Research On Optimization Design And Stability Control Of Mine Support Disassembly And Assembly Boom

Mining hydraulic support mainly provides support protection for coal comprehensive mining,and is the key guarantee equipment for mine safety operation.Due to the impact of the harsh environment underground,the hydraulic support will be damaged by various types in operation.In order to ensure the long-term stable operation of the hydraulic support,it is necessary to carry out regular overhaul and maintenance.As the key equipment of support disassembly and column disassembly,the safety,stability and energy efficiency of mining support disassembly boom have become the key factors in the design of hydraulic support disassembly equipment.In this paper,aiming at the problems existing in the traditional hydraulic support dismantling equipment,combined with the design requirements of the entrusting unit,on the basis of the completion of the overall frame dismantling structure design,the optimization design of the section and hinge position of the hydraulic support dismantling boom is mainly carried out;the operation stability control design is realized based on the fuzzy self-tuning quasi PR control model;the angle displacement detection device and the Variable damping controller,based on fuzzy rules,realizes the anti swing control design of variable amplitude lifting process.The main research contents are as follows:(1)Overall frame structure design: Based on the analysis of the structural characteristics of mining hydraulic support,the frame equipment which can be used for the disassembly of various specifications of hydraulic support is designed.Including: overall frame structure,single hinge and double hook hoisting mechanism,track flat table,electric hoist,magnetic suction cup and other auxiliary mechanisms.(2)Optimization design of boom structure: through the direction in ANSYS Workbench Optimization module,taking lightweight as the goal,adopts screening optimization method to optimize the section size of the boom;analyzes the structural characteristics,mechanical characteristics and geometric relationship of the boom luffing mechanism,establishes the mathematical model of the luffing mechanism,and takes the minimum force and the minimum force fluctuation of the luffing hydraulic cylinder as the optimization goal to optimize the location of the three hinge points,and carries out a The optimization simulation analysis of dams.(3)The operation stability control design of the electro-hydraulic drive system: the mathematical model of each link of the boom electro-hydraulic drive system is established,and the system function is obtained after the complex frequency domain transformation;according to the characteristics that the force of the luffing hydraulic cylinder changes with the luffing angle,the operation stability analysis of the system response is carried out with the constant speed lifting and acceleration lifting signals as the input signals of the system;in the analysis of the traditional On the basis of the existing problems of PI control in compound correction,a fuzzy self-tuning quasi PR feedforward controller is designed by using quasi PR control strategy,and the simulation of compound correction of fuzzy self-tuning quasi PR control is carried out.(4)Anti swing control design of luffing hoisting process: analyze the swing motion process of the system,establish the mathematical model of the swing of the crane;design the angular displacement detection device and variable damping controller,and build the feedback control algorithm of anti swing based on fuzzy rules;carry out the overall simulation of the stability of the crane arm based on MATLAB platform,so as to achieve the purpose of restraining the swing angle of the crane and improving the impact of vibration,It further improves the safety and stability of the working process of the boom.