【摘要】：采煤機(jī)的自動(dòng)化是實(shí)現(xiàn)綜采工作面“無人化”的前提,而采煤機(jī)滾筒自動(dòng)調(diào)高技術(shù)則是實(shí)現(xiàn)采煤機(jī)自動(dòng)化的最為重要的關(guān)鍵技術(shù)之一。目前,實(shí)際應(yīng)用的采煤機(jī)調(diào)高系統(tǒng)仍普遍采用開關(guān)閥控缸繼電器系統(tǒng),這類系統(tǒng)難以適應(yīng)大功率慣性負(fù)載的要求且穩(wěn)定性較差,故而有必要運(yùn)用電液比例技術(shù)改造現(xiàn)有調(diào)高系統(tǒng)。另一方面,伴隨著虛擬樣機(jī)建模與仿真技術(shù)的發(fā)展,計(jì)算機(jī)輔助建模與仿真技術(shù)已成為開展采煤機(jī)相關(guān)研究的重要技術(shù)手段。本文以MG2×160/710-WD薄煤層采煤機(jī)為原型,對其配套滾筒進(jìn)行了結(jié)構(gòu)參數(shù)配置與計(jì)算,并結(jié)合一定的煤層條件和工作狀態(tài)對滾筒的平均受載的狀況進(jìn)行了計(jì)算,為后續(xù)調(diào)高機(jī)構(gòu)負(fù)載分析與模擬、滾筒的虛擬樣機(jī)建模奠定了基礎(chǔ)；基于SolidWorks構(gòu)建了采煤機(jī)三維實(shí)體模型,結(jié)合ADAMS建立了虛擬樣機(jī)動(dòng)力學(xué)模型,對動(dòng)力學(xué)模型中調(diào)高負(fù)載進(jìn)行了分析與模擬,并通過動(dòng)力學(xué)仿真測試驗(yàn)證了ADAMS動(dòng)力學(xué)模型的可行性；介紹了傳統(tǒng)調(diào)高液壓系統(tǒng)結(jié)構(gòu)原理,給出電液比例改造方案和主要元件選型,通過AMESim構(gòu)建了開環(huán)電液比例閥控缸調(diào)高液壓系統(tǒng)的仿真模型,并對基本工況進(jìn)行了仿真分析,驗(yàn)證了AMESim仿真模型的可行性；最后,詳細(xì)介紹了AMESim與ADAMS協(xié)同仿真的接口方法、及對軟件環(huán)境的配置要求,構(gòu)建了閉環(huán)電液比例調(diào)高系統(tǒng)機(jī)液耦合仿真模型,通過協(xié)同仿真研究系統(tǒng)動(dòng)態(tài)特性,尤其是對搖臂下調(diào)抖動(dòng)現(xiàn)象進(jìn)行了深入分析與改進(jìn)。多軟件協(xié)同仿真分析結(jié)果表明,基于PID的閉環(huán)電液比例調(diào)高系統(tǒng)應(yīng)用于薄煤層采煤機(jī)時(shí)能夠?qū)崿F(xiàn)對預(yù)設(shè)軌跡進(jìn)行跟蹤、以及滾筒高度的控制；此外,對于小流量、大慣性負(fù)載的調(diào)高液壓系統(tǒng),搖臂下調(diào)時(shí)由于無桿腔側(cè)液控單向閥反復(fù)開閉導(dǎo)致了在調(diào)高油缸無桿腔側(cè)存在劇烈流量和壓力波動(dòng),會引起搖臂下調(diào)時(shí)存在抖動(dòng)；在無桿腔側(cè)主油路上設(shè)置單向節(jié)流閥后可以十分顯著的改善這一現(xiàn)象,但不能徹底消除其不利影響,在此基礎(chǔ)進(jìn)一步為直動(dòng)式比例方向閥增加單向阻尼器可以減小閥芯在搖臂下調(diào)瞬間受到的沖擊,改善閥芯工作的穩(wěn)定性和在小開口處的流量可控性。
[Abstract]:The automation of shearer is the premise of realizing "no-man" in fully mechanized coal mining face, and the automatic height adjustment technology of shearer drum is one of the most important key technologies to realize the automation of shearer. At present, the switch valve control cylinder relay system is still widely used in the practical height adjustment system of shearer, which is difficult to meet the requirements of high power inertial load and has poor stability. Therefore, it is necessary to use electro-hydraulic proportional technology to reform the existing height adjustment system. On the other hand, with the development of virtual prototype modeling and simulation technology, computer-aided modeling and simulation technology has become an important technical means to carry out research on shearer. Taking MG2 脳 160/710-WD thin coal seam shearer as the prototype, the structural parameters of the matching drum are configured and calculated, and the average load of the roller is calculated according to certain coal seam conditions and working conditions. It lays a foundation for the subsequent load analysis and simulation of the mechanism, and establishes the virtual prototype model based on SolidWorks, and the dynamic model of the virtual prototype based on ADAMS. This paper analyzes and simulates the high load regulation in the dynamic model, and verifies the feasibility of the ADAMS dynamic model through the dynamic simulation test, introduces the structure principle of the traditional height adjusting hydraulic system, The scheme of electro-hydraulic proportional transformation and the selection of main components are given. The simulation model of open-loop electro-hydraulic proportional valve control cylinder height adjusting hydraulic system is constructed by AMESim, and the simulation analysis of basic working conditions is carried out to verify the feasibility of AMESim simulation model. The interface method between AMESim and ADAMS is introduced in detail, and the configuration requirements of the software environment are also introduced. The simulation model of mechanical-hydraulic coupling of the closed loop electro-hydraulic proportional scaling system is constructed. The dynamic characteristics of the system are studied by collaborative simulation. In particular, the rocker arm down-down jitter phenomenon is deeply analyzed and improved. The results of multi-software collaborative simulation analysis show that the closed-loop electro-hydraulic proportional height adjustment system based on PID can track the preset trajectory and control the height of the roller when it is applied to thin coal seam shearer. When the rocker arm is lowered, the hydraulic control one-way valve in the rodless cavity side leads to the violent flow rate and pressure fluctuation in the rodless cavity side of the oil cylinder, which will cause the shake when the rocker arm is lowered. After setting unidirectional throttle valve on the main oil path of the rodless cavity side, the phenomenon can be greatly improved, but the adverse effects can not be completely eliminated. On this basis, adding a unidirectional damper to the direct-acting proportional valve can reduce the impact of the spool at the moment when the rocker arm is lowered, and improve the stability of the spool and the flow controllability at the small opening.
【學(xué)位授予單位】：安徽理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TD421.6

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