摘要
以某型铰接土压平衡式盾构机为研究对象,分析该盾构机铰接装置的机构组成,采用矢量法建立相应的静力学平衡方程,得到从驱动力到末端力的力映射矩阵;针对该力映射矩阵的秩不是满秩的特性,提出求解液压缸驱动力对能控末端力分量的控制方法;并研究在铰接装置的切口环以不同姿态运动时,液压缸驱动力对末端力的控制能力,得到3个能控的末端力分量,为能控末端力分量的动力学方程的建立奠定基础.
Taking earth pressure balanced shield with hinge equipments as research object, the composition with shield hinge mechanism was analyzed. By the method of vector operation, with the static balance equations of shield hinge equipments being deduced, it is obtained force-mapping matrix from the driving force to the terminal force was abtained. According to the rank of the force-mapping matrix not full, a method which solves controllable component of terminal force was proposed. Based on this method, con- trollability of driving force of hydraulic cylinder to terminal force was studied when the groove loop of shield hinge equipments move with different postures. And three controllable components of terminal force were gained, which provides the basis for establishing dynamic equation of controllable terminal force.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2009年第1期106-109,共4页
Journal of Shanghai Jiaotong University
基金
国家重点基础研究发展规划(973)资助项目(2007CB714005)
国家自然科学基金资助项目(60534020)
关键词
盾构
铰接装置
力映射矩阵
能控性
shield
hinge equipments
force-mapping matrix
controllability
