Since the instability and non-real-time of manual operation often lead to over-digging and under-digging in tunnel rock and roadway, and even lead to TBM stuck machine in serious cases. Aiming at the problem of turning and pose control of small diameter (diameter less than 6m) TBM in coal mine gas extraction roadway, a TBM pose control method is proposed. The co-simulation model of TBM propulsion system is built by AMESim and ADAMS dynamics software. Combining with the design axis of the parameterized extraction lane, the master-slave control method is used for the propulsion system, and the PID controller is designed for the overturning angle and yaw angle of the cutter head, so as to realize the real-time control of the position and pose of the cutter head. The simulation analysis verifies that the pose control method is effective, and can be well applied to control the turning pose of small diameter TBM in coal mine gas extraction roadway.
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