A coupling simulation method of a tunneling anchor machine in a geological environment

Abstract

The application provides a fusion geological environment excavator coupling simulation method, comprising the following steps: S1, creating a tetrahedral mesh model of a cutting head; S2, building a discrete element particle model representing a geological environment; S3, building a discrete element model of the fusion geological environment excavator, which is used to output a load force; S4, load force conversion; S5, determining and updating a finite element inp file, and then calculating a simulation result by using a finite element software. The simulation result obtained by using the application is more real and close to the actual situation. The application can evaluate the load effect of the geological environment on the cutting head of the excavator, and can perform dynamic analysis, so that the simulation precision of the structural strength of the excavator can be improved, and the performance of the excavator can be accurately evaluated.

Description

Technical Field

[0001] This invention relates to the field of roadheader technology, and more specifically to a roadheader coupling simulation method that integrates geological environment. Background Technology

[0002] In the industry, the operating loads of roadheader / anchor rigs during operation are often determined based on experience, with ultimate loads set and used for verification and evaluation. However, considering the strong coupling between roadheader / anchor rig operation and the geological environment in which it operates, this experience-based approach has the following problems:

[0003] 1) The experience setting method has certain limitations and may not reflect the real situation.

[0004] 2) During the operation of the roadheader, the load on the roadheader is non-uniform as its working posture changes, and directly applying a single concentrated force differs significantly from the actual working conditions.

[0005] 3) The geological conditions of the construction environment are complex and varied, including coal seams, sandstone, and coal seams with interbedded gangue, etc. A uniform geological representation cannot be used in the simulation analysis.

[0006] Therefore, in the design phase of roadheader, how to integrate the geological environment to improve simulation accuracy and accurately evaluate the mechanical performance of roadheader is a technical challenge faced by personnel in this field. Summary of the Invention

[0007] The purpose of this invention is to provide a coupled simulation method for roadheader / anchor machine (BAM) that integrates geological environment. This method can incorporate the geological environment during the BAM design phase, thereby improving the accuracy of BAM performance simulation and enabling precise evaluation of BAM performance. The specific technical solution is as follows:

[0008] A coupled simulation method for tunneling and anchoring machines that integrates geological environment includes the following steps:

[0009] Step S1: Create a tetrahedral mesh model of the cutting head.

[0010] First, a geometric model of the cutter head of the tunneling and anchoring machine is created using 3D CAD software. Second, the geometric model of the cutter head is divided into tetrahedral mesh models using Hypermesh. The tetrahedral mesh models are then imported into discrete element software to automatically extract their surface mesh information in order to construct a discrete element model. Simultaneously, the tetrahedral mesh models are imported into finite element software to automatically extract their surface mesh information and volume mesh information in order to construct a finite element model. The surface mesh information in the finite element model and the discrete element model are mapped one-to-one.

[0011] Step S2: Construct a discrete element particle model representing the geological environment.

[0012] Import the surface mesh information from the tetrahedral mesh model created in step S1 into the discrete element software. The discrete element software automatically identifies the triangular elements in the surface mesh information. Based on the cutting head size corresponding to the identified triangular elements and their cutting depth, and with the help of particle material parameters, contact parameters, and mechanical parameters, construct a discrete element particle model that characterizes the geological environment.

[0013] Step S3: Construct a discrete element model of the roadheader / anchor machine that incorporates the geological environment, used to output the load force.

[0014] Discrete element method (DEM) software is used in conjunction with the cutter head of the roadheader and the discrete element particle model obtained in step S2 to construct a discrete element model of the roadheader that incorporates the geological environment. This model is used to output the load force of each triangular element on the mesh information of the cutter head as a function of time.

[0015] Step S4, Load Force Conversion

[0016] In step S3, the load force of each triangular element output is converted to the three nodes of each triangular element in the finite element software through the data processing process, and the node set file NsetResult.csv, the load file Amplitude.txt and the loading file CloadResult.csv are generated in sequence.

[0017] Step S5: Determine and update the finite element inp file, and then obtain the simulation results through finite element software calculation.

[0018] Import the volume mesh information from the tetrahedral mesh model created in step S1 into the finite element software, output the finite element inp file, and determine the finite element inp file through a determination step; after the determined finite element inp file is updated sequentially by the node set file NsetResult.csv, load file Amplitude.txt, and loading file CloadResult.csv in step S4, it is submitted to the finite element software for calculation. After the calculation is completed, the simulation results can be obtained. The simulation results include the structural strength and deformation results of the tunneling and anchoring machine under various dynamic conditions of the geological environment.

[0019] Optionally, step S3 includes the following steps:

[0020] Step S3.1: Define the motion law of the roadheader. The operation of the cutting head includes raising the cutting arm to the top of the roadway, slotting, pulling down and retracting to clean the bottom. The slotting and pulling down operations are simulated using discrete element software. Its motion law is composed of a combination of movement and rotation. Its motion law is defined by piecewise functions in the discrete element software.

[0021] Step S3.2: Define the solution parameters and construct a discrete element model of the roadheader / anchor operator that incorporates the geological environment to output the load force. The solution parameters include the cutting head material parameters, total duration, and time step. The cutting head material parameters include density, Poisson's ratio, and shear modulus. The total duration includes the total duration corresponding to the grooving and pulling-down operations described in step S3.1. The time step is an adaptive time step. The discrete element model of the roadheader / anchor operator is constructed using discrete element software combined with the cutting head and the discrete element particle model obtained in step S2, and then the load force of each triangular element on the cutting head surface mesh information is calculated iteratively based on the solution parameters as a function of time.

[0022] Optionally, in step S4, the data processing process uses the coordinates of a node in the finite element software as a reference to draw a sphere with a radius of r, where the value of r ranges from 0.1mm to 0.2mm; if the coordinates of the triangular node on the surface of the cutting head in the discrete element model of the tunneling machine fall into the sphere, then it is considered that the node in the discrete element software matches the node in the finite element software.

[0023] Optionally, the determination step in step S5 includes the following:

[0024] Step S5.1: Determine the material parameters of the cutting head, specifically including the density, Poisson's ratio, and elastic modulus of the cutting head;

[0025] Step S5.2: Determine the boundary conditions of the cutting head. A through hole for mounting the rotating shaft is provided on the central axis along the length direction of the cutting head. The inner surface of the through hole is used as the fixed constraint boundary condition of the cutting head.

[0026] Step S5.3: Analyze the force situation of the cutting head using a statics solution model, wherein an incremental step is set;

[0027] Step S5.4: After setting in steps S5.1-S5.3, re-export the finite element inp file containing the cutting head body mesh information, material parameters, boundary conditions, and solution model.

[0028] Optionally, updating the finite element inp file in step S5 includes the following steps:

[0029] Step S5.5: Insert the contents of the node set file NsetResult.csv obtained in step S4 before the key character "End Assembly" in the finite element inp file obtained in step S5.4, and create a node set for each node;

[0030] Step S5.6: Insert the contents of the load file Amplitude.txt obtained in step S4 after the key character End Assembly in the finite element inp file to decompose the loads of each triangular element in the discrete element software onto the nodes;

[0031] Step S5.7: Insert the contents of the loading file CloadResult.csv obtained in step S4 after the key character LOADS in the finite element inp file to realize the one-to-one mapping between the load force of each triangular element in the discrete element software and the nodal force load of the finite element, so as to update the finite element inp file.

[0032] Optionally, the geological environment in step S2 is a coal seam geological environment;

[0033] In step S2, the particle material parameters are set according to the geological environment sampling requirements, specifically including particle density, Poisson's ratio, and shear modulus;

[0034] The contact parameters include the collision recovery coefficient between particles, the static friction coefficient between particles, the dynamic friction coefficient between particles, the collision recovery coefficient between particles and the cutting head, the static friction coefficient between particles and the cutting head, and the dynamic friction coefficient between particles and the cutting head.

[0035] The mechanical parameters are determined by the selected particle contact model, which is a bonding contact model used to simulate the bonding effect between particles. The mechanical parameters used in the bonding contact model include the normal stiffness per unit area, the shear stiffness per unit area, the critical normal stress, and the critical shear stress at the bonding fracture point.

[0036] Optionally, the specific values ​​of each of the particle material parameters, each of the contact parameters, and each of the mechanical parameters obtained in step S2 are all determined experimentally.

[0037] Optionally, the specific values ​​of the material parameters of each cutting head obtained in step S3.2 are determined by experiment.

[0038] Optionally, the discrete element method software is EDEM software.

[0039] Optionally, the finite element software is Abaqus software.

[0040] The application of the technical solution of the present invention has at least the following beneficial effects:

[0041] The roadheader-anchor machine (BAM) coupling simulation method integrating geological environment described in this invention uses a tetrahedral mesh model created in step S1 to construct the BAM discrete element model integrating geological environment and to determine and update the finite element inp file. The BAM discrete element model realizes the coupling simulation of the BAM cutting head and the geological environment, outputting the load force of each triangular element on the cutting head mesh as a function of time. The load force is converted to the three nodes of each triangular element in the finite element software through the data processing in step S4. After the finite element inp file is determined in the determination step, it is then sequentially updated by the node set file NsetResult.csv, the load file Amplitude.txt, and the loading file CloadResult.csv in step S4 before being submitted to the finite element software to calculate the simulation results. The simulation results more realistically approximate the actual situation. This invention can evaluate the load effect of the geological environment on the BAM cutting head and perform dynamic analysis, improving the simulation accuracy of BAM structural strength and accurately evaluating BAM performance.

[0042] 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

[0043] 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:

[0044] Figure 1 This is a flowchart of a tunneling and anchoring machine coupling simulation method that integrates geological environment, as described in Embodiment 1 of the present invention;

[0045] Figure 2 This is a schematic diagram of updating the finite element inp file using the node set file NsetResult.csv and the load file Amplitude.txt;

[0046] Figure 3 This is a schematic diagram of updating the finite element inp file using the loaded file CloadResult.csv. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention. Example 1:

[0048] See Figure 1 A coupled simulation method for tunneling and anchoring machines that integrates geological environment includes the following steps:

[0049] Step S1: Create a tetrahedral mesh model of the cutting head.

[0050] First, a geometric model of the cutter head of the tunneling and anchoring machine is created using 3D CAD software. Second, the geometric model of the cutter head is divided into tetrahedral mesh models using Hypermesh. The tetrahedral mesh models are then imported into discrete element software (specifically EDEM software) to automatically extract their surface mesh information in order to construct a discrete element model. Simultaneously, the tetrahedral mesh models are imported into finite element software (specifically Abaqus software) to automatically extract their surface mesh information and volume mesh information in order to construct a finite element model. The surface mesh information in the finite element model and the discrete element model are mapped one-to-one.

[0051] Step S2: Construct a discrete element particle model representing the geological environment.

[0052] Import the surface mesh information from the tetrahedral mesh model created in step S1 into the discrete element software. The discrete element software automatically identifies the triangular elements in the surface mesh information. Based on the cutting head size corresponding to the identified triangular elements and their cutting depth, and with the help of particle material parameters, contact parameters, and mechanical parameters, construct a discrete element particle model that characterizes the geological environment.

[0053] In step S2, the target of the roadheader is coal seam geology, which is modeled using particle units; the particle material parameters are set according to the geological environment sampling requirements, specifically including particle density, Poisson's ratio and shear modulus.

[0054] The contact parameters include the collision recovery coefficient between particles, the static friction coefficient between particles, the dynamic friction coefficient between particles, the collision recovery coefficient between particles and the cutting head, the static friction coefficient between particles and the cutting head, and the dynamic friction coefficient between particles and the cutting head; the contact parameters are physical property parameters that characterize the interaction generated when two objects come into contact, and are related to both objects in contact.

[0055] The mechanical parameters are determined by a selected particle contact model, which is a bonding contact model used to simulate the bonding effect between particles. The bonding contact model uses bonding bonds to bind particles together. This bond can withstand the tangential and normal displacement of the particles until the maximum normal and tangential shear stresses are reached, i.e., the bond fracture point. The mechanical parameters used in the bonding contact model include the normal stiffness per unit area, the shear stiffness per unit area, the critical normal stress, and the critical shear stress at the bond fracture point.

[0056] Step S2.5: Construct a discrete element model of the coal seam. Based on the cutting head size corresponding to the triangular unit identified in step S2.1, combined with its cutting depth, and using the particle material parameters, contact parameters, and mechanical parameters obtained in step S2, construct a discrete element model of the coal seam (also called a particle factory model) to characterize the geological environment of the coal seam. Considering computational efficiency, the length, width, and height of the generated discrete element model of the coal seam are determined to be 1.5L×2w×5h, where L, w, and h represent the length, width, and height of the cutting head, respectively. The size of the discrete element model of the coal seam is too large, which affects computational efficiency, and too small, which affects computational accuracy. The size of 1.5L×2w×5h can balance accuracy and efficiency.

[0057] Step S3: Construct a discrete element model of the roadheader / anchor machine that incorporates the geological environment and output the load force.

[0058] During the cutting process of the cutting head, the load on the cutting head caused by the geological environment is non-uniform, that is, the load on each triangular element on the cutting head surface mesh information is not exactly the same. Therefore, discrete element software is used in combination with the cutting head of the tunneling and anchoring machine and the discrete element particle model obtained in step S2 to construct a discrete element model of the tunneling and anchoring machine that integrates the geological environment, which is used to output the load force F of each triangular element on the cutting head surface mesh information as time changes.

[0059] Step S4, Load Force Conversion

[0060] In step S3, the load force F of each triangular element output is converted to the three nodes of each triangular element in the finite element software through the data processing process (specifically, the load force on each node is F / 3), and the node set file NsetResult.csv, the load file Amplitude.txt and the loading file CloadResult.csv are generated in sequence.

[0061] Step S5: Determine and update the finite element inp file, and then obtain the simulation results through finite element software calculation.

[0062] Import the volume mesh information from the tetrahedral mesh model created in step S1 into the finite element software, output the finite element inp file, and determine the finite element inp file through a determination step; after the determined finite element inp file is updated sequentially by the node set file NsetResult.csv, load file Amplitude.txt, and loading file CloadResult.csv in step S4, it is submitted to the finite element software for calculation. After the calculation is completed, the simulation results can be obtained. The simulation results include the structural strength and deformation results of the tunneling and anchoring machine under various dynamic conditions of the geological environment.

[0063] Step S3 includes the following steps:

[0064] Step S3.1: Define the motion law of the roadheader. The operation of the cutting head includes raising the cutting arm to the top of the roadway, slotting, pulling down and retracting to clean the bottom. The slotting and pulling down operations are simulated using discrete element software. Its motion law is composed of a combination of movement and rotation. Its motion law is defined by piecewise functions in the discrete element software.

[0065] Step S3.2: Define the solution parameters and construct a discrete element model of the roadheader / anchor operator that incorporates the geological environment to output the load force. The solution parameters include the cutting head material parameters, total duration, and time step. The cutting head material parameters include density, Poisson's ratio, and shear modulus. The total duration includes the total duration corresponding to the grooving and pulling-down operations described in step S3.1. The time step is an adaptive time step. The discrete element model of the roadheader / anchor operator is constructed using discrete element software combined with the cutting head and the discrete element particle model obtained in step S2, and then the load force of each triangular element on the cutting head surface mesh information is calculated iteratively based on the solution parameters as a function of time.

[0066] In step S4, the data processing process uses the coordinates of a node in the finite element software as a reference to draw a sphere with a radius of r, where the value of r is 0.1mm-0.2mm; if the node coordinates of the triangle on the surface of the cutting head in the discrete element model of the tunneling machine fall into the sphere, then it is considered that the node in the discrete element software matches the node in the finite element software.

[0067] The determination step in step S5 includes the following:

[0068] Step S5.1: Determine the material parameters of the cutting head, specifically including the density, Poisson's ratio, and elastic modulus of the cutting head;

[0069] Step S5.2: Determine the boundary conditions of the cutting head. A through hole for mounting the rotating shaft is provided on the central axis along the length direction of the cutting head. The inner surface of the through hole is used as the fixed constraint boundary condition of the cutting head.

[0070] Step S5.3: To improve the solution efficiency, the moment when the cutting head is subjected to the greatest force in the discrete element results is selected for structural strength analysis. Therefore, a static solution model is used to analyze the force on the cutting head, where the increment step is 0.1.

[0071] Step S5.4: After setting in steps S5.1-S5.3, re-export the finite element inp file containing the cutting head body mesh information, material parameters, boundary conditions, and solution model.

[0072] Updating the finite element inp file in step S5 includes the following steps:

[0073] Step S5.5: Insert the contents of the node set file NsetResult.csv obtained in step S4 before the keyword "End Assembly" in the finite element inp file obtained in step S5.4. Create a node set for each node to apply the force, as shown in the attached figure. Figure 2 As shown;

[0074] Step S5.6: Insert the contents of the load file Amplitude.txt obtained in step S4 after the keyword "End Assembly" in the finite element inp file to decompose the loads of each triangular element in the discrete element software onto the nodes, as shown in the attached figure. Figure 2 As shown;

[0075] Step S5.7: Insert the contents of the loading file CloadResult.csv obtained in step S4 after the keyword LOADS in the finite element inp file to achieve a one-to-one mapping between the load forces of each triangular element in the discrete element software and the nodal forces of the finite element, thereby updating the finite element inp file, as shown in the attached figure. Figure 3 As shown.

[0076] The specific values ​​of each of the particle material parameters, each of the contact parameters, and each of the mechanical parameters obtained in step S2 are all determined experimentally.

[0077] The specific values ​​of the material parameters of each cutting head obtained in step S3.2 are determined by experiment.

[0078] In Example 1, the coupled simulation method for roadheader-anchor-jacking machines (BOMMs) integrating the geological environment uses a tetrahedral mesh model created in step S1 to construct a discrete element model of the BOMM integrating the geological environment and to determine and update the finite element inp file. The BOMM discrete element model realizes the coupled simulation of the BOMM cutting head and the geological environment, outputting the load force of each triangular element on the cutting head mesh over time. The load force is converted to the three nodes of each triangular element in the finite element software through the data processing in step S4. After the finite element inp file is determined in the determination step, it is then updated sequentially by the node set file NsetResult.csv, the load file Amplitude.txt, and the loading file CloadResult.csv in step S4 before being submitted to the finite element software to calculate the simulation results. The simulation results more realistically approximate the actual situation. This invention can evaluate the load effect of the geological environment on the BOMM cutting head and perform dynamic analysis, improving the simulation accuracy of the BOMM structural strength.

[0079] 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 coupling simulation of a tunneling machine in a fused geological environment, characterized by, The method comprises the following steps: Step S1, creating a tetrahedral mesh model of the cutting head First, a tunneling anchor machine cutting head geometric model is created; second, the cutting head geometric model is divided into a tetrahedral mesh model; the surface mesh information of the tetrahedral mesh model is automatically extracted by importing the tetrahedral mesh model into a discrete element software to construct a discrete element model; at the same time, the surface mesh information and the body mesh information of the tetrahedral mesh model are automatically extracted by importing the tetrahedral mesh model into a finite element software to construct a finite element model, and the surface mesh information in the finite element model and the discrete element model is one-to-one mapped; Step S2, constructing a discrete element particle model representing the geological environment The surface mesh information in the tetrahedral mesh model created in step S1 is imported into a discrete element software, and the discrete element software automatically identifies the triangular elements in the surface mesh information; according to the size of the cutting head corresponding to the identified triangular elements, in combination with the cutting depth, and with the aid of particle material parameters, contact parameters and mechanical parameters, a discrete element particle model representing the geological environment is constructed; Step S3, constructing a tunneling anchor machine discrete element model fused with the geological environment for outputting the load force A tunneling anchor machine discrete element model fused with the geological environment is constructed by using a discrete element software in combination with the tunneling anchor machine cutting head and the discrete element particle model obtained in step S2, for outputting the load force of each triangular element on the surface mesh information of the cutting head changing over time; Step S4, load force conversion The load force of each triangular element output in step S3 is converted to the three nodes of each triangular element in the finite element software through a data processing process, and a node set file, a load file and a load file are sequentially generated; Step S5, determining and updating the finite element inp file, and then calculating the simulation result by the finite element software The body mesh information in the tetrahedral mesh model created in step S1 is imported into a finite element software, a finite element inp file is output, and the finite element inp file is determined by a determination step; after the determined finite element inp file is sequentially updated by the node set file, the load file and the load file in step S4, the updated finite element inp file is submitted to the finite element software for calculation, and the simulation result is obtained after the calculation is completed, wherein the simulation result includes the structural strength and deformation result of the tunneling anchor machine under various dynamic conditions fused with the geological environment.

2. The method of claim 1, wherein, In step S3, the following steps are included: Step S3.1, defining the motion law of the tunneling anchor machine, wherein the operation actions of the cutting head include lifting the cutting arm to the top of the roadway, slotting, pulling down and retracting the bottom cleaning, the operation actions of slotting and pulling down are simulated by using the discrete element software modeling, the motion law thereof is composed of movement and rotation, and the motion law is defined by a segmented function in the discrete element software; Step S3.2, defining solving parameters and constructing a discrete element model of the roof bolter fused with the geological environment to output the load force, the solving parameters including cutting head material parameters, total duration and time step; wherein the cutting head material parameters include density, Poisson's ratio and shear modulus; the total duration includes the total duration corresponding to the slotting and pulling operation actions in step S3.1, and the time step is an adaptive time step; a discrete element model of the roof bolter fused with the geological environment is constructed by using a discrete element software in combination with the roof bolter cutting head and the discrete element particle model obtained in step S2, and then the solving parameters are iteratively calculated to output the load force of each triangular element on the cutting head face mesh information varying with time.

3. The method of claim 2, wherein, In step S4, the data processing process is to draw a sphere with a radius r based on a certain node coordinate in the finite element software, wherein the value range of r is 0.1mm-0.2mm; if the coordinate of the triangular node on the surface of the cutting head in the discrete element model of the roof bolter falls within the sphere, it is considered that the node in the discrete element software matches and corresponds to the node in the finite element software.

4. The method of claim 3, wherein, The determination step in step S5 includes the following contents: Step S5.1, determining the material parameters of the cutting head, specifically including the density, Poisson's ratio and elastic modulus of the cutting head; Step S5.2, determining the boundary conditions of the cutting head, a through hole for installing a rotating shaft is arranged on the central axis in the length direction of the cutting head, and the inner surface of the through hole is used as the fixed constraint boundary condition of the cutting head; Step S5.3, analyzing the stress condition of the cutting head by using a statics solving model, wherein an incremental step is set; Step S5.4, after the settings in steps S5.1-S5.3, the finite element inp file containing the cutting head body mesh information, material parameters, boundary conditions and solving model is re-exported.

5. The method of claim 4, wherein, The updating of the finite element inp file in step S5 includes the following steps: Step S5.5, inserting the content in the node set file obtained in step S4 in front of the key character End Assembly in the finite element inp file obtained in step S5.4, and creating a node set for each node; Step S5.6, inserting the content in the load file obtained in step S4 behind the key character End Assembly in the finite element inp file, and decomposing the load of each triangular element in the discrete element software to the node; Step S5.7, inserting the content in the load file obtained in step S4 behind the key character LOADS in the finite element inp file, realizing one-to-one mapping of the load force of each triangular element in the discrete element software and the force load of the finite element node, and updating the finite element inp file.

6. The method of claim 1-5, wherein, The geological environment in step S2 is a coal seam geological environment; In step S2, the particle material parameters are set according to the geological environment sampling requirements, specifically including the density, Poisson's ratio and shear modulus of the particles; The contact parameters include a collision restitution coefficient between particles, a static friction coefficient between particles, a dynamic friction coefficient between particles, a collision restitution coefficient between a particle and the cutting head, a static friction coefficient between the particle and the cutting head, and a dynamic friction coefficient between the particle and the cutting head. The mechanical parameters are determined by a selected particle contact model, and the particle contact model is a bonding contact model for simulating a bonding effect between particles; and the mechanical parameters used by the bonding contact model include unit area normal stiffness at a bonding fracture point, unit area shear stiffness, a critical normal stress, and a critical shear stress.

7. The method of claim 6, wherein the coupling simulation of the excavator in the geological environment is performed by a computer program. The specific values of the particle material parameters, the contact parameters, and the mechanical parameters obtained in the step S2 are determined by experiments.

8. The method of claim 2, wherein the coupling simulation of the excavator in the geological environment is performed by a computer program. The specific values of the material parameters of the cutting head obtained in the step S3.2 are determined by experiments.

9. The method of claim 8, wherein, The discrete element software is EDEM software.

10. The method of claim 9, wherein the coupling simulation of the earth penetrating machine in the fused geologic environment is based on a plurality of simulated earth penetration operations of the earth penetrating machine in the fused geologic environment. The finite element software is Abaqus software.

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