掘进机坡角工况下转向动力学特性仿真

Simulation of steering dynamic characteristic of roadheader under slope angle conditions

为分析掘进机坡角工况下转向动力学性能,以Bekker沉陷模型为理论基础,运用虚拟仿真方法研究了重型掘进机转向过程中履带系统的动态特性.应用Bekker模型建立了掘进机履带与沙石路面间的非线性接触模型,采用Recurdyn建立掘进机及其履带系统的虚拟模型,模拟了掘进机在0°、8°、18°坡角路面上的转向过程,分析了掘进机履带系统转向时的动力学特性.分析结果表明:受掘进机重心位置、路面坡角的影响,掘进机转向过程中运动轨迹出现了跑偏现象;0°坡角时,两侧履带的张紧力在90 000 N上下变动,随着路面坡角的增大,履带两侧驱动扭矩和张紧力均会增加,并且外侧履带的驱动扭矩和张紧力要大于内侧履带,其中履带在18°坡角转向时,其张紧力比0°坡角增大了近38%;随着坡角的增加,整机的重心位移变化量随之增大,稳定性降低.

In order to analyze the steering dynamic characteristic of roadheader under slope angle conditions, and based on the theory of Bekker subsidence model, dynamic characteristic of track system was researched during the steering process of heavy roadheader by using the method of virtual simulation. Nonlinear contact model of the track and gravel roads was established with Bekke model. Virtual model of roadheader and its track system was established by using Recurdyn model. The steering process was simulated at the road slope angle of 0, 8 and 18°, the steering dynamic characteristic of track system was analyzed. The simulation results show that under the influence of gravity center, the slope angle, running deviation of motion trajectory occurs when roadheader is turning. Driving torque and tension on the both sides of roadheader grow with the increase of road slope angle, and the driving torque and tension of lateral track is larger than inside, when the steering process of track under the slope angle of 18°, and its tension grew by nearly 38% then the slope angle of 0°; the displacement variation of the whole roadheader＇s gravity grow and the stability reduces with the slope angle increases.