Static and Dynamic Characteristics of a Novel Mine Roofbolter Driven by Non-Circular Planetary Gear Hydraulic Motor

A novel type of mine roofbolter driven by non-circular planetary gear hydraulic motor was developed in this paper, whose static and dynamic characteristics were investigated by methods of theoretical analysis and experimental research. Firstly, a mathematical model was established to describe the static and dynamic characteristics of the hydraulic roofbolter based on some reasonable hypothesis. The characteristics of speed-flux under rated load, speed-load under normal operating conditions, as well as the dynamic response of output rotate speed on step input flux and step input load were subsquently studied, respectively. Secondly, the characteristic parameters of the mathematical model were ascertained by experiment and the experimental curves describing the static and dynamic characteristics were gained. Finally, the mathematical model was simulated by MATLAB and the simulations were compared with the expriments. It is shown that the simulation results keep good concordance with the experimental curves, which indicates that the novel roofbolter has some advantages: favarable linear relationships between speed and flux, high loading capacity and fast response performance. It is proved that the roofbolter driven by non-circular planetary gear hydraulic motor can satisfy the volume, weight and performance requirements for a roofbolter to work in underground mines. Therefore, it is believed that this paper can provide some scientifical and technological basis for the design and application of novel roofbolters.