采煤机电液比例调高系统多软件协同仿真研究

发布时间：2018-08-27 15:45

【摘要】：采煤机的自动化是实现综采工作面“无人化”的前提,而采煤机滚筒自动调高技术则是实现采煤机自动化的最为重要的关键技术之一。目前,实际应用的采煤机调高系统仍普遍采用开关阀控缸继电器系统,这类系统难以适应大功率惯性负载的要求且稳定性较差,故而有必要运用电液比例技术改造现有调高系统。另一方面,伴随着虚拟样机建模与仿真技术的发展,计算机辅助建模与仿真技术已成为开展采煤机相关研究的重要技术手段。本文以MG2×160/710-WD薄煤层采煤机为原型,对其配套滚筒进行了结构参数配置与计算,并结合一定的煤层条件和工作状态对滚筒的平均受载的状况进行了计算,为后续调高机构负载分析与模拟、滚筒的虚拟样机建模奠定了基础；基于SolidWorks构建了采煤机三维实体模型,结合ADAMS建立了虚拟样机动力学模型,对动力学模型中调高负载进行了分析与模拟,并通过动力学仿真测试验证了ADAMS动力学模型的可行性；介绍了传统调高液压系统结构原理,给出电液比例改造方案和主要元件选型,通过AMESim构建了开环电液比例阀控缸调高液压系统的仿真模型,并对基本工况进行了仿真分析,验证了AMESim仿真模型的可行性；最后,详细介绍了AMESim与ADAMS协同仿真的接口方法、及对软件环境的配置要求,构建了闭环电液比例调高系统机液耦合仿真模型,通过协同仿真研究系统动态特性,尤其是对摇臂下调抖动现象进行了深入分析与改进。多软件协同仿真分析结果表明,基于PID的闭环电液比例调高系统应用于薄煤层采煤机时能够实现对预设轨迹进行跟踪、以及滚筒高度的控制；此外,对于小流量、大惯性负载的调高液压系统,摇臂下调时由于无杆腔侧液控单向阀反复开闭导致了在调高油缸无杆腔侧存在剧烈流量和压力波动,会引起摇臂下调时存在抖动；在无杆腔侧主油路上设置单向节流阀后可以十分显著的改善这一现象,但不能彻底消除其不利影响,在此基础进一步为直动式比例方向阀增加单向阻尼器可以减小阀芯在摇臂下调瞬间受到的冲击,改善阀芯工作的稳定性和在小开口处的流量可控性。
[Abstract]:The automation of shearer is the premise of realizing "no-man" in fully mechanized coal mining face, and the automatic height adjustment technology of shearer drum is one of the most important key technologies to realize the automation of shearer. At present, the switch valve control cylinder relay system is still widely used in the practical height adjustment system of shearer, which is difficult to meet the requirements of high power inertial load and has poor stability. Therefore, it is necessary to use electro-hydraulic proportional technology to reform the existing height adjustment system. On the other hand, with the development of virtual prototype modeling and simulation technology, computer-aided modeling and simulation technology has become an important technical means to carry out research on shearer. Taking MG2 脳 160/710-WD thin coal seam shearer as the prototype, the structural parameters of the matching drum are configured and calculated, and the average load of the roller is calculated according to certain coal seam conditions and working conditions. It lays a foundation for the subsequent load analysis and simulation of the mechanism, and establishes the virtual prototype model based on SolidWorks, and the dynamic model of the virtual prototype based on ADAMS. This paper analyzes and simulates the high load regulation in the dynamic model, and verifies the feasibility of the ADAMS dynamic model through the dynamic simulation test, introduces the structure principle of the traditional height adjusting hydraulic system, The scheme of electro-hydraulic proportional transformation and the selection of main components are given. The simulation model of open-loop electro-hydraulic proportional valve control cylinder height adjusting hydraulic system is constructed by AMESim, and the simulation analysis of basic working conditions is carried out to verify the feasibility of AMESim simulation model. The interface method between AMESim and ADAMS is introduced in detail, and the configuration requirements of the software environment are also introduced. The simulation model of mechanical-hydraulic coupling of the closed loop electro-hydraulic proportional scaling system is constructed. The dynamic characteristics of the system are studied by collaborative simulation. In particular, the rocker arm down-down jitter phenomenon is deeply analyzed and improved. The results of multi-software collaborative simulation analysis show that the closed-loop electro-hydraulic proportional height adjustment system based on PID can track the preset trajectory and control the height of the roller when it is applied to thin coal seam shearer. When the rocker arm is lowered, the hydraulic control one-way valve in the rodless cavity side leads to the violent flow rate and pressure fluctuation in the rodless cavity side of the oil cylinder, which will cause the shake when the rocker arm is lowered. After setting unidirectional throttle valve on the main oil path of the rodless cavity side, the phenomenon can be greatly improved, but the adverse effects can not be completely eliminated. On this basis, adding a unidirectional damper to the direct-acting proportional valve can reduce the impact of the spool at the moment when the rocker arm is lowered, and improve the stability of the spool and the flow controllability at the small opening.
【学位授予单位】：安徽理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TD421.6

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