中文摘要：

推进系统是盾构重要组成部分,推进系统分区控制是实现盾构有效推进作业的核心手段。提出推进系统超冗余并联机构模型建立方法,将推进液压缸后端顶靴与隧道衬砌管片的直接接触关系等效为球副连接,将各推进液压缸支链均等效为球副—移动副—球副（SPS）支链,从而将推进系统整体上等效为具有与推进缸数目相同的SPS支链构成的并联机构。在此基础上,基于力合成原理,将液压缸相互连通的单个分区等效为一个推进缸,确定出该等效推进缸的铰链参数,建立起分区后的推进系统等效机构模型。再基于并联机构学理论,推导出推进系统分区等效机构的运动分析模型。四分区算例验证了用所提方法建模并分析推进系统分区性能的有效性。研究成果为盾构推进系统分区性能设计、评价和推进作业控制提供了有效理论和方法。

英文摘要：

The thrust system is a key part of the shield machine and the grouping-oriented control of thrust system is the core method to advance the shield machine.An equivalent redundant parallel mechanism-based modeling method is presented to describe the thrust system where the direct contact between the shoe of the hydraulic cylinder of the thrust system and the tunnel segment is regarded as a spherical joint and therefore each cylinder with its two ends are regarded as one spherical-prismatic-spherical（SPS） chain.Hence,an equivalent parallel mechanism is built to substitute the original thrust system with SPS chains equal to the number of the original hydraulic cylinders.Based on that,one group with connected hydraulic cylinders is regarded as one equivalent cylinder whose joint parameters are calculated according to theoretic mechanics.Then an equivalent mechanism is constructed to model the grouped thrust system.The kinematic performance model is derived for the equivalent mechanism of the grouped thrust system based on the parallel mechanism method.An example is given to demonstrate the effectiveness of the presented modeling method,which provides a useful tool for the design,evaluation and control of the grouped thrust system of the shield machines.