Study On Dynamic Characteristics And Control Method Of Mobile Roof Support

The structural performance and control mode of the crawler walking hydraulic support directly affect the safety and production efficiency of the shortwall mining face.At present,the research on the structural performance and control method of the crawler walking hydraulic support in China is relatively limited,which seriously restricts the development of the fully mechanized coal mining equipment.Based on the background of the "short-wall mechanized coal mining complete sets of equipment",this paper focuses on the dynamic characteristics and control methods of the walking support of the crawler walking.The main contents are as follows:(1)Based on the characteristics of the shortwall coal mining face and the mining technology,the structural model of the surrounding rock is established,and the stress of the rock beam and the coal pillar is analyzed,and the stress condition under different working conditions is obtained.Variation Law of Surrounding Rock Stress in Process.By calculating the mechanical model of the interaction between the crawler traveling hydraulic support and the surrounding rock,the formula of the working resistance of the crawler walking hydraulic support is deduced and the relationship between the working relationship is analyzed.(2)According to the dynamic mathematical model of walking with walking device and the walking device,the kinetic differential equation is deduced,which provides the theoretical basis for the simulation analysis of virtual prototype.The structural performance parameters of the crawler walking hydraulic support are established based on the simulation of the actual working conditions.The results are helpful for the structural optimization design of the crawler walking hydraulic support in the future.(3)The mathematical model was established for the running of the walking device and the running of the scaffold.The kinematics simulation was carried out by using the MATLAB software to obtain the non-linear relationship between the angle variables and the height of the bracket,and the column cylinder length and the height of the bracket Showing a linear relationship.(4)Using AMESim to build the hydraulic system of the tracked hydraulic support column cylinder and simulate it,the conventional PID control algorithm and the fuzzy PID algorithm are introduced.By combining the simulation of different working conditions,the two control algorithms The results show that the fuzzy PID control algorithm has better control precision and fast speed.The research results of this paper have enriched the theory of the interaction between the crawler walking hydraulic support and the surrounding rock,and improved the optimal design and control method of the crawler walking hydraulic support structure.The design and selection of the hydraulic support supporting the crawler walking and promoting the coal Efficient use of resources and the sustainable development of coal has a realistic guiding significance and theoretical value.