Walking Posture Positioning Research On Boom-type Roadheader

Currently,the cantilever machine as a large-scale coal production importantequipmentis is widely used in coal production in China, and it is mainly used forroadway development, as well as the mining face layout. In boring machine drivingwork projects, however, it will inevitable appear the phenomenon of deviation from thecenter line of the roadway, Resulting in the cutting section of overbreak andunderbreak.To achieve the boring machine during walking intelligent control,solving the pose problem is very necessary.In order to solve the automatic navigation and its attitude problem.The subject fromthe view of practical engineering, combining inertial technology and informationtechnology, design the process of walking posture control scheme in cantilever machineand study the intelligent control of walking machine system. The main research contentsare as follows:1）First describes the development status of the cantilever roadheader of domesticand foreign as well as tunneling machine in the course of several roadway locationmethods, Finally,using MEMS inertial technology,and applied to the machine walkingposture detection process.2）Modeling of the cantilever machine, including walking mechanism modeling,process of mathematical modeling, mathematical modeling of the center line of theroadway. The last to design the motor traffic control method of the.machine.3）In the attitude update process, after the algorithm error simulation comparison ofequivalent rotation vector method and four element method. With conical motion as theinput, the algorithm accuracy test reliability. Finally using the cone error compensationalgorithm to compense the phenomena of gyroscope drift, from the simulation diagramto conclude the consistent with the design theory. 4）Using MATLAB software to simulate system, including comparison algorithmsimulation, the attitude error simulation and the path to the system simulation. UsingGUI function in MATLAB to write figure interface, simulate roadway path trajectory ofsystem, use roadway drivage model and the relationship between deflection Angle andwalking machine motor traffic establishment, corresponding.M file to achieveintelligence control, ensure that along the ideal the tunnel path cutting.