Design And Implitation Of The Intelligent Walking Control System For Boring Machine

With the era of development and progress of science and technology, technology innovation to become the great challenge of mining machinery.Rely on traditional boring machine can be mechanized construction, but only to a certain extent to meet the above requirements, machinery still rely on the driver’s manual would have resulted in the driver’s labor intensity. A major trend of the tunnel boring machine is to the intelligent direction, developed automatic boring machine is the inevitable direction to solve the problem. Premise of achieving Intelligent boring is essential to achieve intelligent control of walking.In this paper,based on the design requirements, we designing and implementation of intelligent walking control system of the boring machine which based on the C8051F040and AT91SAM9G20as the core. The intelligent control system based on the error betweenthe boring machine position and orientation predetermined trajectory pose automatic adjustment to ensure that the boring machine will always be able to walk on a predetermined trajectory, so as to achieve the effect of intelligent walking.First of all,the design requirements given based AT91SAM9G20and C8051F040as the core boring machine intelligent walking control system design program.Secondly,using the design idea of modular design boring machine intelligent walking control system modules, including data acquisition module, communication module, the control module, In addition, describing the design of each module.Then,create a crawler kinematic model of the boring machine.Deduce the relationship between the boring machine position with the left and right crawler speed..Given control algorithm which based on the pose error and speed,and proving the stability of control algorithm.Through Simulation results demonstrate the effectiveness of the designed controller.Finally, describe the implementation of the software of the system and the set up the system environment.Tested by experiment to improve the deficiencies of the algorithm,the use of coarse and fine combination, and add exception handling to walk underground boring machine’scontrol, and further verify the improved control algorithm.