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工程设计学报
Chinese Journal of Engineering Design  2023, Vol. 30 Issue (6): 728-737    DOI: 10.3785/j.issn.1006-754X.2024.03.165
Reliability and Quality Design     
Prediction of longitudinal vibration characteristics of new vertical-axis roadheader under multiple excitation
Miao XIE(),Junjie SHI,Hongyu ZHANG,Yun ZHU
School of Mechanical Engineering, Liaoning Technical University, Fuxin 123000, China
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Abstract  

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.

Key words： vertical-axis roadheader      nonlinear vibration      dynamics model      vibration displacement      stiffness of stabilizing mechanism     
Received: 15 May 2023      Published: 02 January 2024
CLC:  TH 113.1  
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Miao XIE
Junjie SHI
Hongyu ZHANG
Yun ZHU
Cite this article:

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.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2024.03.165     OR     https://www.zjujournals.com/gcsjxb/Y2023/V30/I6/728


多激励下新型纵轴式掘进机的纵向振动特性预测

针对目前掘进机截割时因产生大量振动而导致零部件受损及稳定性降低的问题，基于纵向截割工况，对新型纵轴式掘进机的振动特性进行分析和预测。首先，对掘进机截割头的受力进行分析，并运用Bekker沉陷理论对履带受力进行分析。然后，将履带与底板之间的接触力和截割载荷作为外部激励，采用拉格朗日方程建立掘进机的纵向非线性动力学模型。接着，基于Runge-Kutta变步长算法，利用MATLAB软件对掘进机动力学模型进行求解，并将求解结果与实验结果进行比较，验证了动力学模型的正确性。最后，利用所构建的动力学模型对不同支稳机构刚度下掘进机关键部位的振动位移进行预测。结果表明：在多个外部激励的复合影响下，掘进机整机的振动处于混沌状态，其横滚振动位移很小，俯仰振动占主导地位；随着支稳机构刚度的递增，掘进机关键部位的振动位移呈显著减小趋势，当支稳机构的刚度增大至初始刚度的3倍时，掘进机机身的振动位移减小了29%，截割臂振动位移减小了22%，截割头振动位移减小了20%。研究结果证明增大支稳机构刚度可有效减小掘进机的振动响应，这可为掘进机的稳定性提升和结构优化提供理论依据。


关键词： 纵轴式掘进机,  非线性振动,  动力学模型,  振动位移,  支稳机构刚度 
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m11 050 kg
截割臂等效质量m212 155 kg
回转台等效质量m221 060 kg
机身等效质量m358 200 kg
履带支撑点等效质量ma、mb、mc、md1 937 kg
铲斗等效质量me1 500 kg
后支撑等效质量mf、mg700 kg
机身俯仰转动惯量J15 900 kg·m2
机身横滚转动惯量J23 100 kg·m2
截割头与截割臂连接处等效刚度k12.1×105 N/m
支撑油缸的等效刚度k24.2×105 N/m
回转油缸的等效刚度k21、k223.1×105 N/m
回转台与机身连接处等效刚度k35.5×106 N/m
支稳机构与机身连接处等效刚度k31、k321.7×105 N/m
履带与机身连接处等效刚度ka、kb、kc、kd2.7×105 N/m
铲斗与机身连接处等效刚度ke3.6×105 N/m
后支撑与机身连接处等效刚度kf、kg4.7×105 N/m
截割头与截割臂连接处等效阻尼c1150 N·s/m
支撑油缸的等效阻尼c2120 N·s/m
回转油缸的等效阻尼c21、c22100 N·s/m
回转台与机身连接处等效阻尼c370 N·s/m
支稳机构与机身连接处等效阻尼c31、c32140 N·s/m
履带与机身连接处等效阻尼ca、cb、cc、cd240 N·s/m
铲斗与机身连接处等效阻尼ce100 N·s/m
后支撑与机身连接处等效阻尼cf、cg120 N·s/m
截割臂支撑油缸与回转台所成夹角θ25o
回转油缸与回转台所成夹角β、γ21o
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p0.40 m
机身重心与履带前支撑点的距离q1.20 m
机身重心与履带后支撑点的距离r1.28 m
履带后支撑点与后支撑的距离s0.52 m
机身重心与各支撑结构的距离u、v、t、w0.80 m
Table 1 Key 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/%27.1216.138.879.1111.427.08
理论计算值16.159.464.514.593.492.54
实测值22.1611.284.115.053.942.36
Table 2 Comparison 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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