基于计算运动学的掩护式液压支架运动特性研究

Study of Shield Hydraulic Support Motion Characteristics Based on Calculation Kinematics

液压支架是煤矿长壁综采工作面的关键装备,其结构设计的合理性直接影响着自身的可靠性及对围岩的适应能力,是实现支架-围岩理想耦合状态的关键。传统的液压支架结构设计主要采用解析法和图解法,利用结构的几何拓扑关系进行求解,对于复杂结构求解难度大。采用计算运动学的方法,利用结构间的约束关系,通过局部坐标向全局坐标转换建立掩护式液压支架的运动学方程,调用Matlab软件已有的库函数进行非线性方程组的求解,建模速度快、求解效率高,该方法可方便地用于支架的支护质量监测、智能控制系统等方面。

Hydraulic support is key equipment for long wall fully mechanized coal mining working face,it＇s reliability and adaptation for surrounding rock were directly influenced by structure design,and is key point for ideal coupling state between support and surrounding rock. Analytical method and graphical method were the main method for traditional hydraulic support design,and solved by geometry topological relation of structure,and it was difficulty for complex structure. And then calculation kinematics was applied,constrained relationship of different structure was also used,and motion formula of shield hydraulic support was built by local coordinate transformation to world coordinate,nonlinear formula groups was solved by invoked library function of software Matlab,built model speed was high and effectively,and the method could be used for support quality monitoring,intelligent control system and so on.