Abstract
In order to improve the damping and controllability of the mining robot suspension system, a new magnetoelectric hybrid suspension hydraulic damper, which is a semiactive suspension damper, is proposed based on the traditional hydraulic damper by introducing the magnetic-electric hybrid suspension structure. The structure and working principle of the damper are introduced, respectively, and the mathematical models of the equivalent stiffness and equivalent damping of the system are calculated by the magnetic circuit method and the oil circuit method, while AMESim/Simulink cosimulation is carried out. In order to test the damping performance, a prototype of the magnetoelectric hybrid suspension hydraulic damper was fabricated. The results show that the vibration displacement amplitude can be reduced by 20% and the vibration acceleration amplitude can be reduced by 10% by adjusting the stiffness and damping of the system due to the magnetoelectric hybrid suspension structure. Moreover, the experimental results are consistent with the simulation results, which verify the effectiveness and superiority of this type of damper.
Highlights
As a new type of intelligent mining equipment, mining robot has become a research focus in recent years due to its characteristics of automation and high efficiency [1, 2]. e working environment in underground coal mines is usually very harsh, and the floor is uneven, which has a great impact on the normal operation of the robot
E electromagnetic suspension system stands out as a new concept of the semiactive or active suspension system, which focuses on stiffness regulation and studies how to reduce the vibration amplitude of the system, which is very consistent with the operating conditions of mining robot [18]
Electromagnetic suspension has been deeply studied by scholars for a long time, the application of magnetoelectric hybrid suspension structure is rare. is structure interacts with permanent magnet through electromagnet, which has the advantages of large force and quick response [27, 28]. is study designs a magnetoelectric hybrid suspension structure based on the traditional hydraulic damper and proposes a new type of the hydraulic damper for magnetoelectric hybrid suspension
Summary
As a new type of intelligent mining equipment, mining robot has become a research focus in recent years due to its characteristics of automation and high efficiency [1, 2]. e working environment in underground coal mines is usually very harsh, and the floor is uneven, which has a great impact on the normal operation of the robot. Maciejewski et al [12] proposed the use of pneumatic muscles to achieve active vibration control of horizontal seat suspensions. Zhao et al [15] proposed an integrated sliding mode control-two-point wheelbase preview strategy for the semiactive air suspension system with a gasfilled adjustable shock absorber. E electromagnetic suspension system stands out as a new concept of the semiactive or active suspension system, which focuses on stiffness regulation and studies how to reduce the vibration amplitude of the system, which is very consistent with the operating conditions of mining robot [18]. Maciejewski et al [22] studied the modeling process and control strategy of a semiactive seat suspension system with magnetorheological dampers (MR). Electromagnetic suspension has been deeply studied by scholars for a long time, the application of magnetoelectric hybrid suspension structure is rare. is structure interacts with permanent magnet through electromagnet, which has the advantages of large force and quick response [27, 28]. is study designs a magnetoelectric hybrid suspension structure based on the traditional hydraulic damper and proposes a new type of the hydraulic damper for magnetoelectric hybrid suspension
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