The Study On Mechanical Characteristics And Attitude Control Of Floating Traction Mechanism Of Shearer

During the working process of coal cutter under driven well,often appear walking wheel and a guide slipper abrasion and walking wheel broken teeth phenomenon,seriously reduce the safety and reliability of the whole machine.With the gradual decrease of the mining area in China,high-power coal winning machine work under complex geological conditions is more and more,ensure high-power shearer under complex geological conditions of reliability is very important.In this paper,the state of high-power shearer under different working conditions is studied,analysis the stress of sliding boots,to improve the modern traction mechanism of shearer,put forward a kind of can adjust the attitude of the shearer hydraulic floating pose traction institutions,and design of the hydraulic floating pose traction mechanism of hydraulic control system,through the AMESim/Simulink jointly simulation complete the dynamic characteristic analysis of the system.Firstly,the three-way force of the single-cut tooth is transformed into the three-direction force of the tooth tip,and the mathematical model of the drum cutting resistance calculation is established,and the change curve of the cutting resistance is obtained.The vector equation method The change of speed and acceleration during the walking process of the shearer,and the change rule of the additional inertial force.Secondly,the mechanics model of the whole machine is established,and the pre-conditional quasi-minimal residual calculation method is used to determine the dynamic and static calculation of the shearer.According to the result of the calculation,the structure of the hydraulic cylinder is determined according to the structural characteristics of the traction mechanism,and the control system principle and control method are given.The relationship between the length of the hydraulic cylinder and the hydraulic pressure function of the hydraulic cylinder is obtained.The hydraulic control system model is established to obtain the hydraulic cylinder displacement to the electro-hydraulic ratio Transfer function of valve spool displacement.Finally,the design of fuzzy PID controller,in MATLAB / Simulink system simulation.The results show that the control system with fuzzy PID controller has the advantages of high response speed,high control precision,no hysteresis and small overshoot.The control strategy is suitable for the application of electro-hydraulic proportional control System.And with the increase of the initial position of hydraulic cylinder,the change of the distance of the end of the shearer beam is more and more sensitive to the elongation of the hydraulic cylinder.