Study On Vibration Analysis And Compliance Control Of Walking Roadheader

In this paper,a new type roadheader as the test platform,mainly to solve the underground tunnel boring machine hard rock crusher developed set of crushing,loading,support,transport,walking in one-step type impact on rock boring machine(referred to as rock digging machine),this machine provides a new walking mechanism.This mechanism is an important part of mining rock machine,the mechanism is supported by the hydraulic moving device has the advantages of no need of maintenance function and mechanism of wear is small,compared to other walking mechanism of complex structure degree is not high and prone to failure,effect of operation.However,because of the complex working environment of the hard rock crusher,and the reaction force of falling into the ground when the walking leg falls back to the ground(the impact force in the paper)is very complicated when the pavement structure is complex.This paper carried out in-depth research on this issue,the research results to improve the working face motion dig rock machine can make the machine to ride comfort road more complex,and in many other similar large-scale machinery and equipment can also be applied to the agency.Introduces the composition and parameters of rock excavation machine,emphatically introduces the structure design of the walking mechanism,working principle and system analysis;first establishes mathematical model of the vibration,then established the road model vibration as the simulation analysis of the kinematics of rock excavation machine excitation for vibration analysis.Based on this,the adaptive control of force feedback is carried out,and the simulation experiment of single degree of freedom hydraulic cylinder is carried out.Using UG to establish the three-dimensional model of walking,design and application of Matlab controller,combined with the analysis of ADAMS simulation,the simulation experiment of single degree of freedom hydraulic cylinder and the experimental validation of the control method to improve the mining rock machine walking vibration is feasible and effective.The research and the research results to improve the vibration situation,dig rock machine when walking to improve work performance,improve the walking mechanism based on smooth,hard rock with dig rock machine,accelerated rock tunneling has important significance.