| With the increase of power and mining capacity of coal mining machine, The quality of the traction control system control effects and the dynamic meshing mechanics performance of the mechanical system are the important factors which affect the stability of the system. At present, the control mode of double motors in the traction department of coal mining machine is adopted by the master-slave control. However, due to the master-slave control synchronization accuracy is poor and there is a lag, which leads to the unbalanced load of the pin wheel and pin rail. The research in this area is less, and it is focused on the static mechanical characteristics and the gear tooth profile, etc. Such as influence of pin wheel and pin rail profile on meshing stress, contact and bending strength, walking mechanism motion simulation and so on. There is little consideration of the control factors of the driving motor, and no research on the mechanical coupling relationship between the front and rear pin wheel.In this paper, the dynamic characteristics of the dual motor drive system in the coal mining machine are studied from the point of view of dynamics. In order to analyze the dynamic response of shearer traction system in coal cutting process, this paper establishes the control model of traction motor drive and the virtual prototype model of front and rear traction drive system. And then the electromechanical coupling system of haulage unit of coal-winning machine is established to realize the combined simulation of the complex and strong coupling electromechanical system. The main contents of the research work are as follows:(1) The parameters of traction drive system of the MG300/700-WD type electric traction shearer are selected and matched, and the strength of the gear is checked; For the non conjugate surfaces of the walking mechanism, the problem of the wear of gear pin is very serious. So this paper matches the involute traction gear and the tooth bar pin rail.(2) According to the geometric parameters of the matching mechanism, the 3D solid model is built and the Adams dynamics model is established, and the kinematics and dynamics simulation analysis is carried out for the traction drive system. This paper obtained the motion response and dynamic meshing force of drive system at all levels of gear and pin wheel through the simulation.(3) The dynamic mathematical model of the traction motor of Shearer in the three phase static ABC coordinates is established, and by using the coordinate transformation and vector control, the vector-control model of the motor is built based on the Simulink software, and the model of the dual motor coordinated control is established by combining with the model of a single motor vector control. The motor response characteristics of the traditional coal mining machine in the master-slave control method are obtained, and the improved synchronous control mode is proposed based on the master-slave control.(4) Based on the two motor control models and the virtual prototype model, the electromechanical coupling model is established, and the response characteristics of the traditional shearer under normal traction conditions are simulated. The simulation results show that the control effect of the traditional shearer with master-slave control is poor, easily lead to motor partial load operation. Partial load rate reached 11.7% in the stable operation, the speed regulation process is as high as 61.5%, and transducer utilization efficiency is low. On the basis of the above, this paper puts forward two kinds of coordination control methods: cross-coupling control and parallel-control. The mechanical and electrical dynamic response of coal mining machine under several typical working conditions is analyzed and simulated. |
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