School of Mechanical Electronic and Information Engineering,China University of Mining and Technology(Beijing),Beijing　 100083,China

基于系统动力学Lagrange方程,推导建立了掘进机截割臂摆角跳动动力学模型,然后根据其求解的输入问题,提出了一种截割头载荷计算方法,并通过仿真计算分析得到截割头载荷与截割臂驱动油缸压力及截割臂摆角之间的关系。建立了Simulink仿真模型,在截割臂垂直摆动和水平摆动两种截割工况下,分别选取5种截割臂摆角进行仿真求解分析,得到固定截割方向截割摆角垂直跳动规律:截割臂垂直摆动截割时,随截割头载荷的增大,其水平摆角跳动量先减小后增大,最大值可达到5.3°,最小值为0.5°;随截割臂垂直摆角的增大,其水平摆角跳动量先增大后减小,约在20°时达到最大值。截割臂水平摆动截割时,其垂直摆角跳动量先减小后增大,最大值可达到5.4°,最小值为0.3°;随截割臂水平摆角的增大,其垂直摆角跳动量基本呈线性减小。掘进机截割臂摆角跳动规律可为截割臂自动控制及截割头空间位置纠偏提供借鉴。

Based on lagrange equation in system dynamics,the dynamical model of the cutting arm’s swing angle run- out was derived. According to the input problem in solving the model,a calculating method of the cutting head load was proposed,and the relationships of the cutting head load relative to pressure of the driving cylinders and the swing angle of the cutting arm was obtained through simulating calculation and analysis. The simulation model was estab- lished in Simulink. In the two kinds of cutting conditions of the cutting arm’s vertical and horizontal swing,five kinds of the cutting arm’ s swing angle were selected to conduct simulation respectively,and the regulation of the cutting arm’s swing angle run-out perpendicular to the fixed cutting direction was obtained. When the cutting arm swings ver- tically,as the cutting head load increases,the horizontal swing angle run-out decreases firstly and then increases;it’ s maximum is reaching to 5. 3°,and it’s minimum is 0. 5°;as the cutting arm’s vertical angle increases,the horizontal swing angle run-out increases firstly and then decreases,which reaches to the maximum when the cutting arm’s verti- cal angle is 20°. When the cutting arm swings horizontally,as the cutting head load increases,the vertical swing angle run-out decreases firstly and then increases;it’s maximum is reaching to 5. 4°,and it’s minimum is 0. 3°;as the cut- ting arm’s horizontal angle increases,the vertical swing angle run-out decreases linearly. The regulation of the cutting arm’s swing angle run-out in the fixed cutting direction can provide important theory basis for the automatic control of the cutting arm and rectification of the cutting head’s special position.

ZONG Kai,ZHANG Peng,WANG Pengjiang,et al. Regulation of the cutting arm’s swing angle run-out perpendicular to the fixed cutting direction[J]. Journal of China Coal Society,2018,43(5):1455-1463.