悬臂式掘进机截割部系统建模及仿真研究  

Modeling and Simulation Research on Cutting Part System of Boom-Type Roadheader

作　　者：彭天好[1] 何兴川 储安圆 PENG Tianhao;HE Xingchuan;CHU Anyuan(School of Mechanical Engineering,Anhui University of Science and Technology,Huainan Anhui 232001,China)

机构地区：[1]安徽理工大学机械工程学院,安徽淮南232001

出　　处：《机床与液压》2022年第9期173-178,共6页Machine Tool & Hydraulics

基　　金：国家自然科学基金项目(51475001);安徽省学术和技术带头人后备人选资助项目(2019H210)。

摘　　要：针对悬臂式掘进机截割头位置控制问题,建立掘进机截割部系统非线性模型。分析截割部回转比例阀控双缸液压系统和升降比例阀控双缸同步液压系统的压力、流量特性,结合回转和升降机械系统的运动学和动力学分析,建立截割部系统非线性数学模型。在MATLAB/Simulink环境构建截割部系统仿真模型,对掘进机典型截割工况进行仿真。仿真结果表明:悬臂的回转角度与升降角度能够很好地跟踪目标角度,且模型能反映截割部系统各参数的变化情况,为后续掘进机截割头的精确定位及掘进机的自动截割提供了理论基础。In terms of the problem of cutting head position control of boom-type roadheader,the nonlinear model of the cutting part system of roadheader was established.The cutting part had a proportional valve controlled double cylinder hydraulic system of rotary part and a proportional valve controlled double cylinder synchronous hydraulic system of lifting part,and the pressure and flow characteristics of the hydraulic system of the rotary part and lifting part were analyzed.Combined with the kinematics and dynamics analysis of the mechanical system of the rotary part and lifting part,the nonlinear mathematical model of the cutting part system was established.The simulation model of the cutting part system was constructed in MATLAB/Simulink environment.Based on the model,the typical cutting conditions of roadheader were simulated.The simulation results show that the rotation angle and lifting angle of the cutting part can track the target angle well,and the model can reflect the changes of various parameters in the cutting part system.It provides a theoretical basis for the precise positioning of the cutting head of the roadheader and the automatic cutting of the roadheader.

关 键 词：悬臂式掘进机 截割部 电液比例控制 阀控双缸系统 非线性控制 

分 类 号：TD421[矿业工程—矿山机电]