瞬态过程中采煤机机电传动系统动态特性分析
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摘要
为研究采煤机传动系统在复杂工况下的动态性能,采用MATLAB/Simulink搭建了采煤机截割-牵引耦合系统机电动力学模型,模型中考虑了驱动电机电磁特性、煤层截割阻抗变化、传动系统扭振、时变啮合刚度和齿侧间隙等因素。仿真并分析了系统在启动、滚筒负载突变和截割电机堵转等瞬态过程中的机电动态响应特性,并进行了试验验证。结果表明:在截割电机启动和堵转过程中,电机和传动系统之间发生强烈的耦合作用,导致传动系统出现脱啮、反冲等非线性冲击现象,使系统振动加剧;在设计采煤机传动系统时,截割部应比牵引部取更大的使用系数,高速级应比低速级取更大的安全系数。
To investigate the dynamic behaviors of the transmission system of a coal shearer under different working conditions,a cutting-haulage coupled model was established by using MATLAB/Simulink,in which the electromagnetic characteristics of the driving motors, variation of the cutting resistance of the coal seam, torsional vibration of the transmission system,time-varying meshing stiffness and tooth backlash were considered. Then,the electromechanical dynamic behaviors of the system were simulated in the regimes of run-up,drum load sudden-change and locked-rotor.Finally,a coal-cutting experiment was conducted on a realistic shearer to verify the simulation results. The results show that in the regimes of run-up and locked-rotor,strong interactions occur between the motor and the transmission system,which causes nonlinear impact phenomena including the gear contact lose and clonk. In the design of the transmission system of a coal shearer,a higher application factor should be adopted for the cutting unit than the haulage unit and a higher safety factor should be adopted for the high-speed stage gears than the low-speed stage gears.
To investigate the dynamic behaviors of the transmission system of a coal shearer under different working conditions,a cutting-haulage coupled model was established by using MATLAB/Simulink,in which the electromagnetic characteristics of the driving motors, variation of the cutting resistance of the coal seam, torsional vibration of the transmission system,time-varying meshing stiffness and tooth backlash were considered. Then,the electromechanical dynamic behaviors of the system were simulated in the regimes of run-up,drum load sudden-change and locked-rotor.Finally,a coal-cutting experiment was conducted on a realistic shearer to verify the simulation results. The results show that in the regimes of run-up and locked-rotor,strong interactions occur between the motor and the transmission system,which causes nonlinear impact phenomena including the gear contact lose and clonk. In the design of the transmission system of a coal shearer,a higher application factor should be adopted for the cutting unit than the haulage unit and a higher safety factor should be adopted for the high-speed stage gears than the low-speed stage gears.
引文
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[23]WEI J,LC,SUN W,et al.A study on optimum design method of gear transmission system for wind turbine[J].International Journal of Precision Engineering and Manufacturing,2013,14(5):767-778.
[2]宋相坤,胡俊,朱信平.复杂地质条件下大功率采煤机行走系统常见故障与对策[J].煤矿机械,2014,35(11):288-290.SONG Xiangkun,HU Jun,ZHU Xinping.Common faults and measures of high-power shearers running system under complex geological condition[J].Coal Mine Machinery,2014,35(11):288-290.
[3]刘长钊,秦大同,廖映华.采煤机截割部机电传动系统动力学特性分析[J].机械工程学报,2016,52(7):14-22.LIU Changzhao,QIN Datong,LIAO Yinghua.Dynamic analysis for the cutting electromechanical transmission system in the long-wall shearer[J].Journal of Mechanical Engineering,2016,52(7):14-22.
[4]杨阳,邹佳航,秦大同,等.采煤机高可靠性机电液短程截割传动系统[J].机械工程学报,2016,52(4):111-119.YANG Yang,ZOU Jiahang,QIN Datong,et al.High reliability electromechanical-hydraulic short-range cutting transmission system of shearer[J].Journal of Mechanical Engineering,2016,52(4):111-119.
[5]周笛,张旭方,杨周,等.采煤机牵引部传动系统动态可靠性分析[J].煤炭学报,2015,40(11):2546-2551.ZHOU Di,ZHANG Xufang,YANG Zhou,et al.Vibration reliability analysis on tractive transmission system of shearer[J].Journal of China Coal Society,2015,40(11):2546-2551.
[6]张业林.采煤机摇臂传动系统动力学及传感器优化布置研究[D].徐州:中国矿业大学,2014:26-46.
[7]赵丽娟,田震.薄煤层采煤机振动特性研究[J].振动与冲击,2015,34(1):195-199.ZHAO Lijuan,TIAN Zhen.Vibration characteristics of thin coal seam shearer[J].Journal of Vibration and Shock,2015,34(1):195-199.
[8]KHABOU M T,BOUCHAALA N,CHAARI F,et al.Study of a spur gear dynamic behavior in transient regime[J].Mechanical Systems and Signal Processing,2011,25(8):3089-3101.
[9]LIU C,QIN D,LIM T C,et al.Dynamic characteristics of the herringbone planetary gear set during the variable speed process[J].Journal of Sound and Vibration,2014,333(24):6498-6515.
[10]韩如成,潘峰,智泽英.直接转矩控制理论及应用[M].北京:电子工业出版社,2012:31-35.
[11]刘春生,于信伟,任昌玉.滚筒式采煤机工作机构[M].哈尔滨:哈尔滨工程大学出版社,2010:13-20.
[12]王丹玉,王启佳,孙维.采煤机牵引速度的分析与选择[J].煤矿机械,2012,33(10):195-197.WANG Danyu,WANG Qijia,SUN Wei.Analysis and selection of shearer haulage speed[J].Coal Mine Machinery,2012,33(10):195-197.
[13]LIANG X,ZUO M J,PATEL T H.Evaluating the timevarying mesh stiffness of a planetary gear set using the potential energy method[J].Proceedings of the Institution of Mechanical Engineers,Part C:Journal of Mechanical Engineering Science,2014,228(3):535-547.
[14]KAHRAMAN A,SINGH R.Interactions between timevarying mesh stiffness and clearance non-linearities geared system[J].Journal of Sound and Vibration,1991,146(1):135-156.
[15]LIANG X,ZUO M J,HOSEINI M R.Vibration signal modeling of a planetary gear set for tooth crack detection[J].Engineering Failure Analysis,2015,48(11):185-200.
[16]GUO Y,PARKER R G.Analytical determination of backside contact gear mesh stiffness[J].Mechanism and Machine Theory,2014,78(4):263-271.
[17]张策.机械动力学[M].北京:高等教育出版社,2008:300-340.
[18]闻邦椿,顾家柳,夏松波,等.高等转子动力学[M].北京:机械工业出版社,1999:228-242.
[19]续艳珍,王建民.异步电动机起动过程中转轴上的扭矩振荡现象研究[J].中小型电机,2005,32(5):10-13.XU Yanzhen,WANG Jianmin.Study on torsional torque oscillation in starting process of induction motor[J].S&M Electric Machines,2005,32(5):10-13.
[20]顾绳谷.电机及拖动基础[M].北京:机械工业出版社,2007:111-115.
[21]张强,王海舰,毛君,等.刮板输送机系统机电耦合模型及仿真分析[J].中国机械工程,2015,26(23):3134-3139.ZHANG Qiang,WANG Haijian,MAO Jun,et al.Electromechanical coupling modeling and simulation analysis of scraper conveyor system[J].China Mechanical Engineering,2015,26(23):3134-3139.
[22]闻邦椿.机械设计手册[M].北京:机械工业出版社,2014:47-48.
[23]WEI J,LC,SUN W,et al.A study on optimum design method of gear transmission system for wind turbine[J].International Journal of Precision Engineering and Manufacturing,2013,14(5):767-778.
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