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Technical Briefs

Dynamic Modeling and Analysis of Shield TBM Cutterhead Driving System

[+] Author and Article Information
Xian Hong Li, Yuan Yin

Key Laboratory of Industrial Informatics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; Graduate School, Chinese Academy of Sciences, Beijing 100039, China

Hai Bin Yu1

Key Laboratory of Industrial Informatics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, Chinayhb@sia.cn

Ming Zhe Yuan

Key Laboratory of Industrial Informatics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China

Jin Wang

 NHI Group Shenyang Heavy Machinery, Shenyang 110025, China

1

Corresponding author.

J. Dyn. Sys., Meas., Control 132(4), 044504 (Jun 18, 2010) (14 pages) doi:10.1115/1.4000818 History: Received January 05, 2009; Revised October 19, 2009; Published June 18, 2010; Online June 18, 2010

In this paper, a generalized nonlinear time-varying dynamic model is established for the cutterhead driving system of a shield tunnel boring machine. A nonlinear multiple input and multiple output state-space dynamic model is also proposed. The dynamic model is simulated to analyze the driving system and the effects of system parameters such as gear backlash and transmission error, larger gear inertia, and load torque on the dynamic response of driving system are investigated as well. A preliminary approach is proposed to restrain speed oscillation and reduce steady-state speed ripple. Through modeling and studying the dynamic model, we refine some important issues that should be given closer attention.

Copyright © 2010 by American Society of Mechanical Engineers
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Figures

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Figure 1

The shield TBM cutterhead (a) with spokes and (b) with panels; section views (c) B-B and (d) C-C

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Figure 2

(a) Cutterhead inner mechanical transmission structure; (b) the cutterhead profile

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Figure 3

Shield TBM cutterhead driving system (motor-driven mode)

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Figure 4

Induction motor, reduction gear box, and coupling

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Figure 5

Gear backlash diagram

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Figure 6

Nonlinear dynamic model

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Figure 7

Dynamic response in TL=0 kN m)

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Figure 8

Dynamic response in TL=100 kN m)

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Figure 9

Dynamic response in TL=750 kN m)

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Figure 10

Dynamic response in TL=1500 kN m)

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Figure 11

(a) Load torque disturbance response; gear inertia and torque torque's effects on (b) ODT, (c) MOPA, and (d) SSR

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Figure 12

Effects of transmission error and relative backlash on MOPA and ODT

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Figure 13

Effects of transmission error and relative backlash on MOPA and ODT

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Figure 14

Effects of transmission error and relative backlash on MOPA and ODT

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Figure 15

Dynamic response in torque asynchronous

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Figure 16

Dynamic response in torque asynchronous

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Figure 17

Dynamic response in the case of torque transient character inconsistency

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Figure 18

Dynamic response in the case of torque transient character inconsistency

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