| The drum type coal mining machine is an important coal mining equipment in the coal mine.The degree of automation directly affects the automation level of the fully mechanized mining face.At present,the main control valve used in the cutting drum height adjustment control system of the shearer was generally an electromagnetic reversing valve.Under the condition of high-power inertia load,the system is difficult to adapt to the control requirements due to the inability to perform flow regulation and poor stability.The low level of automation also makes it difficult to ensure efficient mining and safe operation when mining machines were being mined,so it was particularly important to increase the level of automation.Therefore,the electro-hydraulic proportional technology was used to transform the shearer height control system to achieve automatic height adjustment of the cutting drum.In addition,with the continuous development of computer simulation technology,multi-domain and multi-software co-simulation technology has become an important technical means for the research of automatic height adjustment technology of coal mining machine.In this paper,the MG200/446-WD thin coal seam shearer was taken as the research object,and the hydraulic control system of the shearer height adjustment was studied.The mathematical model of the electro-hydraulic proportional directional valve to the displacement of the piston rod of the hydraulic cylinder was established,and the simulation was carried out in Matlab/Simulink to compare the dynamic characteristics of the system under different control strategies.Then,the model of coal mining machine hydraulic control system was established in AMESim software to analyze the speed response of the system in open loop and closed loop and the speed response under load disturbance.On the basis of the above,the joint simulation model of Matlab/Simulink and AMESim electro-hydraulic proportional height adjustment system was constructed.The simulation results are simulated by different control strategies.The speed response of the system during up-regulation,the speed response simulation under load disturbance and the speed response of the drum during up-regulation and down-regulation be analyzed.Then the Solidworks software was used to establish the 3D solid model of the shearer height adjustment mechanism,and the model was imported into the Adams software to construct the mechanical dynamics model of the shearer height adjustment mechanism,combined with the actual mine shearer working condition.The cutting load was analyzed and simulated.Finally,Adams,AMESim and Matlab software were used to carry out the co-simulation of three different fields of mechanical-hydraulic control.The dynamic characteristics of the system were analyzed when the shearer drum was up-regulated and the entire swinging process of the rocker was compared,and the conventional PID control and single neuron PID were compared.The control effect of the control.For the more complex shearer height control system,the use of multiple domain software for co-simulation was more authentic and reliable.The multi-domain collaborative simulation results show that: when the conventional PID control strategy was adopted,the speed response of the drum is slow and the overshoot is large,and the speed of the hydraulic cylinder piston rod is increased during the downward adjustment of the drum,and the fluctuation of the rodless chamber flow is relatively large,so that the rocker arm When the down-regulation occurs,the system was simulated.The single-neuron PID control strategy was used to simulate the system.When the roller was adjusted,the speed response is faster and the piston rod speed and the rod-free flow fluctuation are also significantly improved during the downward adjustment.Figure [76] table [8] reference [63]... |
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