一种TBM推进机构的多柔体动力学建模及仿真

Flexible Modeling and Simulation of A TBM Thrust Mechanisms

针对推进缸楔形布置的TBM推进机构,利用MATLAB/SIMULINK建立了推进机构多柔体动力学仿真模型,并对其建立了物理模型,将液压缸简化为柔体模型,利用拉格朗日动力学方法建立动力学微分方程,对机构施加某一激励,仿真液压缸各构件变形大小及所受驱动力的动态变化,验证了所建方程的有效性。改变部分结构参数研究其对机构变形的影响,结果表明:液压缸中活塞杆及有油腔缸体的位移幅值随着动平台铰接点小组间夹角的增大而增大;在一定范围内动平台半径越小,动静平台距离越大,机构所受驱动力越小。

Aiming at the TBM thrust mechanism of which thrust cylinder are wedge-shape arranged, a thruster mechanism multi- flexible dynamics simulation model was buitt by using the MATLAB/SIMULINK and its physical model was established. The hydraulic cylinder was simplified to flexible model and then Kinetic equations was established by using Lagrange kinetic equation. Through apply- ing excitation on the mechanism, the variation of transformation and driving force of the hydraulic cylinders were simulated to verify the validity of the equation. The influence of the change of the parameters of the partial structure on the deformation of mechanism was stud- ied. The results show that the displacement amplitude of piston rods and oil cavity blocks becomes larger as the angle between the joint group on the mobile platform gets larger; within certain limits, the smaller of the mobile platform diameter and the larger of the distance between the mobile and static platform, the drive force on the mechanism gets smaller.