Static and Dynamic Characteristics of a Novel Mine Roofbolter Driven by Non-Circular Planetary Gear Hydraulic Motor

非圓行星齒輪液壓馬達錨杆鑽機靜動態特性研究

楊善國(Shan-Guo Yang) ； 李磊(Lei Li) ； 盧立建(Li-Jian Lu)

《中國機械工程學刊》 36卷4期 (2015/08) Pp. 333-340

摘要

本文設計了一種採用非圓行星齒輪液壓馬達驅動的礦用液壓錨杆鑽機，並對其靜動態特性進行了理論分析和試驗研究。首先在合理假設的基礎上，建立了液壓錨杆鑽機靜動態特性數學模型,並研究了其在額定負載條件下啟動的速度－流量特性、在正常工作條件下的速度－負載特性，以及馬達輸出轉速對階躍流量輸入和階躍負載輸入的動態回應；隨後通過開展試驗，確定了鑽機特性數學模型中的參量值，得到了反映鑽機靜動態特性的試驗曲線；最後利用MATLAB對此前建立的液壓錨杆鑽機靜動態特性數學模型進行了模擬，並同實驗結果對比。結果表明：模擬曲線與試驗曲線具有較好的一致性，該錨杆鑽機速度流量的線性關係良好，具有承載能力大、回應速度快的優點；並且採用非圓行星齒輪液壓馬達驅動的液壓錨杆鑽機能夠在體積、重量和性能等方面滿足煤礦井下的使用要求。本論文的研究為新型錨杆鑽機的設計、應用提供了科學依據。

並列摘要

A novel type of mine roofbolter driven by non-circular planetary gear hydraulic motor was developed in this paper, whose static and dynamic characteristics were investigated by methods of theoretical analysis and experimental research. Firstly, a mathematical model was established to describe the static and dynamic characteristics of the hydraulic roofbolter based on some reasonable hypothesis. The characteristics of speed-flux under rated load, speed-load under normal operating conditions, as well as the dynamic response of output rotate speed on step input flux and step input load were subsquently studied, respectively. Secondly, the characteristic parameters of the mathematical model were ascertained by experiment and the experimental curves describing the static and dynamic characteristics were gained. Finally, the mathematical model was simulated by MATLAB and the simulations were compared with the expriments. It is shown that the simulation results keep good concordance with the experimental curves, which indicates that the novel roofbolter has some advantages: favarable linear relationships between speed and flux, high loading capacity and fast response performance. It is proved that the roofbolter driven by non-circular planetary gear hydraulic motor can satisfy the volume, weight and performance requirements for a roofbolter to work in underground mines. Therefore, it is believed that this paper can provide some scientifical and technological basis for the design and application of novel roofbolters.

並列關鍵字

mine roofbolter ； non-circular planetary gear ； hydraulic motor ； static characteristics ； dynamic response