滑动式履带行走系统动力学建模方法与试验

针对地下矿井的特殊工况，对滑动式履带行走系统的运行行为进行研究。以连续采煤机为研究对象，分析其滑动式履带与地面的交互作用以及履带系统内部各部件接触特性，建立滑动式履带系统多体交互力学模型，模拟煤岩黏土路面和导轨摩擦滑动运行状态，得到不同张紧位移下的牵引力、支持力等履带系统运行参数，并对其特征数据进行提取与折算，间接获得整机的行走总功率。在此基础上，对连续采煤机进行了井下实地试验，获取了实际运行状态下的功率时程曲线。研究结果表明，仿真折算功率在试验结果的实测功率数量级的许可范围内。该研究为履带系统结构优化和功率匹配提供了可靠的依据和有效的路径。

Dynamics Modeling Method and Test of Sliding Crawler Travel System

In this paper, the operational status of the sliding crawler is studied under special conditions in the underground mine. With the continuous miner as the research object, the interaction between the sliding crawler in a continuous miner coal cutter and the underground as well as the contact characteristics of the various components within the crawler system are analyzed. The contact characteristics of the various components within the crawler system are established. Then, the multi-body interaction mechanics model of the sliding crawler is established to simulate the coal-rock road and running state of the track sliding friction. The crawler system operating parameters of the tractive force and support force at different tensioning displacements, as well as the simulation feature data extraction and conversion are obtained. Then, the machine''s total travel power is indirectly calculated by the characteristic data of the machine''s total travel power. On this basis, the power-time history curve of the actual real time operating state of the continuous miner is drew according to the underground field test to obtain the power time history curve of actual operating state. The order of magnitude of the conversion power of the simulation results is shown to be within a permissible range of the measured power of the experimental results. The study provides a reliable basis and valid path for the structure optimization and power matching of the crawler system.