基于微分几何的掘进机工作机构运动学分析  

Kinematics analysis of roadheader's working mechanism based on differential geometry

作　　者：李旭[1] 顾永正[2] 吴淼[1] 

机构地区：[1]中国矿业大学(北京)机电与信息工程学院,北京100083 [2]神华集团有限责任公司科技发展部,北京100011

出　　处：《煤炭学报》2016年第12期3158-3166,共9页Journal of China Coal Society

基　　金：国家重点基础研究发展计划(973)资助项目(2014CB046306)

摘　　要：为提高掘进机截割断面成形质量,减小不确定因素对掘进工艺自动化控制的影响,探究掘进机主要工作机构间的运动学关系。以EBZ160型掘进机为例,基于微分几何理论建立了该机型工作机构在巷道空间的运动学模型,利用牛顿迭代法数值求解出运动学方程,并应用Matlab对各个构件的运动响应进行仿真分析。结果表明:空间微分几何法可避免多次运算三角函数和逆矩阵,简化推导过程并降低计算难度。横摆时截齿的模拟运动轨迹与实际截割路径相符,验证了微分几何法用于研究掘进机运动规律的可靠性。在多个驱动作用下,截割头回转中心z向速度与回转台转动角速度相关性较强,截齿加速度响应幅值仅在x方向存在明显变化。To improve the forming quality of cutting cross-section and reduce the effect of uncertain factors on the auto- mation control of excavation technology. The kinematic relationships of roadheader＇ s main working mechanisms were investigated. Taking the EBZ160 roadheader as an example,the kinematics model of the roadheader＇ s working mechanisms was established based on the differential geometry theory. Subsequently, the Newton iteration method was used to solve the kinematics equation and the motion responses of each component were simulated using Matlab programs. The results show that the computations of trigonometric function and inverse matrix can be avoided by using the differential geometry method ,which is conducive to simplifying the derivation process and reducing the computational difficulty. The simulated trajectory of the cutting pick is consistent with the actual cutting path during horizontal swing cutting, indicating that this method is feasible for studying the movement rule of the roadheader. Under the action of muhiple drivers,there is a noticeable correlativity between the z-linear velocity component of the rotary center of cutting head and the rotational angular velocity of rotary table. Additionally, the amplitudes of cutting pick＇ s acceleration responses have an apparent change only in the x direction.

关 键 词：掘进机 工作机构 运动学 微分几何 运动响应 

分 类 号：TD421.5[矿业工程—矿山机电]