Research Of Roadheader's Automation System

With the continuous development of technology, human more and more require higher demand on security and comfort of working in underground laneway. Roadheaders are used in underground project and mining project largely, which makes that roadheader developing to the direction of intelligence and unmanned operation be one of the main trend.Firstly, this paper analyses the overall function's structure of automatic forward digging system. Then it designs the overall structure frame of the automatic forward digging system. Mainly analyzing the movement trajectory inertial measurement position location and robot big arm inertial measurement position location, they are the two aspects of inertial navigation position location. The paper emphasizes how to change the carrier coordinate into the inertial coordinate, inertial measures and locates the robot big arm, actualizes variable-value control and cutting-skiving control. On this basis, we design the state process and digging process of the system's work, the structure of hardware and software system and some control loops.In this paper, the CAN bus technology is used to achieve the communication network of the system. The paper also presents the development status and performance features of CAN bus, and analyses the correlative function of physical layer and data link layer of the system. The main content of CAN bus technology standard is also introduced in this paper. In order to achieve the communication between the host computer and the driven computer, we present the PCI₅110 intelligent CAN interface card and design the communication protocol of the application layer between the host computer and the driven computer.The paper emphasizes on the research about strong nonlinear, celerity time varying uncertainty and strong disturbance of the automatic forward digging system by analyzing the principle of the PID control algorithmic. We find that the conventional PID control uses the control variable (linear combination of error's proportion, integral and derivative), so it can't satisfy the need of steady-state precision, dynamic stability and rapidity of the automatic forward digging system. This thesis presents a PID controller based on BP-NN, and uses the improved PID controller to control the digging work of the roadheader. Finally, combining the MATLAB simulation technology, we...