211: using PID control, taking the displacement signal or angle signal of the electro-hydraulic control system simulation model as the original control parameter, and transmitting it to the mechanical multi-body dynamics simulation model; Step S212: the mechanical multi-body dynamics simulation model receives the signal and performs dynamics simulation; Step S213: the mechanical multi-body dynamics simulation model reversely transmits the torque signal or torque arm signal generated by the dynamics simulation to the electro-hydraulic control system simulation model, and reversely corrects the control parameter of the electro-hydraulic control system simulation model; Step S214: output simulation data.

4. The method of claim 1, wherein, In step S100, the supporting tunnel geological simulation model is also subjected to benchmarking and correction, specifically: according to the historical operation data of the actual tunneling of the shield machine, the mechanical multi-body dynamics simulation model is loaded with the partitioned hydraulic thrust, and the six-direction mechanical parameters of the six-direction bushing unit at the four-quadrant points on the outer contour of the shield body are subjected to benchmarking and correction, thereby completing the benchmarking and correction of the supporting tunnel geological simulation model; The historical operation data includes the shield body center line trajectory, the earth pressure at the four-quadrant points on the outer contour of the shield body, the partitioned hydraulic thrust in the hydraulic system, the attitude trajectory of the front section and the rear section of the shield body, and the tunnel geological parameters in the same time period.

5. The method of claim 1, wherein, In step S100, when establishing the mechanical multi-body dynamics simulation model, the simulation models of the thrust cylinder group and the articulated cylinder group also need to be de-redundant, specifically including the following steps: Step S101: according to the partitioned control mode of the thrust cylinder group in the shield machine, the partition is performed, and a six-direction bushing unit is used between each cylinder and the shield body to simulate the joint bearing and the damping sleeve; Step S102: according to the structure and material parameters of the joint bearing and the damping sleeve, a finite element model of the joint bearing and the damping sleeve is established; Step S103: a unit force or a unit torque is loaded on the six-direction bushing unit in a single direction, and the stiffness coefficient of the six-direction bushing unit is calculated to obtain the six-direction stiffness coefficient; Step S104: according to the thrust cylinder pressure, stroke, and vehicle attitude trajectory data of the actual tunneling of the shield machine, the six-direction stiffness parameters in the mechanical multi-body dynamics simulation model are adjusted and corrected to complete the de-redundancy work.

6. The method of claim 1, wherein, In step S100, the mechanical multi-body dynamics simulation model is also subjected to benchmarking and correction, specifically: according to the historical operation data of the actual tunneling of the shield machine, the mechanical multi-body dynamics simulation model is subjected to gravity loading and data extraction, and the mechanical multi-body dynamics simulation model is subjected to benchmarking and correction; The required data includes the partitioned thrust and displacement data of the thrust cylinder group, the thrust and displacement data of the articulated cylinder group, the main drive speed and torque data, the screw conveyor hydraulic system speed and torque data, the segment erector hydraulic system motor speed and torque data, the shield machine vehicle attitude data, and the center trajectory line data.

7. The method of claim 1, wherein, In step S100, an electro-hydraulic control system simulation model is established, specifically: according to the parameters of the shield tunneling machine, an electro-hydraulic control system principle model of the shield tunneling machine is established, the electro-hydraulic control system principle model is built in a hydraulic system simulation software, a corresponding electro-hydraulic control system simulation model is established, and a subsystem of the electro-hydraulic control system is subjected to partition control modeling.

8. The method of claim 7, wherein, In step S100, the electro-hydraulic control system simulation model is also subjected to benchmarking and correction, specifically: According to the historical operation data of actual tunneling of the shield tunneling machine, benchmarking and correction are performed on the propulsion hydraulic system and the articulated hydraulic system: actual hydraulic cylinder thrust, displacement and speed data are taken, closed-loop simulation is performed, and parameters of the hydraulic control valve, the actuator and the simulation model are corrected; According to the historical operation data of actual tunneling of the shield tunneling machine, benchmarking and correction are performed on the screw conveyor hydraulic system and the segment erector hydraulic system: a PID control motor speed, cylinder thrust and displacement relationship is adopted, and the hydraulic system parameter model is corrected.

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