掘进机截割过程振动特性分析.pdf

全日制硕士学位论文全日制硕士学位论文 掘进机截割过程振动特性分析 Analysis of the Vibration Characteristics of Roadheader in Cutting Process 作者姓名魏玉峰 导师姓名陈洪月教授 学科专业机械工程 研究方向 机械设计及理论 完成日期 2020 年 6 月 20 日 辽宁工程技术大学 Liaoning Technical University 学位论文书脊样式学位论文书脊样式 论 掘 进 机 截 割 过 程 振 动 特 性 分 析 魏 玉 峰 辽 宁 工 程 技 术 大 学 中图分类号TD421学校代码10147 UDC621密级公 开 辽宁工程技术大学 全日制全日制硕士学位论文硕士学位论文 掘进机截割过程振动特性分析 Analysis of the Vibration Characteristics of Roadheader in Cutting Process 作者姓名魏玉峰学号471720052 导师姓名陈洪月 （教授）副导师姓名王鑫 （讲师） 申请学位工学硕士培养单位机械工程学院 学科专业机械工程研究方向机械设计及理论 二○二○年六月 致致 谢谢 时光荏苒，岁月如梭。转眼间三年的研究生生涯已接近尾声，又临毕业季，春梦秋云， 聚散相集。七年忙碌而充实的大学生活即将画上圆满的句号。研究生的三年时光让我受益 匪浅，收获良多，这三年是让我快速成长的三年，是让我不断丰富自己的三年，更是让自 己获得收获的三年。在研究生的三年求学道路上，我得到了很多老师，同学，家人朋友们 的帮助与鼓励，每当我遇到困难一筹莫展的时候，总是你们给我信心与鼓励，也是你们给 我解决问题的灵感，在硕士学位论文完成之际，谨借此机会向所有在我求学道路上帮助， 鼓励，支持过我的老师，同学，家人朋友们致以最为诚挚的感谢。 首先，我要感谢陈洪月老师。本次论文的全部工作都是在老师的指导下完成的，老师 在专业知识上的渊博知识，在生活中的和蔼可亲，在工作上的一丝不苟，这些无一例外的 深深使我折服。老师不仅是我学业上的导师，更是我生活上的导师。不论在学业上还是在 生活中、科研中，老师都给了我很大的帮助，让我不走弯路，少走弯路。祝愿恩师身体健 康，万事如意。 感谢王鑫老师、杨辛未老师，在我完成学位论文期间，感谢你们给我提供的帮助与指 导，每当我的论文有困难的地方，你们总是不厌其烦的为我讲解，让我能有新的想法与思 路，才得以让我的论文能够顺利的完成，感谢老师们的无私帮助与指导。 在此我也要衷心的感谢我的父母，是您们的鼎力支持才让我能够顺利完成学业，我现 在的每一次成长与收获都离不开您们的支持，向您们致以我最为崇高的敬意。 最后，特别感谢评阅本论文和参加论文答辩的各位专家、老师，感谢你们宝贵意见， 感谢各位老师在百忙之中抽时间对本文进行审阅。 I 摘摘要要 采掘失调在当前的煤炭生产中，日益显现。提高掘进机工作效率、降低系统故障率对 缓解采掘失调的矛盾具有重要的意义。掘进机破碎煤壁产生的振动冲击，不仅会加快掘进 机零部件的磨损，降低使用寿命，而且易造成电气控制系统和液压驱动系统故障，延长维 护周期。因此，研究掘进机振动特性对提升机械性能，降低故障率具有积极的作用。本文 以纵轴式悬臂掘进机为研究对象，采用理论建模与数值仿真相结合的方法，研究掘进机在 不同工况下的振动特性及其系统内部参数对共振特性的影响。主要内容如下 （1）通过对安装在截割头上的镐形截齿进行载荷分析和位置分布规律研究，建立截 割头模型的载荷计算公式；通过对履带行走机构的结构和运行阻力进行研究，建立履带行 走机构驱动力的计算公式；建立掘进机截割臂弯曲振动模型，求出截割臂主振型函数和 截割臂动力响应。 （2）基于多体动力学理论，在建立截割头载荷、履带行走机构驱动力计算公式的基 础上，考虑截割臂在振动中的柔性变形，采用哈密顿原理，建立掘进机在竖直截割工况和 回转截割工况下的动力学模型。采用多尺度法求解动力学方程，得出系统共振特性方程。 （3） 基于建立的掘进机在竖直截割工况和回转截割工况下的动力学模型， 采用 Matlab 软件对其进行数值求解，得出系统的动态响应并得出截割臂振动分布规律。结果表明掘 进机机身在竖直方向上的位移振动范围为4.1mm， 掘进机回转机构在竖直方向上的位移振 动范围为6.8mm，机身在驱动方向上的位移振动范围为4.7mm，截割臂末端在竖直截割 工况下的产生的振动量最大，位移振动范围为27.8mm；回转截割工况下回转液压缸的位 移振动范围为2.4mm，回转座振动量范围为3.910-3rad，截割臂末端振动量最大，振 动范围为22.4mm。 （4）基于多尺度法求出的系统共振特性方程，采用 Matlab 软件分析系统内部参数对 系统振动幅度的影响规律。通过对比单一参数不同数值下振幅响应，得出刚度、阻尼、负 载激励对系统共振的影响。结果表明增加系统连接刚度、增大系统阻尼、合理控制驱动 参数以减少负载激励幅值可以降低共振对系统造成的危害。 该论文有图 54 幅，参考文献 67 篇。 关键词关键词振动特性；动力学模型；哈密顿原理；多尺度法 II AbstractAbstract The maladjustment of coal mining and roadway driving is increasingly evident in the current coal production. It is of great significance to improve the working efficiency of roadheader and reduce the system failure rate to alleviate the imbalance between coal mining and roadway driving. The vibration impact caused by the coal wall breaking of the roadheader will not only accelerate the wear and tear of the parts of the roadheader and reduce the service life, but also easily cause the failure of the electrical control system and hydraulic drive system arranged on the fuselage and increase the maintenance period. Therefore, the study of vibration characteristics of roadheader has a positive effect on improving mechanical perance and reducing failure rate. This paper takes longitudinal-axial cantilever roadheader as the research object. By Adopting the of combining theoretical modeling and numerical simulation. the vibration characteristics of roadheader under different working conditions and its response law under the action of system parameters are studied. The main contents are as follows （1）Based on the analysis of pick load and its position distribution on the cutting head, the calculation ula of cutting head load is established; Through the analysis of the running resistance of the crawler walking mechanism, the calculation ula of the output driving force of the crawler walking mechanism is obtained; Establishing the cutting arm-continuum model and obtaining the main mode function and the dynamic response of. the cutting arm. （2）The theory of multibody dynamics is adopted. On the basis of the cutting head load and driving force calculation ula of crawler walking mechanism established, considering the flexible deation of cutting arm in vibration, based on the Hamiltonian principle, the dynamic model of roadheader under vertical and rotary cutting conditions is established. The multi-scale is used to solve the dynamic equation and the resonance characteristic equation of the system is obtained. （3）Based on the established dynamic model of vertical direct cutting and rotary cutting of roadheader, the dynamic response of system vibration and the vibration distribution of the cutting arm were obtained by numerical solution of Matlab software. The results show that the displacement vibration range of the body of the roadheader in the vertical direction is 4.1mm. The displacement vibration range of the turning mechanism of the roadheader in the vertical direction is 6.8mm. The displacement vibration range of the body in the driving direction is 4.7mm. The vibration range of the end of the cutting arm in the vertical cutting condition is the largest, and the displacement vibration range is 27.8mm; The rotation hydraulic pressure in the III rotary cutting condition is 27.8mm. The displacement vibration range of the cylinder is 2.4mm. The vibration range of the rotary foundation is 3.910-3rad, and the vibration range of the end of the cutting arm is 22.4mm. （4）The system resonance characteristic equation was obtained based on the multi-scale , and the influence law of system internal parameters on the system vibration amplitude was analyzed by Matlab software. The influence of stiffness, damping and load excitation on the system resonance is obtained by comparing the amplitude response under different values of a single parameter. The results show that the damage of resonance to the system can be reduced by increasing the connection stiffness, increasing the system damping and controlling the driving parameters reasonably to reduce the load excitation amplitude. Keywords vibration characteristics; dynamic model; Hamiltonian principle; multi-scale IV 目目录录 摘要摘要................................................................................................................................................. I I 目录目录............................................................................................................................................... IVIV 图清单图清单........................................................................................................................................... ⅧⅧ 变量注释表变量注释表...................................................................................................................................XIXI 1 1 绪论绪论............................................................................................................................................. 1 1 1.1 课题背景及意义..................................................................................................................... 1 1.2 掘进机国内外研究现状......................................................................................................... 2 1.3 掘进机振动特性国外内研究现状......................................................................................... 3 1.4 本文主要研究内容................................................................................................................. 5 1.5 本章小结................................................................................................................................. 6 2 2 掘进机截割掘进机截割过程过程载荷模型载荷模型.........................................................................................................7 7 2.1 掘进机截割头载荷模型......................................................................................................... 7 2.2 掘进机履带行走机构载荷模型............................................................................................. 9 2.3 掘进机截割臂模型............................................................................................................... 12 2.4 数值分析仿真软件及其功能介绍....................................................................................... 16 2.5 非线性振动求解方法........................................................................................................... 17 2.6 本章小结............................................................................................................................... 17 3 3 掘进机竖直截割工况下动力学特性分析掘进机竖直截割工况下动力学特性分析...............................................................................1818 3.1 掘进机动力学模型的建立................................................................................................... 18 3.2 掘进机动力学模型离散化................................................................................................... 21 3.3 基于多尺度法求解动力学方程........................................................................................... 23 3.4 本章小结............................................................................................................................... 28 4 4 掘进机回转截割工况下动力学特性分析掘进机回转截割工况下动力学特性分析...............................................................................2929 4.1 掘进机动力学模型的建立................................................................................................... 29 4.2 掘进机动力学模型离散化................................................................................................... 31 4.3 基于多尺度法求解动力学方程........................................................................................... 33 4.4 本章小结............................................................................................................................... 38 5 5 掘进机截割掘进机截割过程过程动力学仿真及结果分析动力学仿真及结果分析...............................................................................3939 V 5.1 竖直截割工况下掘进机振动特性分析............................................................................... 39 5.2 回转截割工况下掘进机振动特性分析............................................................................... 47 5.3 本章小结............................................................................................................................... 55 6 6 结论与展望结论与展望............................................................................................................................... 5757 6.1 结论....................................................................................................................................... 57 6.2 展望....................................................................................................................................... 58 参考文献参考文献.......................................................................................................................................5959 作者简历作者简历.......................................................................................................................................6262 学位论文原创性声明学位论文原创性声明...................................................................................................................6363 学位论文数据集学位论文数据集...........................................................................................................................6464 VI ContentsContents Abstract.........................................................................................................................................ⅡⅡ Contents........................................................................................................................................ⅥⅥ List of Figures...............................................................................................................................ⅧⅧ List of Variables........................................................................................................................... XIXI 1 Introduction.................................................................................................................................1 1.1 Subject background and significance........................................................................................ 1 1.2 Development and research of roadheader at home and abroad.................................................2 1.3 Development and research of the Vibration Characteristics of roadheader...............................3 1.4 The main research work in this paper........................................................................................5 1.5 Summary....................................................................................................................................6 2 Load model of cutting process of roadheader..........................................................................7 2.1 Load model of cutting head of roadheader................................................................................7 2.2 Load model of crawler moving mechanism of roadheader....................................................... 9 2.3 Cutting arm model of roadheader............................................................................................12 2.4 Numerical simulation software Introduction...........................................................................16 2.5 Nonlinear vibration solution .......................................................................................17 2.6 Summary..................................................................................................................................17 3 Nonlinear dynamic characteristics of roadheader under vertical direct cutting condition ....................................................................................................................................................... 18 3.1 The establishment of dynamic model of roadheader...............................................................18 3.2 Discrete dynamic model of roadheader...................................................................................21 3.3 Solve the dynamic equation in multi-scale .................................................................23 3.4 Summary..................................................................................................................................28 4 Nonlinear dynamic characteristics of roadheader under rotary cutting condition............29 4.1 The establishment of dynamic model of roadheader...............................................................29 4.2 Discrete dynamic model of roadheader...................................................................................31 4.3 Solve the dynamic equation in multi-scale .................................................................33 4.4 Summary..................................................................................................................................38 VII 5 Dynamic simulation and result analysis of cutting process of roadheader......................... 39 5.1Analysis of vibration characteristics of roadheader under vertical direct cutting condition... 39 5.2Analysis of vibration characteristics of roadheader under rotary cutting condition................47 5.3 Summary..................................................................................................................