Research On Boom-type Roadheader Laneway Profiling Control

Roadheader is widely used in mining and underground engineering. At present, the Roadheader operation is mainly manual operation. The environment is relatively poor at the scene. With scientific and technological development and the improvement of people's living standards. More and more people have pay attention to the intelligent and automatic development of roadheader. Based on an automatic boom-type roadheader, this paper discusses the intelligent control of rocker arm in the laneway profiling.This paper analyzed the calculation formula between sectional shape and rocker arm gesture. According to the profiling process of the coalmine laneway section, proposed the path planning of the section forming process. The path was turned into a discrete sequence of points. Thus the path was divided into many segments, and each segment can be seen as a short line.Based on the kinematic characteristics of the rocker arm, derived a space geometric model of its motion and then simplified the model. Analyzed the calculation formula between the location of the cutting head and cutting arm gestures and roadheader posture. Established the necessary coordinates, derived the transform formula for the location of the cutting header between coordinates. According to the coordinates of start and finish for each segment, the gestures of the rocker arm can be calculated. So the system can be controlled segment by segment.The roadheader control system is heavy hydraulic machinery system. In the system, there are several nonlinearities such as lag, dead area and saturation, so it is hard to control. As the system is hydraulic system, hydraulic oil temperature changes cause changes in parameter during working. As human-simulated intelligent control (HSIC) does not need the controlled object's model, it is used in this system. Linearized partial nonlinearities, analyzed the nonlinearities of dead area and saturation, designed the targeted control rule set.As the work environment of roadheader is very bad: strong vibration, many dust, strong interference, and explosion-proof is needed, CAN field bus was introduced to the system and used as communication protocol. According to the communication protocol, designed the controllers and sensors. All sensors'outputs are CAN-ready signals. The signal transform nodes are omitted, thus reduced the potential failure points. So the system's stability and reliability are guaranteed from hardware.By carrying out the experiments on the automatic roadheader, analyzed the data that are recorded during the experiments. And simulated the laneway according to the control rule set. The results show that the system was running normally and the laneway section cut by roadheader was agree well with expected. So the system is a feasible solution.