横轴式掘进机截割头设计过程及优化方法的研究
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摘要
本文在建立相应的数学模型基础上,对横轴式掘进机截齿排列形式和切屑图的形成过程及截割头载荷进行分析与研究,为截割机构的运动学研究奠定了理论基础。基于MATLAB/GUI设计的横轴式掘机进截齿排列、切屑图、截割头载荷、转矩及截割功率模拟人机界面系统,设计者只需在此界面上输入相关的几何参数及运动参数,就可以得到不同情况下的截齿排列图、切屑图、载荷、转矩及截割功率的模拟曲线,从而可以根据模拟的结果来判断截齿排列的优劣,运动参数是否合理等,进而实现横轴式掘进机截割机构的计算机辅助设计,在此基础上以横轴式掘进机截割比能耗和转矩变差系数最小为优化目标,用MPSODE优化方法对其进行优化,通过优化前后参数的比较分析得出运用粒子群优化算法和差分进化算法的混合算法(MPSODE)对横轴式掘进机截割机构的优化得到了很好的效果。
This paper simulated and studied Arrangement type of cutting picks、forming process of grooving section patterns and load of a cutting head,meanwhile, which laies theoretical basis for the kinematics of the cutting part.The simulation man-machine contact surface of pick arrangement chart、grooving section patterns、load, torque and cutting power of cutting head for the horizontal-axial-roadheader based on MATLAB/GUI design, on which designers only by inputting certain geometric parameters and motion parameters can get arrangement chart of cutting picks、grooving section patterns and curves of load, torque and cutting power,and can judge superiority and inferiority of pick arrangements and moving parameters and so on,thus realize aissment design of computer for horizontal-axial-roadheader, basing on above analysises,taking special energy consummation for cutting and torque variation coefficient minimum as optimization objective,optimized with MPSODE optimization method.Through the comparative analysis for parameters before and after optimization, which incated that using mixed particle swarm optimization and differential evolution algorithm (MPSODE) optimization method can get excellent results for the optimization to the cutting mechanism of horizontal-axial-roadheader.
This paper simulated and studied Arrangement type of cutting picks、forming process of grooving section patterns and load of a cutting head,meanwhile, which laies theoretical basis for the kinematics of the cutting part.The simulation man-machine contact surface of pick arrangement chart、grooving section patterns、load, torque and cutting power of cutting head for the horizontal-axial-roadheader based on MATLAB/GUI design, on which designers only by inputting certain geometric parameters and motion parameters can get arrangement chart of cutting picks、grooving section patterns and curves of load, torque and cutting power,and can judge superiority and inferiority of pick arrangements and moving parameters and so on,thus realize aissment design of computer for horizontal-axial-roadheader, basing on above analysises,taking special energy consummation for cutting and torque variation coefficient minimum as optimization objective,optimized with MPSODE optimization method.Through the comparative analysis for parameters before and after optimization, which incated that using mixed particle swarm optimization and differential evolution algorithm (MPSODE) optimization method can get excellent results for the optimization to the cutting mechanism of horizontal-axial-roadheader.
引文
[1]马跃.谈我国悬臂式掘进机的发展及趋势[J].煤炭技术, 2006.4,15(2):29~32.
[2]汪胜陆,孟国营,田劼，赵立新.悬臂式掘进机的发展状况及趋势[J].煤矿机械,2007,6,28(6):1~3.
[3]赵学社.煤矿高效掘进技术现状与发展趋势[J].煤炭科学技术.2007.4,35(2) :1~10.
[4]王正华,吴翠艳.掘进机技术的发展[J].选煤技术,2006.9,增刊:57~59.
[5]汪胜陆,孟国营,田劼，赵立新.悬臂式掘进机的发展状况及趋势[J].煤矿机械,2007.6:1(3):32~35.
[6]陈同宝,钱沛云,陶峥.我国悬臂式巷道掘进机技术的现状与发展[J].煤矿机电,2000,5:58~62.
[7]李贵轩,李晓豁,刘蕴章著.掘进机械设计[M].阜新矿业学院,1992.10.
[8]薛定宇.科学运算语言MATLAB5. 3程序设计与应用[M].北京:清华大学出版社,2003.
[9]张继红,宗长富,郑宏宇.基于MATLAB/GUI的制动系统设计与评价软件开发[J].汽车技术,2009.8.
[10]陈欠根,李琳,郝鹏.利用MATLAB/GUI的挖掘机动力系统散热模型仿真研究[J].现代制造工程,2009.5.
[11]徐杏钦,李旋,蔡宇.基于MATLABGUI的主动声纳波束形成仿真平台[J].微计算机应用,2009.8:8~30.
[12]张志涌.精通Matlab6. 5版[M].北京:北京航空航天大学出版社,2003.
[13]李晓豁著.掘进机截割头设计与研究[M ].北京:中国华侨出版社,1997.
[14]侯波,杨奇顺.悬臂式掘进机主要技术参数的选择[J].煤矿机械,2000.(8):6~8.
[15]李晓豁著.掘进机截割的关键技术研究[M ].北京:机械工业出版社,2007.
[16]谢锡纯,李晓豁.矿山机械与设备[M].徐州:中国矿业大学出版社,1999.
[17]李晓豁,隗金文,刘利.横向截割头摆动截割时切屑图的模拟研究[J].辽宁工程技术大学学报,2002.2:1~21.
[18]麻晓红.连续采煤机滚筒切屑图的可视化设计[J].煤矿机械,2008.6:6~29.
[19]方甚权.煤矿机械[M].北京:中国矿业学院出版社,1985.
[20]黄日恒.悬臂式掘进机[M].徐州:中国矿业大学出版社,1996.
[21]陶驰东.采掘机械[M].北京:煤炭工业出版社,1993.
[22]顾秀娟,侯贵东.掘进机截割头平均负荷的模拟[J].黑龙江科技学院学报,2001,12: 14~16.
[23]李晓豁.掘进机钻进工况截割头载荷的模拟研究[J].矿山机械,2000,11:14~15.
[24]李晓豁,刘兴刚.纵横轴式掘进机截割头载荷的模拟分析[J].辽宁工程技术大学学报,2008,10:745~748.
[25] Colorni A,Dorigo M.Ant system for job-shop scheduling BelgianJournalofOperations Research,Statistics and Computer Science,1994,34(1):39～53.
[26] O. Acaroglu,H. Ergin.The effect of cutting head shapes on roadheader stability. Mining Technology,September 2005.(6):34~37.
[27]李中才,孙玉峰.影响掘进机性能的主要因素分析.露天采矿技术,2006,3:34~35.
[28]马洪武.截割头直径对掘进机整机工作的重大影响[J].煤炭技术,2006,5:9~11.
[29]李志立.悬臂掘进机截割功率和运动参数的选择[J].贵州工学院学报,1996.4. 2(25):72~75.
[30]王家文等编著.MATLAB7.0编程基础[M].北京:机械工业出版社,2005.
[31] E. Mustafa Eyyuboglu,Naci Bolukbasi.Effects of circumferential pick spacing on boom typeroadheader cutting head performance[J]. Tunnelling and Underground Space Technology,2005,(20):38~40.
[32]胡超,丁亮.国内首台MK3岩巷掘进机的使用与改进[J].煤矿机械,2007.01,129~131.
[33]张鑫,曾庆良.掘进机截割头多目标优化设计研究[J].煤矿机械,2005,6:1~3.
[34]汲方林.横轴式掘进机截割头仿真及优化设计[D]安徽理工大学硕士论文,2006.6.9.
[35]彭天好,汲方林,许贤良,张文祥.横轴式掘进截割头运动参数优化及载荷模拟分析[J].2006.9:9~34.
[36]李晓豁,刘鹏虎.部分断面掘进机截割头的改进设计[J].黑龙江矿业学院学报,2000,9:23~26.
[37] Colorni A,Dorigo M.Ant system for job-shop scheduling Belgian JournalofOperations Research,Statistics and Computer Science,1994,34(1):39～53.
[38] Stützle, T., 1997,“Ant System for the quadratic assignment problem,”Technical Report AIDA–97–4, FG Intellektik, FB Informatik, TU Darmstadt. Stützle, T.and Hoos, H., 1997,35~38.
[39] Eberhart R C, Kennedy J. A new optimizer using particle swarm theory[A]. Proc. the Sixth Int. Symposium on Micro Machine and Human Science[C]. Nagoya Japan, 1995: 39~43.
[40] KENNEDY J, EBERHART R C. Particle swarm optimization [A]. Proceedings of the 1995 IEEE International ... Piscataway (NJ, USA): IEEE, 1995. 1942~1948.
[41]李晓豁,程东棠.掘进机截割头的计算机辅助设计[J].煤矿机械,1990,3:17~20.
[42]彭天好,汲方林,许贤良等.横轴式掘机截割头运动参数优化及载荷模拟分析[J].矿山机械,2006,9(24):19~22.
[43]谢晓峰,张文俊,杨之廉.微粒群算法综述[J].控制与决策.2003,18(2):129一133.
[44]路璐.混合PSO算法在非线性控制系统和电路参数优化中的应用研究[D].中南大学硕士论文2007. 5.28.
[45] Storn R,Price K. Differential Evolution-A Simple and Efficient Adaptive Scheme for Global Optimization over Continuous Spaces[R].International Computer Science Institute,Berkley,1995.
[46] Van den Bergh F.An analysis of particle swarm optimizers [Ph.D.dissertation].Department of Computer Science,University of Pretoria,South Africa.2002.
[47]彭亦飞,张英杰.基于混合PSO/DE算法的AQM控制器优化设计[J].湖南工业大学学报.2008.5,22(3):42~45.
[48]洪少春,毛恒,王永初.粒子群与差异演化的混合进化算法研究[J].泉州师范学院学报(自然科学).2008.7,26(4):9~15.
[49] M.Dorirgo and L.M.Gambardella.Ant colonies for the traveling salesman problem [J].BioSystems,1997,(43):73~81.
[50]贺毅朝,王熙照,寇应展.一种具有混合编码的二进制差分演化算法[J].计算机研究与发展.2007.6,44(9):1476~1484.
[51] M.Dorirgo and L.M.Gombardella. Ant colony systems:A Cooperative learning approach to the traveling salesman problem[J].IEEE Transactions on Evolutionary Computation,1997,l(l):53~66.
[2]汪胜陆,孟国营,田劼，赵立新.悬臂式掘进机的发展状况及趋势[J].煤矿机械,2007,6,28(6):1~3.
[3]赵学社.煤矿高效掘进技术现状与发展趋势[J].煤炭科学技术.2007.4,35(2) :1~10.
[4]王正华,吴翠艳.掘进机技术的发展[J].选煤技术,2006.9,增刊:57~59.
[5]汪胜陆,孟国营,田劼，赵立新.悬臂式掘进机的发展状况及趋势[J].煤矿机械,2007.6:1(3):32~35.
[6]陈同宝,钱沛云,陶峥.我国悬臂式巷道掘进机技术的现状与发展[J].煤矿机电,2000,5:58~62.
[7]李贵轩,李晓豁,刘蕴章著.掘进机械设计[M].阜新矿业学院,1992.10.
[8]薛定宇.科学运算语言MATLAB5. 3程序设计与应用[M].北京:清华大学出版社,2003.
[9]张继红,宗长富,郑宏宇.基于MATLAB/GUI的制动系统设计与评价软件开发[J].汽车技术,2009.8.
[10]陈欠根,李琳,郝鹏.利用MATLAB/GUI的挖掘机动力系统散热模型仿真研究[J].现代制造工程,2009.5.
[11]徐杏钦,李旋,蔡宇.基于MATLABGUI的主动声纳波束形成仿真平台[J].微计算机应用,2009.8:8~30.
[12]张志涌.精通Matlab6. 5版[M].北京:北京航空航天大学出版社,2003.
[13]李晓豁著.掘进机截割头设计与研究[M ].北京:中国华侨出版社,1997.
[14]侯波,杨奇顺.悬臂式掘进机主要技术参数的选择[J].煤矿机械,2000.(8):6~8.
[15]李晓豁著.掘进机截割的关键技术研究[M ].北京:机械工业出版社,2007.
[16]谢锡纯,李晓豁.矿山机械与设备[M].徐州:中国矿业大学出版社,1999.
[17]李晓豁,隗金文,刘利.横向截割头摆动截割时切屑图的模拟研究[J].辽宁工程技术大学学报,2002.2:1~21.
[18]麻晓红.连续采煤机滚筒切屑图的可视化设计[J].煤矿机械,2008.6:6~29.
[19]方甚权.煤矿机械[M].北京:中国矿业学院出版社,1985.
[20]黄日恒.悬臂式掘进机[M].徐州:中国矿业大学出版社,1996.
[21]陶驰东.采掘机械[M].北京:煤炭工业出版社,1993.
[22]顾秀娟,侯贵东.掘进机截割头平均负荷的模拟[J].黑龙江科技学院学报,2001,12: 14~16.
[23]李晓豁.掘进机钻进工况截割头载荷的模拟研究[J].矿山机械,2000,11:14~15.
[24]李晓豁,刘兴刚.纵横轴式掘进机截割头载荷的模拟分析[J].辽宁工程技术大学学报,2008,10:745~748.
[25] Colorni A,Dorigo M.Ant system for job-shop scheduling BelgianJournalofOperations Research,Statistics and Computer Science,1994,34(1):39～53.
[26] O. Acaroglu,H. Ergin.The effect of cutting head shapes on roadheader stability. Mining Technology,September 2005.(6):34~37.
[27]李中才,孙玉峰.影响掘进机性能的主要因素分析.露天采矿技术,2006,3:34~35.
[28]马洪武.截割头直径对掘进机整机工作的重大影响[J].煤炭技术,2006,5:9~11.
[29]李志立.悬臂掘进机截割功率和运动参数的选择[J].贵州工学院学报,1996.4. 2(25):72~75.
[30]王家文等编著.MATLAB7.0编程基础[M].北京:机械工业出版社,2005.
[31] E. Mustafa Eyyuboglu,Naci Bolukbasi.Effects of circumferential pick spacing on boom typeroadheader cutting head performance[J]. Tunnelling and Underground Space Technology,2005,(20):38~40.
[32]胡超,丁亮.国内首台MK3岩巷掘进机的使用与改进[J].煤矿机械,2007.01,129~131.
[33]张鑫,曾庆良.掘进机截割头多目标优化设计研究[J].煤矿机械,2005,6:1~3.
[34]汲方林.横轴式掘进机截割头仿真及优化设计[D]安徽理工大学硕士论文,2006.6.9.
[35]彭天好,汲方林,许贤良,张文祥.横轴式掘进截割头运动参数优化及载荷模拟分析[J].2006.9:9~34.
[36]李晓豁,刘鹏虎.部分断面掘进机截割头的改进设计[J].黑龙江矿业学院学报,2000,9:23~26.
[37] Colorni A,Dorigo M.Ant system for job-shop scheduling Belgian JournalofOperations Research,Statistics and Computer Science,1994,34(1):39～53.
[38] Stützle, T., 1997,“Ant System for the quadratic assignment problem,”Technical Report AIDA–97–4, FG Intellektik, FB Informatik, TU Darmstadt. Stützle, T.and Hoos, H., 1997,35~38.
[39] Eberhart R C, Kennedy J. A new optimizer using particle swarm theory[A]. Proc. the Sixth Int. Symposium on Micro Machine and Human Science[C]. Nagoya Japan, 1995: 39~43.
[40] KENNEDY J, EBERHART R C. Particle swarm optimization [A]. Proceedings of the 1995 IEEE International ... Piscataway (NJ, USA): IEEE, 1995. 1942~1948.
[41]李晓豁,程东棠.掘进机截割头的计算机辅助设计[J].煤矿机械,1990,3:17~20.
[42]彭天好,汲方林,许贤良等.横轴式掘机截割头运动参数优化及载荷模拟分析[J].矿山机械,2006,9(24):19~22.
[43]谢晓峰,张文俊,杨之廉.微粒群算法综述[J].控制与决策.2003,18(2):129一133.
[44]路璐.混合PSO算法在非线性控制系统和电路参数优化中的应用研究[D].中南大学硕士论文2007. 5.28.
[45] Storn R,Price K. Differential Evolution-A Simple and Efficient Adaptive Scheme for Global Optimization over Continuous Spaces[R].International Computer Science Institute,Berkley,1995.
[46] Van den Bergh F.An analysis of particle swarm optimizers [Ph.D.dissertation].Department of Computer Science,University of Pretoria,South Africa.2002.
[47]彭亦飞,张英杰.基于混合PSO/DE算法的AQM控制器优化设计[J].湖南工业大学学报.2008.5,22(3):42~45.
[48]洪少春,毛恒,王永初.粒子群与差异演化的混合进化算法研究[J].泉州师范学院学报(自然科学).2008.7,26(4):9~15.
[49] M.Dorirgo and L.M.Gambardella.Ant colonies for the traveling salesman problem [J].BioSystems,1997,(43):73~81.
[50]贺毅朝,王熙照,寇应展.一种具有混合编码的二进制差分演化算法[J].计算机研究与发展.2007.6,44(9):1476~1484.
[51] M.Dorirgo and L.M.Gombardella. Ant colony systems:A Cooperative learning approach to the traveling salesman problem[J].IEEE Transactions on Evolutionary Computation,1997,l(l):53~66.