Analysis of Vertical Nonlinear Vibration Characteristics for Bolter System on Roadheader under Random Excitation

Abstract

Abstract:

By combining the virtual simulation method, the Bekker model and the Newmark-β method, the nonlinear vibration characteristics of a bolter system on roadheader was analyzed during the process of drilling the top bolting hole. The resistance load of the anchor bit was obtained by the virtual simulation with DYNA software, and the load was discretized to be the random working load by employing the sample theorem. The nonlinear relation between the roadheader track and the tunnel bottom floor was expressed by Bekker model, and the multi-degree nonlinear vibration equation of the bolter system on roadheader was established according to Newton kinematics law. The equation was resolved by Newmark-β method, and the vibration characteristics of the entire machine was analyzed. The results show that the vibration state of the entire machine is as chaos state by the influence of the contact force between the roadheader track and the tunnel bottom floor, the vibration quantity is very small though the pitch vibration and the roll vibration exist simultaneously, and the vertical vibration of the entire machine is predominant. Field experiments were carried out about vibration characteristics of the roadheader. Amount of vibration of the roadheader were measured when drilling 10 set of bolt holes. The root mean square values in the measured results of 6 set of vibration are close to the simulation value（1.5mm）. Experimental results show that non-linear model of the bolter system on roadheader can be seen as accurate to some extent.

Key words: bolter system on roadheader, nonlinear, random vibration, dynamics simulation

摘要：

将虚拟仿真方法、Bekker模型、Newmark-β法相结合，分析了打顶部锚杆孔时掘锚联合机的非线性振动特性。采用DYNA虚拟仿真获得锚杆钻头的阻力载荷，利用采样定理对载荷进行离散化处理，作为钻头的随机工作载荷;采用Bekker模型描述了掘进机履带与巷道底板间的非线性行为，再根据牛顿运动学定律建立了掘锚联合机多自由度非线性振动方程，利用Newmark-β法对方程进行了求解，分析了整机的振动特性，结果表明：受履带与底板间非线性接触力的影响，整机振动处于混沌态;锚杆钻机工作时，整机虽然存在着俯仰和横滚振动，但振动量很小，整机的竖直振动占主导地位。对掘锚联合机的振动特性进行了现场实验，测量打10组锚杆孔时掘进机本体的振动量，测量结果中有6组的振动量均方根值接近仿真值（1.5mm），实验结果表明掘锚联合机的非线性模型在一定程度上可以视为是准确的。

关键词: 掘锚联合机, 非线性的, 随机振动, 动力学仿真

CLC Number:

TD421.5

Chen Hongyue, Liu Liebei, Ma Ying, Zhang Yu, Xie Miao, . Analysis of Vertical Nonlinear Vibration Characteristics for Bolter System on Roadheader under Random Excitation[J]. China Mechanical Engineering, 2015, 26(17): 2378-2384.

陈洪月, 刘烈北, 马英, 张瑜, 谢苗, . 随机激励下掘锚联合机纵向非线性振动特性分析[J]. 中国机械工程, 2015, 26(17): 2378-2384.

References

[1]牛宝玉. 采掘锚、掘锚一体化快速掘进成巷技术[J]. 煤炭工程,2003, 50(11): 9-12.
Niu Baoyu. Quick Constructing Roadway Excavation Technology with Mining Anchor Integration of Driving and Bolting[J]. Coal Engineering, 2003, 50(11): 9-12.
[2]郭俊生. MB670掘锚机在斜沟井田的快速掘进[J]. 山西焦煤科技,2010(9):12-16.
Guo Junsheng. Rapid Tunneling of MB670Alpine Bolter Miner in Xiegou Field[J].Shanxi Coking Coal Science & Technology,2010(9):12-16.
[3]徐锁庚. 国内外掘猫机组的现状及发展趋势[J].煤矿机械，2006,27(10):3-6.
Xu Suogeng. Present Situation and Development Domestic and Oversea[J]. Coal Mine Machinery,2006,27(10):3-6.
[4]马合群. EZB160掘进机上机载锚杆钻机的动力学特性研究[D]. 淮南：安徽理工大学,2009.
[5]麻勇.机载锚杆钻机伸缩梁力学分析及施工工艺研究[D].西安：西安科技大学,2009.
[6]陈洪月,马英,毛君. 掘进机机载钻孔机械手多体动力学分析[J].煤炭学报,2013,38(8):1484-1490.
Chen Hongyue,Ma Ying,Mao Jun. Multi-body Dynamics Analysis on Drilling Manipulator on Roadheader[J]. Journal of China Coal Society, 2013,38(8):1484-1490.
[7]李晓豁,何洋,李婷,等.纵轴式掘进机横向和纵向随机振动响应的分析[J].煤炭学报,2014,39(3):580-585.
Li Xiaohuo,He Yang,Li Ting,et al. Analysis of Horizontal and Vertical Random Vibration Responses of Longitudinal Roadheader[J]. Journal of China Coal Society,2014,39(3):580-585.
[8]Bucelluni G.Machine Design Parameters for High Seam Truss Bolting Applications[C]//Proceedings Second Conference on Ground Control in Mining.Morgantown, 1982:98-100.
[9]Nam H, Choi W, Ry D,et al.Design of a Bolting Robot for Constructing Steel Structure[C]//ICCAS 2007 - International Conference on Control, Automation and Systems. Seoul, 2007:1946-1949.
[10]Ambrose D H,Bartels J R. Computer Simulations Help Determine Safe Vertical Boom Speeds for Roof Bolting in Underground Coal Mines[J]. J. Safety Res., 2005,36(4):387-397.
[11]朱位秋.随机振动[M]. 北京: 科学出版社，1992.
[12]宋向华,安伟光,蒋运华.任意随机激励下结构随机振动分析的一种数值方法[J]. 振动与冲击,2013,32(12):147-154.
Song Xianghua,An Weiguang,Jiang Yunhua. A Numerical Method for Random Vibration Analysis of Structures under Arbitrary Random Excitations[J]. Journal of Vibration and Shock, 2013,32(12):147-154.
[13]苏成,黄欢,徐瑞,等.大规模非线性系统随机振动显式迭代Monte Carlo模拟法[J]. 振动工程学报,2014，27(2):159-166.
Su Cheng, Huang Huan,Xu Rui.Random Vibration Analysis of Large-scale Nonlinear Systems by Explicit Iteration Monte Carlo Simulation Method[J]. Journal of Vibration Engineering,2014, 27(2):159-166.
[14]彭勇波,李杰. 非线性随机振动分析的概率密度演化方法[J]. 西南交通大学学报,2014,49(2) : 220-226.
Peng Yongbo, Li Jie. Probability Density Evolution Method of Nonlinear Random Vibration Analysis[J]．Journal of Southwest Jiaotong University, 2014，49(2): 220-226．
[15]林家浩, 张亚辉.随机振动的虚拟激励法[M].北京: 科学出版社,1992.
[16]魏永祥,陈建军,马洪波. 随机参数齿轮系统的非线性动力响应分析[J]. 工程力学,2012,29(11):319-324.
Wei Yongxiang, Chen Jianjun, Ma Hongbo. Analysis of Nonlinear Dynamic Response of Gear-rotor with Random Parameters[J]. Engineering Mechanics, 2012,29(11):319-324.
[17]Kazuya F, Armen D K.Tail-equivalent Linearization Method for Nonlinear Random Vibration[J]. Probabilistic Engineering Mechanic, 2007, 1(22):63-76.
[18]胡海岩.应用非线性动力学[M].北京:航空工业出版社,2000.
[19]李军,李强,周靖凯. 软土条件下履带－地面相互作用分析[J]. 兵工学报,2012,32(12):1123-1130.
Li Jun,Li Qiang,Zhou Jingkai. Analysis of Track-terrain Interaction on Soft Soil[J]. Acta Armamentarii, 2012,32(12):1123-1130.
[20]张克健.车辆地面力学[M].北京: 国防工业出版社，2002.