# Науковий вісник НГУ

## Development of mathematical model of hydraulic lift of tunnel lining machine manipulator

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Authors:

Zabolotnyy Konstantyn Serheevych, Dr. Sci. (Tech.), Professor, State Higher Educational Institution “National Mining University”, Professor of the Mining Machines and Engineering Department, Dnipropetrovsk, Ukraine

Zhupiev Alexandr Leonidovich, State Higher Educational Institution “National Mining University”, Senior Instructor of the Mining Machines and Engineering Department, Dnipropetrovsk, Ukraine

Sirchenko Artem Alexandrovich, State Higher Educational Institution “National Mining University”, Postgraduate Student, Dnipropetrovsk, Ukraine

Abstract:

Purpose. Development of the mathematical model for justification of rational parameters of translational motion of tunnel lining machine manipulator.

Methods. Solving of optimization problems by defining the class of test functions; calculation of some of the features of this class; and confirmation of the uniqueness of the solution. Application of mathematical modeling methods for calculation of the motion of the fluid in the hydraulic systems in laminar and turbulent flows.

Findings. We have developed the mathematical model of the hydraulic drive arm allowing us to find the hydraulic control valve spool motion control law under any law of motion of the block. The results of the simulation show that to decrease the control signal anticipation the area of the rod end should be increased under given line pressure.

Originality. It is proved that: when acceleration rate value is limited, the U-shaped motion law provides the fastest lifting of the block to certain height; if necessary, to decrease the control signal anticipation over the time of movement speed change the area of the rod end should be increased under given line pressure.

Practical value. The mathematical model of the hydraulic drive lift has been developed. Its application allows determining of the rational parameters of the tunnel lining machine manipulator on order to create the tunnel lining machine manipulators of reduced weight, increased strength and durability, competitive at the world market.

References:

1. Серегин Д.В. Схема нагружения рабочего органа тоннельного укладчика / Д.В. Серегин // НТО РЭС им. А.С. Попова.2008. – С. 50–53.

Seregin, D.V. (2008), “Loading scheme of working body for tunnel lining machine”, Scientific session devoted to Radio Day Tula, A.S. Popov NTO RES, pp. 50–53.

2. HAO Wanjun, ZHANG Yanwei, CUI Guohua (2009), “Research on the technical status of the segment erection system for the full shield tunneling machine”, Mining & Processing Equipment, no.37, pp. 1–5.

3. Hu Shi, Guofang Gong, Huayong Yang, Rulin Zhou (2009), “Position and attitude precision analysis of segment erector of shield tunneling machine”, Second International Conference ICIRA 2009, Singapore, Springer Berlin Heidelberg, pp. 355–363.

4. Gong Yadong, Cheng Jun, Wang Chao, Zhang Qingguo, Li Shu (2010), “Research of the segment erector of tunnel boring machine based on virtual prototype”, 2010 Second International Conference on Intelligent Human-Machine Systems and Cybernetics, Geneva IHMSC, vol. 1, pp. 255–258.

5. Wang Lintao, Gong Guofang, Shi Hu, Hou Dianqing (2012), “Positioning precision and impact force control of segment erector for shield tunneling machine”, 2012 Third International Conference on Digital Manufacturing & Automation, Guilin, ICDMA, pp. 612–617.

6. Gang Li, Bo Wang, Ya Dong Chen, Wan Shan Wang (2012), “Research of dynamics simulation of a six-dof segment erector for tunnel boring machine”, Applied Mechanics and Materials, vol. 1, pp. 291–294.

7. Васильченко В.А. Гидравлическое оборудование мобильных машин / В.А. Васильченко – М.: Машиностроение, 1983. – 301 с.

Vasilchenko, V.A. (1983), Gidravlicheskoye oborudovaniye mobilnykh mashin [Hydraulic Equipment of Mobile Machines], Handbook, Mashinostroyeniye, Moscow, Russia.

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ISSN (print) 2071-2227,
ISSN (online) 2223-2362.
Journal was registered by Ministry of Justice of Ukraine.
Registration number КВ No.17742-6592PR dated April 27, 2011.

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