矿车运行状态及跑车捕捉过程的仿真研究
摘要
矿井轨道运输是煤矿生产的重要组成部分，高效的运输系统对于煤矿安全生产具有重要意义。据统计运输事故是仅次于顶板事故的第二大事故，其中跑车事故占运输事故的22.1%，因此对煤矿斜井跑车事故进行有效地预防十分必要，所以必须对矿车的运行状态及跑车捕捉过程进行深入系统地分析。本文以实际工况为依据，建立了矿车及跑车防护装置的力学及数学模型，以MATLAB的组件Simulink为工具，对矿车的运行状态及跑车捕捉过程进行动态模拟。
本文以煤矿生产中应用的矿车为对象，以两自由度弹簧—质量系统为矿车力学模型，以伯努利—欧拉梁为轨道力学模型，对矿车在轨道上运行过程中竖直方向的振动特性进行了仿真分析，由仿真得到了矿车在轨道上运行过程中车体及车轮的振动规律及此过程中轨道振幅变化规律。
本文以梁—质体系统、两自由度弹簧—质量系统及一自由度弹簧—质量系统为力学模型，通过建立相应的数学模型及Simulink仿真模型，对跑车与刚性车挡的碰撞过程进行动态模拟，从而得到了碰撞力与碰撞时间的变化规律及最大碰撞力与跑车质量、跑车速度之间的关系。以上述三种力学系统为模型对跑车与刚性车挡的碰撞过程进行动态模拟所得到的仿真结果接近。
本文对跑车与吸能制动器联动的刚性车挡及柔性车挡的碰撞过程进行了仿真分析，通过上述动态模拟，分析了碰撞过程中跑车受力及速度变化的规律，分析了吸能器制动距离与矿车质量、矿车速度及制动力之间的关系。由仿真可以得到，跑车防护装置中安装吸能制动器可以提高车挡系统的柔度，增大跑车与车挡的碰撞时间，减小碰撞力从而可以有效地保护矿车及跑车防护装置。
利用LabVIEW测试系统对跑车速度进行了测试，从而得到跑车速度变化的规律。
Mining rail conveying is a important component of the mining production. Efficient conveying system is important to enhance the efficiency of the mining production. In statistic, the mining conveying accident is second to the supporting accident, tramcar accident account for 22.1 percent of the whole conveying accident. Thus, it is necessary to prevent the tramcar accident. The motion character of the tramcar used in mine and the collision course between the tramcar and the car bumper must be analyzed deeply and systemically. In this thesis the mechanical models and the mathematical models are established based on the prototype. The character of motion and the course of collision are simulated dynamically based on the simulative software Simulink the component of MATLAB.
In this thesis the two degrees of freedom spring-mass model is regarded as the mechanical model of the tramcar and the Bernoulli-Euler Beam model is used as the mechanical model of the rail. Based on the mechanical models which have been established the vertical vibration character of the tramcar and the rail is simulated dynamically. The conclusions about the vibration are drowned from the simulation above.
Three simulative models are developed in this thesis according to three mechanical models, the beam-mass model, the two degrees of freedom spring-mass model and the one degree of freedom spring-mass model. The collision course between the tramcar and the stiff car bumper is simulated dynamically, the law of collision force is drowned, the relationship between the max collision force and the mass or the velocity of the tramcar is obtained.
The collision force is simulated dynamically between the tramcar with variety stature and the car bumper (include the stiff car bumper and the elastic car bumper) which is connected with the brake. It is showed from the simulation that the max collision force is reduced because of the utilize of the brake, the tramcar is preserved. The dynamic energy of the tramcar is absorbed by the brake.
The velocity of the model of the tramcar is tested based on the software LabVIEW and the conclusions on the velocity are drowned.
本文以煤矿生产中应用的矿车为对象，以两自由度弹簧—质量系统为矿车力学模型，以伯努利—欧拉梁为轨道力学模型，对矿车在轨道上运行过程中竖直方向的振动特性进行了仿真分析，由仿真得到了矿车在轨道上运行过程中车体及车轮的振动规律及此过程中轨道振幅变化规律。
本文以梁—质体系统、两自由度弹簧—质量系统及一自由度弹簧—质量系统为力学模型，通过建立相应的数学模型及Simulink仿真模型，对跑车与刚性车挡的碰撞过程进行动态模拟，从而得到了碰撞力与碰撞时间的变化规律及最大碰撞力与跑车质量、跑车速度之间的关系。以上述三种力学系统为模型对跑车与刚性车挡的碰撞过程进行动态模拟所得到的仿真结果接近。
本文对跑车与吸能制动器联动的刚性车挡及柔性车挡的碰撞过程进行了仿真分析，通过上述动态模拟，分析了碰撞过程中跑车受力及速度变化的规律，分析了吸能器制动距离与矿车质量、矿车速度及制动力之间的关系。由仿真可以得到，跑车防护装置中安装吸能制动器可以提高车挡系统的柔度，增大跑车与车挡的碰撞时间，减小碰撞力从而可以有效地保护矿车及跑车防护装置。
利用LabVIEW测试系统对跑车速度进行了测试，从而得到跑车速度变化的规律。
Mining rail conveying is a important component of the mining production. Efficient conveying system is important to enhance the efficiency of the mining production. In statistic, the mining conveying accident is second to the supporting accident, tramcar accident account for 22.1 percent of the whole conveying accident. Thus, it is necessary to prevent the tramcar accident. The motion character of the tramcar used in mine and the collision course between the tramcar and the car bumper must be analyzed deeply and systemically. In this thesis the mechanical models and the mathematical models are established based on the prototype. The character of motion and the course of collision are simulated dynamically based on the simulative software Simulink the component of MATLAB.
In this thesis the two degrees of freedom spring-mass model is regarded as the mechanical model of the tramcar and the Bernoulli-Euler Beam model is used as the mechanical model of the rail. Based on the mechanical models which have been established the vertical vibration character of the tramcar and the rail is simulated dynamically. The conclusions about the vibration are drowned from the simulation above.
Three simulative models are developed in this thesis according to three mechanical models, the beam-mass model, the two degrees of freedom spring-mass model and the one degree of freedom spring-mass model. The collision course between the tramcar and the stiff car bumper is simulated dynamically, the law of collision force is drowned, the relationship between the max collision force and the mass or the velocity of the tramcar is obtained.
The collision force is simulated dynamically between the tramcar with variety stature and the car bumper (include the stiff car bumper and the elastic car bumper) which is connected with the brake. It is showed from the simulation that the max collision force is reduced because of the utilize of the brake, the tramcar is preserved. The dynamic energy of the tramcar is absorbed by the brake.
The velocity of the model of the tramcar is tested based on the software LabVIEW and the conclusions on the velocity are drowned.
引文
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[14] 张志涌.精通MATLAB5.3版.北京：北京航空航天大学出版社，2000
[15] 王沫然.Simulink建模与动态仿真.北京：电子工业出版社，2002
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[20] 郑宏兴，王培麟，张全举.MathCAD简明教程.武汉：华中科技大学出版社，2002
[21] 洪庆章，刘清吉，郭嘉源.ANSYS教学范例.北京：中国铁道出版社，2002
[22] 吴重光.仿真技术.北京：化学工业出版社，2000
[23] 叶俊元译.斜井提升设备的安全运转.世界煤炭技术，1981,3
[24] 王沫然.MATLAB6.0与科学计算.北京：电子工业出版社，2001
[25] Janmes B .Dabeny ,Thomas L .Harman Mastering Sinulink2
[26] 马少民.斜井提升沿程光电监控挡车装置.煤矿机电.1991,3
[27] 袁化临.起重与机械安全.北京：首都经济贸易大学出版社，2000
[28] 杨春文.采区斜坡防跑车装置及信号系统的改进.煤炭科学技术.1991,6
[29] 尤良.介绍几种国内防跑车装置.煤矿自动化.1990,2
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[31] 杨昌观.新型吸能制动器―变形能制动器.矿山机械.1987,5
[32] 王化德.斜井防跑车捞车器.煤矿安全.1986,3
[33] 张云程.谈斜井跑车及防跑车装置.煤矿运输.1985,1
[34] 胡学明.斜井自动防跑车装置.煤矿安全.1984,2
[35] 辛德忠.斜井自动防跑车装置.煤矿机械.1982,3
[36] 煤矿安全规程.1986年版
[37] 沈钢.面向对象的机车车辆动力学仿真建模研究.铁道学报.1998,20(2)
[38] 王洪礼，任炜，乔宇.汽车轮胎动力学特性研究.机械强度.2002,24(3)
[39] 楼梦麟，任志刚.Timoshenko 简支梁的振动模态特性精确解.同济大学学报.2002,33(8)
[40] 胡宗武.起重机动力学.北京：机械工业出版社，1998
[41] 储伟江，周心.汽车轮胎振动模态分析.东北大学学报.1999,27(4)
[42] 辛中东，毕坤，王常清.农用运输车车架的模态仿真分析.拖拉机与农用运输车.1999,1
[43] L.E.Kung, W.Sodel. Free Vibration of a pneumatic tire wheel assembly unit using a ring on an elastic foundation and a finite element. Journal of Sound and Vibration.1986,107
[44] 冯文贤.结构振动阻尼矩阵的估计方法.广东工业大学学报.2001,8(3)
[45] Clough, Rowland Penizen. Dynamic of structure. New York:Mograw Hill Book Company,1975
[46] Berman A, Nagy E Y. Improvement of a Large Analytical Model Test date. AIAAJ.1983,21
[47] 俞新陆，液压机.北京：机械工业出版社,1982
[48] 雷腾.轮轨接触应力的计算与分析.中国铁道科学,1985,6(1)
[49] 辛勇，万伟民.液压冲击振动过程的力学分析.南昌大学学报.2000,22(3)
[50] 彭芳麟，胡静，管靖.用MATLAB解决线性三自由度系统微振动问题.大学物理.2001,20(11)
[51] 卢圣治，胡静，管靖.理论力学.北京：电子工业出版社
[52] The MathWorks. MATLAB User's Guide: High-performance Numeric Computation and Visualization Software. South Natiek, M A, The MathWorks Inc,1984-1994
[53] Oppenheim A V, Sehafer R W. Digital Signal Processing. NY: Prentice-Hall,1975
[54] Proakis J G, Manolakis D G. Digital Signal Processing Principles. NY: Prentice-Hall, 1995
[55] Cooley J W, Tukey J W. An algorithm for the machine computation of complex Fpiroer series. Mathematical Computations. 1965,19
[56] Imgle V K, Proakis J G. 数字信号处理及其MATLAB实现.陈怀琛，王朝英，高西全译.北京：电子工业出版社，1998
[57] 童大埙.铁路轨道.北京：中国铁道出版社，1988
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