巷道超前支架全支撑态动力学模型

设计了一种用于综掘巷道工作面顶板支护的迈步式超前支护装备，为提高该装备的工作稳定性，避免共振的产生，介绍了支护装备的结构和工作原理，利用拉格朗日方法，建立超前支架全支撑状态多自由度振动系统的动力学模型。基于自动控制理论，对超前支架动力学模型进行拉普拉斯变换，得到传递函数。基于现代控制理论，建立超前支架振动系统状态空间模型并给出参数，利用Matlab软件建立模拟动力扰动下超前支架系统的仿真模型，对振动系统进行仿真，得出系统动态响应。利用锤击试验得到振动系统模态参数，结合仿真结果，得到超前支架易产生共振频率为42.3~42.9 Hz。利用实验样机和测试仪器，对超前支架不同工作状态进行了振动实验，得到了前6阶的频率和阻尼比。

Dynamics model of advanced powered support in heading under full support situation

A stepping-type advanced powered support used for heading roof support in a full-mechanized excavation roadway was designed，and the structure and the work principle of the support were presented.The dynamics model of the multi-degree vibration system under the full support situation of the advanced powered support was established by applying Lagrange method.Based on the automatic control theory，the Laplace transformation of the dynamics model was performed，and the transfer function was obtained.Based on the modern control theory，the state space model for the vibration system of the advanced powered support was set up and the parameters were given.The simulation model of the support system was established by using Matlab，the simulation of the vibration system was carried out，and the system dynamic response was obtained.The modal parameters of the vibration system were obtained by employing a hammering test.According to the simulation result，the resonance frequency of the support were 42.3-42.9 Hz.By applying the experimental prototype and the measuring equipments，the vibration experiments under the different working conditions of the support were performed，and the first six orders’frequencies and the damping ratios were obtained.