Research On The Auto Rectification And Posture Control Of The Boom-type Roadheader

Coal is the main energy of our country.The coal mining needed a large number of roadway excavation.The excavation face is the most dangerous area of the coal mine.The excavation efficiency could be influenced by the "the densely populated confined space" working condition.The imbalance between the excavation and mining efficiency has been the most important problem of the coal production.For a long time,the excavation face equipment only could be manipulated by workers,not only the control accuracy could not be ensured,but also the efficiency and risk cannot be satisfied.For the automation,intellectualization and robotization of the roadway excavation,the research on the accurate guidance and control of the excavation face equipment is really in need.The accurate and intelligent control of the roadheader is the basis of the efficient excavation,accurate cutting and safe rapid production.Therefore,it is really imperative that do some research on the roadheader auto rectification and posture control.In this dissertation,the research aimed on the auto rectification and posture control of the roadheader in the excavation roadway.Based on the excavation face working condition and actuators model,the coupling relationship between the roadheader track and roadway floor has been analyzed.The rectification planning and tracking strategy and the rectification movement control strategy were proposed.Given the force analysis of the supporting mechanism and the hydraulic system model,the posture angle control algorithm was proposed.The auto rectification and posture angle intelligentized control was finished.It is the theoretical foundation and technological base of the robotization of the roadway excavation.The specific research work and innovations are as follows:(1)The analysis of the fully mechanized excavation face working condition and modelling of the roadheader posture adjust mechanism.By the working condition analysis of the fully mechanized excavation face,major factors that influence the intelligent control efficiency,accuracy and safety could be gotten.The terminal posture of different kinds of roadheader in different roadways were also analyzed.The mathematic model of the rectification and posture control actuator was built too.The mathematical relation between the posture parameters and actuator kinematic parameter was determined.Combined with the roadheader structure parameter and roadway size parameters,the posture adjustment range of different actuators were settled.(2)The rectification kinetic analysis,auto rectification planning and movement control of the roadheaderBased on the coupling relationship between the roadheader track and the roadway floor,combined with the terramechanics analysis method and soil mechanics parameters acquisition method,proposed the excavation roadway floor mechanical parameter numerical method.Analyzed the force condition of the roadheader track on the roadway floor.On the basis of the tracked vehicle kinematics,the roadheader rectification kinetic model was built.And the definition and computing method of the auto rectification influence degree was proposed.The roadway environmental model was simplified by the auto rectification influence degree and the roadheader rideability.The auto rectification planning and tracking based on the adaptive mutation particle swarm optimization was proposed.The neural PID rectification movement control algorithm was also gotten.According to the simulation results of different algorithm,the algorithm proposed in this dissertation was proved to be effective and reliable.(3)The kinetic analysis of the supporting mechanism and intelligent posture controlAimed on the severe working condition,the kinetic analysis of the supporting mechanism was finished.Based on the force condition of the supporting mechanism,pitch posture actuator model,hydraulic system model and working condition,the fuzzy neural PID pitch posture control algorithm was proposed.After the simulation of different pitch posture control algorithm,it was proved that the fuzzy neural PID pitch posture control algorithm is more effective and reliable.(4)The experimental verification of the rectification planning,tracking and pitch posture controlAt first,the rectification planning,tracking and pitch posture control experiment scheme was designed.The intelligent EBZ-55 roadheader was refitted,then the experiment system remote monitoring and control platform was established.Based on the experiment system,all the rectification planning,tracking and pitch posture control were finished.On the different roadway conditions,the maximum error of the roadheader location is 5.864mm,the maximum error of derivation angle is 0.144° and the maximum steady-state error of the pitch angle control cylinder is 0.329mm,and the largest standard deviation is 0.159.All of the control precision could meet the demand.The model and control algorithm proposed in this dissertation were proved to be effective and reliable.In conclusion,the auto rectification and posture control kinetic model were built.The auto rectification and posture control system were designed,simulated and in experiment.Therefore,the rectification and posture could be controlled accurately.Through this research,it would be the theoretical and technical support of the roadway excavation automation and intelligence...