Research on Problem of Feedback Mechanism Clearances of a Digital Hydraulic Cylinder for Shearer Rocker Arms

doi:10.3969/j.issn.1004-132X.2023.02.007

Abstract

Abstract: In order to study the influences of feedback mechanism clearances on static errors and closed-loop stability of the hydraulic system of coal winning machine， the interaction mechanism of 4 kinematic pairs and their clearances in feedback processes was analyzed， and a digital hydraulic cylinder model with feedback mechanism clearances was established. By comparing the position relationship between negative inverse frequency curves of clearances and Nyquist curves of the linear parts， it is found that the clearances do not affect the stability of the system. Using the static analysis method， the static error expression caused by each clearances was derived， and the factors and laws affecting the static errors were revealed. The AMESim simulation model of digital hydraulic cylinder was established and simulated. Correctness of the theory and simulation analysis was verified by experiments.

Key words: shearer rocker arm, digital hydraulic cylinder, clearance nonlinear, AMESim simulation, static error

摘要： 为研究反馈机构间隙对采煤机液压系统的静态误差及闭环稳定性的影响，分析了4个运动副及其间隙在反馈过程中的相互作用机理，建立了含反馈机构间隙的数字液压缸模型。通过比较间隙的负倒频曲线与线性部分奈奎斯特曲线的位置关系，发现间隙不影响系统稳定性。采用静态分析方法，导出各间隙引起的静态误差表达式，揭示影响静态误差的因素及规律。建立了数字液压缸的AMESim仿真模型并进行了仿真研究。试验验证了理论及仿真分析的正确性。

关键词: 采煤机摇臂, 数字液压缸, 间隙非线性, AMESim仿真, 静态误差

CLC Number:

TP182

QI Panguo, LIU Zhengqi, ZHAO Liwei, ZHANG Xingyuan, ZHAO Lijuan. Research on Problem of Feedback Mechanism Clearances of a Digital Hydraulic Cylinder for Shearer Rocker Arms[J]. China Mechanical Engineering, 2023, 34(02): 172-184.

齐潘国, 刘政奇, 赵丽薇, 张兴元, 赵丽娟. 采煤机摇臂用数字液压缸反馈机构间隙问题研究[J]. 中国机械工程, 2023, 34(02): 172-184.

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