中文摘要：

硬岩掘进机在复合地质条件掘进时刀盘的波动载荷引起撑靴支撑刚度的变化,它们的耦合严重影响硬岩掘进机动态特性。应用Lagrange法建立硬岩掘进机推进机械系统动力学模型,研究岩石变形和不同撑靴支撑刚度下TBM进行直线和曲线推进时动态特性响应。结果表明,直线掘进时,岩石的变形和失效导致TBM掘进速度发生变化,掘进方向的位移变小,曲线掘进时撑靴与岩石的接触刚度变化对运动特性影响更为明显。

英文摘要：

It is unavoidable to change for contact stiffness between the brace boots and tunnel when the Tunnel boring machines （TBM） excavate in composite geological structures. The combination of the load on the cutterhead and the contact stiffness of brace boots and tunnel will lead the worse of dynamic behavior. In this paper, the lumped parameters model of the thrusting system of TBM is presented. The load transmission model from the cutterhead to actuated links of thrusting system is deduced based on parallel mechanism theory. The dynamic model is proposed in which the effect of external load on the cutterhead and contact stiffness of brace boots is considered. The dynamic behavior of TBM when it excavates in the straight and curved tunnel is discussed. The results show that the deformation and failure of rocks reduce the contact stiffness which decreases the displacement in the advanced direction. The deflection of TBM appears when the contact stiffness of two brace boots is different. The effect is more obvious when the TBM excavates in the curved tunnel.