A Geometric Model for a Shield TBM Steering Simulator

This study aimed to simulate curved excavation using a tunnel boring machine (TBM) steering system based on the proposed mathematical methodology applied in a TBM simulator. We introduce the concept and mechanism of the TBM steering system and describe the mathematical formulae used for simulating curved excavation. Curved excavation in the top- right direction was simulated using a Python program to verify the mathematical formulae. In addition, Python simulations were undertaken to determine the effects of horizontal and vertical articulation angles on pitching and yawing angles. Finally, the proposed mathematical formulae were applied in the TBM operation simulator, and tested based on the mechanism of the TBM steering system.