悬臂式掘进机机液联合仿真研究
发布时间：2018-11-14 16:32
【摘要】：我国的煤炭资源储量丰富,且多数在地表以下,截至2012年,我国90.7%的煤矿都是来自地下开采。由于我国地下煤层分布复杂,作为机械化综采关键设备的悬臂式掘进机,在井下截割工作时常会遇到半煤岩或硬岩,复杂多变的工作载荷会对液压系统造成循环的压力冲击。此外,由于整机驱动功率大,在启动及执行元件工况转变过程中,也不可避免的使液压系统产生压力冲击与速度波动,相应的管道及元件会产生高频小幅振动。瞬时的压力冲击往往对液压元件造成损伤,元件高频小幅振动会加剧系统泄漏,也会降低元件的使用寿命,从而影响液压系统工作可靠性而给安全生产带来隐患。对于悬臂式掘进机这类液压驱动下的大功率机械系统,传统的研究方法是将其划分为机械、液压两个子系统分别进行研究,二者的相互影响通过定义信号方式加以模拟,科学性和准确性均无法保证。本文首先对悬臂式掘进机结构组成、液压系统原理做了简要介绍。接着,在动力学分析基础上,利用CATIA建立悬臂式掘进机三维模型,并利用LMS Virtual.Lab Motion软件将三维模型导入,经简化后建立整机动力学模型,并仿真模拟其两个工作循环,绘制截割头运动轨迹曲线。然后,在基于液压系统理论分析基础上,利用AMESim软件对悬臂式掘进机的工装回路进行仿真研究,并针对系统中核心元件负载敏感变量泵做了详细建模,分析了其流量与压力控制特性。最后,基于AMESim仿真平台,在悬臂式掘进机液压仿真框架内,设置接口程序调入掘进机整机LMS Virtual.Lab Motion动力学模型,从而将二者整合为机液结合的掘进机一体化仿真模型。对特定工况下模型输出特性趋势进行了分析,并借助平衡状态下的仿真输出对结果对模型进行了验证。在此基础上,模拟掘进机实际工况下的作业过程,以仿真实验为手段对悬臂式掘进机工装回路工作特性进行研究,并根据仿真结果对工装液压系统加以改进。使截割臂升降油缸的速度峰值下降了16.7%,速度波动时间下降了40.3%,截割臂升降油缸的载荷峰值下降了5.4%,载荷波动时间下降了39.4%。上述研究结果表明,对悬臂式掘进机借助机械多体动力学理论和液压技术进行机液一体化建模现实可行,这种基于机液一体化建模仿真的方法对其它大功率机液一体化系统研究具有借鉴意义。
[Abstract]:China is rich in coal resources, and most of them are below the surface. Up to 2012, 90.7% of the coal mines in China come from underground mining. Because of the complex distribution of underground coal seams in our country, the cantilever roadheader, which is the key equipment of mechanized fully mechanized mining, will often encounter semi-coal or hard rock in the underground cutting work, and the complicated and changeable working load will cause cyclic pressure impact on the hydraulic system. In addition, due to the large driving power of the whole machine, the pressure shock and velocity fluctuation of the hydraulic system will inevitably occur in the process of changing the operating conditions of the starting and executing components, and the corresponding pipes and components will produce high frequency and small vibration. The instantaneous pressure shock often causes damage to the hydraulic components. The high frequency and small vibration of the components will aggravate the leakage of the system, reduce the service life of the components, thus affect the working reliability of the hydraulic system and bring hidden trouble to the safety production. For the high-power mechanical system driven by cantilever roadheader, the traditional research method is to divide it into machinery, and the two subsystems are studied separately, and the interaction between them is simulated by defining the signal method. Neither science nor accuracy can be guaranteed. In this paper, the structure of cantilever roadheader and the principle of hydraulic system are introduced briefly. Then, on the basis of dynamic analysis, the three-dimensional model of cantilever roadheader is established by using CATIA, and the three-dimensional model is imported into the model by LMS Virtual.Lab Motion software. After simplification, the dynamic model of the whole machine is established, and its two working cycles are simulated. Draw the trajectory curve of cutting head. Then, based on the theoretical analysis of hydraulic system, the paper makes a simulation study on the tooling circuit of the cantilever roadheader by using AMESim software, and makes a detailed modeling for the load sensitive variable pump of the core component in the system. The flow and pressure control characteristics are analyzed. Finally, based on the AMESim simulation platform, in the framework of hydraulic simulation of the cantilever roadheader, the interface program is set up to transfer the LMS Virtual.Lab Motion dynamic model of the whole roadheader, and the two models are integrated into the integrated simulation model of the roadheader combined with the machine and liquid. The trend of the output characteristics of the model under specific conditions is analyzed, and the model is verified by the simulation output in the equilibrium state. On this basis, the operating process of roadheader under actual working conditions is simulated, and the working characteristics of the tooling circuit of cantilever roadheader are studied by means of simulation experiment, and the hydraulic system of tooling is improved according to the simulation results. The peak value of the cutting arm lift oil cylinder was reduced by 16.7m, the velocity fluctuation time decreased by 40.3%, the load peak value of the cutting arm lift oil cylinder decreased by 5.4%, and the load fluctuation time decreased by 39.4%. The results show that it is feasible to model the cantilever roadheader with the help of mechanical multi-body dynamics theory and hydraulic technology. The method of modeling and simulation based on the integration of machine and liquid has reference significance for the research of other high power integrated systems of machine and fluid.
【学位授予单位】：沈阳建筑大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TD421.5
[Abstract]:China is rich in coal resources, and most of them are below the surface. Up to 2012, 90.7% of the coal mines in China come from underground mining. Because of the complex distribution of underground coal seams in our country, the cantilever roadheader, which is the key equipment of mechanized fully mechanized mining, will often encounter semi-coal or hard rock in the underground cutting work, and the complicated and changeable working load will cause cyclic pressure impact on the hydraulic system. In addition, due to the large driving power of the whole machine, the pressure shock and velocity fluctuation of the hydraulic system will inevitably occur in the process of changing the operating conditions of the starting and executing components, and the corresponding pipes and components will produce high frequency and small vibration. The instantaneous pressure shock often causes damage to the hydraulic components. The high frequency and small vibration of the components will aggravate the leakage of the system, reduce the service life of the components, thus affect the working reliability of the hydraulic system and bring hidden trouble to the safety production. For the high-power mechanical system driven by cantilever roadheader, the traditional research method is to divide it into machinery, and the two subsystems are studied separately, and the interaction between them is simulated by defining the signal method. Neither science nor accuracy can be guaranteed. In this paper, the structure of cantilever roadheader and the principle of hydraulic system are introduced briefly. Then, on the basis of dynamic analysis, the three-dimensional model of cantilever roadheader is established by using CATIA, and the three-dimensional model is imported into the model by LMS Virtual.Lab Motion software. After simplification, the dynamic model of the whole machine is established, and its two working cycles are simulated. Draw the trajectory curve of cutting head. Then, based on the theoretical analysis of hydraulic system, the paper makes a simulation study on the tooling circuit of the cantilever roadheader by using AMESim software, and makes a detailed modeling for the load sensitive variable pump of the core component in the system. The flow and pressure control characteristics are analyzed. Finally, based on the AMESim simulation platform, in the framework of hydraulic simulation of the cantilever roadheader, the interface program is set up to transfer the LMS Virtual.Lab Motion dynamic model of the whole roadheader, and the two models are integrated into the integrated simulation model of the roadheader combined with the machine and liquid. The trend of the output characteristics of the model under specific conditions is analyzed, and the model is verified by the simulation output in the equilibrium state. On this basis, the operating process of roadheader under actual working conditions is simulated, and the working characteristics of the tooling circuit of cantilever roadheader are studied by means of simulation experiment, and the hydraulic system of tooling is improved according to the simulation results. The peak value of the cutting arm lift oil cylinder was reduced by 16.7m, the velocity fluctuation time decreased by 40.3%, the load peak value of the cutting arm lift oil cylinder decreased by 5.4%, and the load fluctuation time decreased by 39.4%. The results show that it is feasible to model the cantilever roadheader with the help of mechanical multi-body dynamics theory and hydraulic technology. The method of modeling and simulation based on the integration of machine and liquid has reference significance for the research of other high power integrated systems of machine and fluid.
【学位授予单位】：沈阳建筑大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TD421.5
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