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2025 Vol.35, Issue 6 Preview Page

Original Article

A Study on the Directional Control Model of Open TBM Simulator

Open TBM 시뮬레이터의 방향제어모델에 대한 연구

Soon-Wook Choi1
,
Tae-Ho Kang1
,
Soo-Ho Chang2*
최 순욱1
,
강 태호1
,
장 수호2*
1Senior Researcher, Department of Geotechnical Engineering Research, Korea Institute of Civil Engineering and Building Technology
2Senior Research Fellow, Department of Geotechnical Engineering Research, Korea Institute of Civil Engineering and Building Technology
1한국건설기술연구원 지반연구본부 수석연구원
2한국건설기술연구원 지반연구본부 선임연구위원
*Corresponding Author
31 December 2025. pp. 780-791
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Abstract

The Open TBM (Tunnel Boring Machine) is a mechanical excavation equipment primarily used in sound rock formations, mainly applied to mountain tunnels and waterway tunnels, but its utilization in urban construction projects has also been increasing recently. This study presents a method for developing and applying a directional control model for a main-beam type Open TBM to a simulator as part of the Open TBM simulator development. The directional control model for the Open TBM mathematically describes the horizontal and vertical rotation angles of the cutterhead using the stroke length of the cylinders installed on the gripper carrier. It also mathematically describes the forward stroke length of the thrust cylinder connecting the main beam and the gripper. To utilize the formulated directional control model in the Open TBM simulator, a calculation method for the cutterhead's rotation and movement based on control panel inputs was presented.

Keywords
Tunnel
Open TBM
Directional control
Formulation
Simulator

Open TBM (Tunnel Boring Machine)공법은 양호한 암반지반에서 주로 사용하는 기계굴착장비로서 산악터널과 수로터널에 주로 적용되지만, 최근 도심지공사에서도 활용이 증대되고 있다. 본 연구에서는 Open TBM 시뮬레이터 개발의 일환으로 메인빔 타입 Open TBM의 방향제어모델을 개발하고 시뮬레이터에 적용하는 방법을 제시하였다. Open TBM의 방향제어모델에서는 그리퍼캐리어에 설치되어 있는 실린더의 스트로크 길이를 이용하여 수평방향과 수직방향의 커터헤드 회전각을 수식화하였으며, 메인빔과 그리퍼를 연결하는 추력실린더의 전진방향 스트로크 길이를 수식화하였다. 수식화된 방향제어모델을 Open TBM 시뮬레이터에 활용하기 위해 컨트롤 패널의 제어에 따른 커터헤드의 회전과 이동에 대한 계산방법을 제시하였다.

키워드
터널
오픈티비엠
방향제어
수식화
시뮬레이터
References
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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 :780-791
  • Received Date : 2025-11-02
  • Revised Date : 2025-11-13
  • Accepted Date : 2025-11-14
  • DOI :https://doi.org/10.7474/TUS.2025.35.6.780
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