采煤机整机非线性静力学特性研究

为研究大跨度、过约束条件下采煤机支撑滑靴受力特点,考虑采煤机倾角及俯仰角等因素影响,构建了18个载荷下的采煤机整机静力学模型,针对模型系数矩阵的不确定性,提出采用改进凝聚函数对采煤机静力学方程的绝对值系数矩阵进行了处理,获取修正后的光滑非线性方程组,将截割实验下的滚筒三向力载荷作为输入激励代入到静力学方程中,再利用Levenberg-Marguardt算法对方程组进行求解,得到各滑靴受力的理论计算值,并与实际测量值进行比较,误差范围在10%以内,验证了理论模型的正确性。采用控制变量法分别改变采煤机倾角和俯仰角的取值,研究采煤机倾角和俯仰角变化对采煤机各滑靴受力的影响。研究结果表明:采煤机倾角变化对前后导向滑靴侧推力影响较大,对前后导向滑靴以及平滑靴支撑力影响较小;采煤机倾角变化对各滑靴受力均有一定的影响,且受力变化呈近似线性关系。

Research on nonlinear static characteristics of shearer

To study the force characteristics of support boots of a shearer under the conditions of large span and over constraint,the static model of the shearer under 18 loads was established by considering the factors including the roll and pitch angles.Aiming at the uncertainty of model coefficient matrix,an improved aggregation function was proposed to deal with the absolute coefficient matrix of the shearer static equations,and the modified smooth nonlinear equations were obtained.The three-axis forces of the drum obtained by the cutting experiment were input into the static equations as the excitation,the Levenberg-Marguardt method was used to solve the equations,and the theoretical values of boots were calculated and compared with the actual measured values.According to the error range less than 10%,the correctness of the theoretical model was verified.By applying the control variable method,the roll and pitch angles of the shearer were changed respectively to research the force characteristics variation of the shearer boots.The results show that the influences of the roll angle variation to the lateral forces of the front and rear guiding sliding boots were bigger,and to the support forces of the front and rear sliding boots and the flat sliding boots were smaller.The forces of all boots were influenced by the shearer roll angle variation,and the force variations were approximately linear.