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TIAN Z, MA L W, GAO S,et al.Modeling and simulation of the filling hydraulic support with six pillars[J].Journal of Henan Polytechnic University(Natural Science) ,2024,43(6):109-115.

六柱式充填液压支架动力学模型建立与仿真

田震1,2, 马联伟3, 高珊1, 刘伟1, 谢娟娟1

1.周口师范学院  机械与电气工程学院，河南 周口 466000；2.辽宁工程技术大学 机械工程学院，辽宁 阜新  123000；3.中国煤炭科工集团 太原研究院有限公司，山西 太原  030006

摘要:  目的 为研究六柱式充填液压支架在不同外部激励等扰动作用下的动态特性，  方法  基于拉格朗日方法和广义空间坐标系原理建立六柱式充填液压支架的运动微分方程及状态空间模型。根据支架结构和相关参数，利用MATLAB对系统运动微分方程求解，分析不同扰动频率和扰动幅值对顶梁垂向振动、侧倾和俯仰振动的影响。  结果 结果表明，支架在外部激励等扰动频率为20 rad/s时，顶梁垂向振动最大振幅约为0.91 mm，顶梁瞬间的俯仰振动波动较大，其最大振幅约为5.5×10-3 rad，侧倾振动相对较小，其最大振幅约为4.3×10-3 rad；顶梁侧倾振幅略高于俯仰振动，但振动的程度均能保持在可控范围内。当外部激励频率为20~80 rad/s时，随着扰动频率增大，顶梁垂向振动逐渐降低，但降低的幅度趋于平缓，支架侧倾振动程度变化趋势与垂向振动类似，而俯仰振动变化随频率改变不明显。扰动为20~80 rad/s时，顶梁垂向、侧倾和俯仰振动均随着外部激励增加而愈加剧烈，外部激励的大小对顶梁垂向及侧倾振动影响较为显著，而对俯仰振动影响较小。  结论 研究结果可为六柱式充填液压支架的优化设计及稳定性评价提供一定参考。

关键词:充填液压支架;动力学模型;扰动;动态特性;仿真

doi:10.16186/j.cnki.1673-9787.2023050058

基金项目:国家自然科学基金资助项目（51674134）；河南省科技攻关项目（232102321097）；河南省高等学校重点科研项目（21B440004）；周口市科技攻关重点项目（2022GG01008）

收稿日期:2023/05/30

修回日期:2023/08/08

出版日期:2024-09-24

Modeling and simulation of the filling hydraulic support with six pillars

TIAN Zhen1,2, MA Lianwei3, GAO Shan1, LIU Wei1, XIE Juanjuan1

1.School of Mechanical and Electrical Engineering，Zhoukou Normal University，Zhoukou  466000，Henan，China；2.School of Mechanical Engineering，Liaoning Technical University，Fuxin  123000，Liaoning，China；3.CCTEG Taiyuan Research Institute，Taiyuan  030006，Shanxi，China

Abstract:  Objectives  In order to study the dynamic characteristics of the filling hydraulic support with six pillars under different external excitations，  Methods  the motion differential equations and state-space model of the the filling hydraulic support with six pillars were established based on the principles of the Lagrangian method and generalized space coordinate system.Utilizing MATLAB and considering the structure of the prop and relevant parameters，the motion differential equations of the system were solved，and the impact of different disturbance frequencies and amplitudes on the vertical，lateral，and pitching vibrations of the top beam was analyzed.  Results  The results showed that，when the external excitation disturbance frequency was 20 rad/s，the maximum amplitude of vertical vibration of the top beam was approximately 0.91 mm.The pitching vibration of the top beam exhibited significant fluctuations，with a maximum amplitude of approximately 5.5×10-3 rad，while the lateral tilt vibration was relatively small，with a maximum amplitude of approximately 4.3×10-3 rad.The amplitude of lateral tilt vibration was slightly higher than that of pitching vibration，but both remained within a controllable range.When the external excitation frequency ranged from 20 rad/s to 80 rad/s，as the disturbance frequency increased，the vertical vibration of the top beam gradually decreased，albeit with a diminishing rate of reduction.The variation trend of lateral tilt vibration was similar to that of vertical vibration，while the change in pitching vibration with frequency was less pronounced.Within the range from 20 rad/s to 80 rad/s，the vertical，lateral tilt，and pitching vibrations of the top beam intensified with the increase in external excitation，with the magnitude of external excitation significantly affecting the vertical and lateral tilt vibrations，while its impact on pitching vibration was relatively minor.  Conclusions  The research results provided valuable insights for the optimization design and stability assessment of the filling hydraulic support with six pillars.

Key words:filling hydraulic support;dynamics model;disturbance;dynamic characteristics;simulation