Pose prediction based on dynamic modeling and virtual prototype simulation of shield tunnelling machine

Abstract

Compared with traditional feedback control, predictive control can eliminate the lag of pose control and avoid the snakelike motion of shield machines. Therefore, a shield pose prediction model was proposed based on dynamic modeling. Firstly, the dynamic equations of shield thrust system were established to clarify the relationship between force and movement of shield machine. Secondly, an analytical model was proposed to predict future multistep pose of the shield machine. Finally, a virtual prototype model was developed to simulate the dynamic behavior of the shield machine and validate the accuracy of the proposed pose prediction method. Results reveal that the model proposed can predict the shield pose with high accuracy, which can provide a decision basis whether for manual or automatic control of shield pose.

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