Co-Simulation of Multibody Dynamics and Hydraulic Systems for Physical Behavior Analysis

Hong-Seok Lee

doi:10.7474/TUS.2025.35.6.689

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2025 Vol.35, Issue 6 Preview Page Next Page

Technical Note

Co-Simulation of Multibody Dynamics and Hydraulic Systems for Physical Behavior Analysis 유압시스템의 물리적 거동해석을 위한 다물체 동역학-유압 연동모델 시뮬레이션

31 December 2025. pp. 689-702

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Abstract

A co-simulation model integrating the multibody dynamics of a continuous excavation-type tunnel boring machine (TBM) with its hydraulic system was constructed. The proposed model enables the evaluation of the thrust jack behavior and control system performance within a virtual simulation environment. The coupled model employs a power-exchange feedback structure, in which pressure variations in the thrust jacks are reflected in the dynamic system, and the resulting velocity responses are fed back as loads to the hydraulic system. Through this approach, the load distribution, pressure response, and Center of Thrust (COT) control behavior of the thrust system were realized. Furthermore, the conventional group-controlled hydraulic circuit was improved by introducing an independent control architecture, in which each thrust jack is individually equipped with a dedicated pressure sensor. Due to the inclined surface of the helical segments, differences in the contact distance among the thrust jacks were observed, resulting in corresponding variations in the time-dependent pressure responses. By controlling the jack pressures according to the specified COT target angles, the effectiveness of the proposed COT control method was verified. The implemented multibody–hydraulic co-simulation model can be effectively utilized in the design phase of TBM hydraulic and control systems to validate the load distribution, hydraulic response, and control algorithm of the thrust module in advance.

Keywords

Continuous excavation type TBM

Thrust jack control

Multibody dynamics

Hydraulic system

Co-Simulation

본 연구에서는 연속굴착형 TBM의 다물체 동역학 해석과 유압시스템 해석을 연동한 시뮬레이션 모델을 구축하였다. 이를 통해 추진잭의 추력 거동 분석과 제어 시스템 성능 평가를 가상환경에서 수행하고자 하였다. 일률 교환 피드백 구조를 가진 연동모델을 적용하여, 추진잭의 압력 변화가 동역학시스템에 반영되고, 이때 발생하는 속도를 유압시스템의 부하로 반영되도록 구성하였다. 이를 통해 추진잭의 하중 분포, 압력 응답, 및 추력 중심(Center of Thrust, COT) 제어 과정을 구현하였다. 또한, 기존의 일괄 제어형 유압 회로를 개선하여, 각 추진잭에 압력센서를 1:1로 대응시킨 독립 제어 구조를 모델링하였다. 헬리컬 세그먼트 경사면으로 인해 추진잭 간 접촉 거리 차이가 발생하며, 각 추진잭 간의 시간에 따른 압력 응답의 변화를 확인할 수 있었다. 또한, 설정된 COT 목표 각도에 따라 추진잭의 압력을 제어한 결과, COT 제어의 유효성이 검증되었다. 제안된 다물체-유압 연동 해석 모델은 실제 TBM 유압제어시스템 설계단계에서, 추진 모듈의 하중 분포, 유압 응답, 및 제어 알고리즘의 타당성을 사전에 검증할 수 있을 것으로 판단된다.

키워드

연속굴착형 TBM

추진잭 제어

국문키워드3

유압시스템

연동해석

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Information

Publisher :Korean Society for Rock Mechanics and Rock Engineering
Publisher(Ko) :한국암반공학회
Journal Title :Tunnel and Underground Space
Journal Title(Ko) :터널과 지하공간
Volume : 35
No :6
Pages :689-702
Received Date : 2025-11-18
Revised Date : 2025-12-04
Accepted Date : 2025-12-10
DOI :https://doi.org/10.7474/TUS.2025.35.6.689

Tunnel and Underground SpaceISSN:1225-1275(Print) 2287-1748(Online)한국암반공학회

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