In view of the problems of parts damage and stability reduction caused by a large amount of vibration during roadheader cutting, the vibration characteristics of the new vertical-axis roadheader was analyzed and predicted based on the longitudinal cutting condition. Firstly, the force on the cutting head of the roadheader was analyzed, and the force on the track was analyzed by Bekker subsidence theory. Then, taking the contact force between track and bottom plate and the cutting load as external excitation, the longitudinal nonlinear dynamics model of roadheader was established by using Lagrange equation. Next, based on the Runge-Kutta variable step size algorithm, the dynamics model of roadheader was solved using MATLAB software, and the solution results were compared with experimental results to verify the correctness of the dynamics model. Finally, the dynamics model was used to predict the vibration displacement of key parts of the roadheader under different stabilizing mechanism stiffness. The results showed that the vibration of the whole roadheader was in a chaotic state under the combined influence of multiple external excitation. The roll vibration displacement was small, and the pitch vibration was dominant. With the increasing of the stabilizing mechanism stiffness, the vibration displacement of key parts of the roadheader showed a significant decreasing trend. When the stiffness of the stabilizing mechanism increased to 3 times of the initial stiffness, the vibration displacement of the roadheader body decreased by 29%, the vibration displacement of the cutting arm decreased by 22%, and the vibration displacement of the cutting head decreased by 20%. The research results prove that the vibration response of roadheader can be reduced effectively by increasing the stiffness of stabilizing mechanism, which provides theoretical basis for the stability improvement and structural optimization of roadheader.
Miao XIE,Junjie SHI,Hongyu ZHANG,Yun ZHU. Prediction of longitudinal vibration characteristics of new vertical-axis roadheader under multiple excitation. Chinese Journal of Engineering Design, 2023, 30(6): 728-737.
Fig.1 Longitudinal force analysis for cutting head
Fig.2 Longitudinal nonlinear dynamics model of new vertical-axis roadheader
参数
量值
截割头等效质量m1
1 050 kg
截割臂等效质量m21
2 155 kg
回转台等效质量m22
1 060 kg
机身等效质量m3
58 200 kg
履带支撑点等效质量ma、mb、mc、md
1 937 kg
铲斗等效质量me
1 500 kg
后支撑等效质量mf、mg
700 kg
机身俯仰转动惯量J1
5 900 kg·m2
机身横滚转动惯量J2
3 100 kg·m2
截割头与截割臂连接处等效刚度k1
2.1×105 N/m
支撑油缸的等效刚度k2
4.2×105 N/m
回转油缸的等效刚度k21、k22
3.1×105 N/m
回转台与机身连接处等效刚度k3
5.5×106 N/m
支稳机构与机身连接处等效刚度k31、k32
1.7×105 N/m
履带与机身连接处等效刚度ka、kb、kc、kd
2.7×105 N/m
铲斗与机身连接处等效刚度ke
3.6×105 N/m
后支撑与机身连接处等效刚度kf、kg
4.7×105 N/m
截割头与截割臂连接处等效阻尼c1
150 N·s/m
支撑油缸的等效阻尼c2
120 N·s/m
回转油缸的等效阻尼c21、c22
100 N·s/m
回转台与机身连接处等效阻尼c3
70 N·s/m
支稳机构与机身连接处等效阻尼c31、c32
140 N·s/m
履带与机身连接处等效阻尼ca、cb、cc、cd
240 N·s/m
铲斗与机身连接处等效阻尼ce
100 N·s/m
后支撑与机身连接处等效阻尼cf、cg
120 N·s/m
截割臂支撑油缸与回转台所成夹角θ
25o
回转油缸与回转台所成夹角β、γ
21o
铲斗油缸与机身所成夹角α
-32o
后支撑与机身所成夹角σ、τ
-44o
履带前支撑点到铲斗与机身连接点的距离p
0.40 m
机身重心与履带前支撑点的距离q
1.20 m
机身重心与履带后支撑点的距离r
1.28 m
履带后支撑点与后支撑的距离s
0.52 m
机身重心与各支撑结构的距离u、v、t、w
0.80 m
Table 1Key parameters of new vertical-axis road-header
Fig.3 Theoretical vibration displacement curve of each part of roadheader
Fig.4 Vibration amplitude frequency curve of gravity center of roadheader body
Fig.5 Variation curves of pitch angle and roll angle of roadheader body
Fig.6 Vibration phase diagram of roadheader body
Fig.7 Experimental bench for roadheader cutting‒vibration test
Fig.8 Measured displacement curve of each part of roadheader
对比项
振动位移峰值
振动位移均方根值
截割头
截割臂
机身
截割头
截割臂
机身
相对误差/%
27.12
16.13
8.87
9.11
11.42
7.08
理论计算值
16.15
9.46
4.51
4.59
3.49
2.54
实测值
22.16
11.28
4.11
5.05
3.94
2.36
Table 2Comparison of theoretical calculation value and measured value of vibration displacement of roadheader
Fig.9 Vibration displacement curves of roadheader under different stabilizing mechanism stiffness
Fig.10 Comparison of root mean square value of vibration displacement of roadheader under different stabilizing mechanism stiffness
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