School of Mechanic and Electric Engineering,Shandong University of Science and Technology Shandong Energy
Machinery Group Corporation Limited

为研究采煤机滚筒调高过程中调高系统的动态特性,以及实现对采煤机滚筒位置的控制,运用机械原理理论建立了调高机械系统摆动导杆机构运动模型,并用Matlab软件进行仿真,仿真结果表明,调高油缸匀速运动过程中,摇臂对连接销轴存在冲击作用力。针对调高液压系统中调高油缸行程较大的情况,建立了适用于活塞大位移的阀控非对称缸模型,分析结果表明,当考虑调高油缸有效容积的变化时,阀控非对称缸模型是非线性的。最后应用AMESim软件建立了采煤机调高系统的机液协同仿真模型,通过对比摇臂摆角实际值与给定值可知:当考虑滚筒截割阻力、滚筒和摇臂重力综合作用时,采用摇臂角位移反馈、电液换向阀控制的调高控制模型能够实现对采煤机滚筒位置控制。

In order to study dynamic features of height adjusting system during the cutting drum height adjusting process of coal shearer and to realize control of the C utting drum position of coal shearer,a mechanical principle theory was applied to establish crank shaper mechanism movement model of height adjusting mechanic system. A Matlab software was applied to the simulation. The simulation results showed that during the uniform moving process of height adjustment hydraulic system,a ranging ar m would have impact force to connecting pin shaft. According to a long stroke of height adjusting cylinder in height adjustment hydraulic system,a valve controlled asymmet ric cylinder model suitable to large displacement piston was established. The analysis results showed that in consideration on effective volume variation of height adjustme nt cylinder,the valve controlled asymmetric cylinder model would be nonlinear. Finally,a AMESim software was applied to establish a mechanic and hydraulic collaborated si mulation model of height adjusting system for coal shearer. A comparison was made on the swing angle actual value and ranging arm given value. The results showed that in consideration on the cutting resistance of cutting drum and gravity comprehensive role of cutting drum and ranging arm,an angle displacement feedback of the ranging a rm and height adjustment control model controlled by electric and hydraulic directional valve could be applied to realize position control of coal shearer.

国家自然科学基金资助项目(51375282)；长江学者和创新团队发展计划资助项目(IRT1266)；山东省自主创新专项资助项目(2013CXB40203)；