Modeling And Simulation Research On The Cantilever Roadheader

The cantilever roadheader is one of the key equipments used to drivage roadway inmine.With the market competition more and more fierce, higher requirements about cuttingcapacity come up.At the same time, the cantilever roadheade also is a complex system beingcomposed of the mechanical,hydraulic and control system,the interdisciplinary system modelingmethod and multi-domain co-simulation technology has become a supportted technology in thedesign and development process and a key technology to ensure reliability and stability of themachine.In this paper,taking the EBZ220cantilever roadheader of a certain mill group asengineering research object.Pro/Engineer is used to construct the three-dimensionnal model.Thenthe interface software of MECH/PRO is made use of to import the simplified three-dimensionnalmodel into ADAMS and establishs the rigid system. The MNF of the key parts is generated inANSYS and imported into the rigid system,so the rigid-flexible coupled virtual prototype modelis created.Using the MATLAB software to simulate the load curve consistent with the actualworking condition,and add it to the virtual prototyping model;Later simulation model ofcantilever roadheader rotary hydraulic system is builded in AMESim environment and verifiesthe properties of simulation model on variable pump, then the mechanical-hydraulicco-simulation model is created,the weak component of the mechanical system is found,dynamiccurve of the hydraulic system is obtained,such as,the position and velocity curve of hydraulicpiston rod and so on.At last,the mathematical model of variable pump,regulating valve and theelectro-hydraulic proportional hydraulic cylinder is created,the simulation model of cantileverroadheader rotary mechanism electro-hydraulic proportional position control system is simulatedand compensated by Simulink and PID to gain the better dynamic response.The practice showsthat it is feasible to use multi-domain modeling and simulation analysis technology in the studyof the cantilever roadheader,and the simulation results are accurate and reliable.The study method and analysis results offer reference for the design,and optimization of thecantilever roadheader,which have guidance for the engineering practice.In addition,themulti-domain modeling and simulation analysis technology can also be used in other complexmechanical-electrical system,in order to shorten the design cycle,cut down the research costs,andenhance the performance of the product.