采煤机浮动牵引机构力学特性与姿态控制研究

发布时间：2019-02-13 00:59

【摘要】：为了改善大功率采煤机牵引机构的受力状态,提高牵引机构可靠性。课题研提出一种可以调节采煤机姿态的液压浮动调姿牵引机构,并设计液压浮动调姿牵引机构的液压控制系统,通过MATLAB/Simulink软件对系统动态特性进行分析。首先,将传感器测得单截齿三向载荷通过坐标转换,转换为截齿齿尖所受三向载荷,建立滚筒截割阻力计算数学模型,得到截割阻力变化曲线;通过矢量方程的方法分析采煤机行走过程中速度、加速度的变化情况,探寻附加惯性力的变化规律。其次,建立采煤机整机力学模型,确定采用预条件拟极小剩余解算方法,对采煤机进行动态和静态解算。根据解算结果结合牵引机构结构特点,确定液压缸结构尺寸,给出控制系统原理和控制方法。建立梁端距变化数学模型与液压缸困油压力数学模型,得到了液压缸伸长量对梁端距和液压缸困油压力函数关系;建立液压控制系统模型,得到液压缸位移对电液比例阀阀芯位移的传递函数。最后,设计模糊PID控制器,在MATLAB/Simulink中进行系统仿真。结果表明,加入了模糊PID控制器的控制系统较传统的电液比例控制系统有响应速度快,控制精度高,无滞后,超调量小等优点,此控制策略适合应用与电液比例控制系统中。并且随着液压缸初始长度的增加,采煤机梁端距受到浮动牵引机构液压缸调节的灵敏度越来越高。
[Abstract]:In order to improve the mechanical state and reliability of high-power shearer traction mechanism. This paper presents a kind of hydraulic floating attitude adjusting traction mechanism which can adjust the attitude of shearer, and designs the hydraulic control system of hydraulic floating attitude adjusting traction mechanism. The dynamic characteristics of the system are analyzed by MATLAB/Simulink software. First of all, the sensor measured the single tooth three direction load through the coordinate transformation, converted to the tooth tip of the three direction load, set up the cylinder cutting resistance calculation mathematical model, obtained cutting resistance curve; Through the method of vector equation, the change of speed and acceleration of shearer is analyzed, and the law of the change of additional inertial force is explored. Secondly, the mechanical model of shearer is established, and the dynamic and static solution of shearer is determined by using preconditioned quasi-minimal residual solution method. According to the calculation results and the characteristics of the traction mechanism structure, the structure size of the hydraulic cylinder is determined, and the control system principle and control method are given. The mathematical model of beam-end distance variation and hydraulic cylinder oil trap pressure is established, and the relationship between the length of hydraulic cylinder and the beam-end distance and the pressure function of hydraulic cylinder is obtained. The model of hydraulic control system is established and the transfer function of hydraulic cylinder displacement to valve core displacement of electro-hydraulic proportional valve is obtained. Finally, the fuzzy PID controller is designed and simulated in MATLAB/Simulink. The results show that the control system with fuzzy PID controller has the advantages of fast response speed, high control precision, no delay and small overshoot. This control strategy is suitable for the application of electro-hydraulic proportional control system. With the increase of the initial length of the hydraulic cylinder, the sensitivity of adjusting the end distance of the shearer beam by the floating traction mechanism becomes higher and higher.
【学位授予单位】：黑龙江科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TD632.1

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