The Study On The Issues Of Horizontal Swing Control Of Boom-type Roadheader

Roadheader is one of key equipment in fully mechanized excavation face.It is a typical complex electromechanical system.In this paper,the EBZ220 roadheader is used as the engineering object,and the multi-domain modeling and simulation technology is used to study the issues of horizontal swing control.The main work is as follows:The kinematics and dynamics equations of the working mechanism of the roadheader are analyzed.The kinematics and kinetic equations of the system are obtained.Based on the EASY5 software,the control system model is established.The stability and dynamic performance of the system are analyzed and the hydraulic control system simulation model is verified.Based on ADAMS user subroutine development interface,the model mark points and coal parameters are used as user parameters,and the cutting head load subroutine is developed so that ADAMS software can dynamically calculate the cutting head load in real time.Based on the virtual prototyping technology,the virtual prototype model of the horizontal swing system of the roadheader is constructed.The virtual prototype is simulated under different working conditions.The dynamic characteristics of the cutting head's load and the dynamic characteristics of the mechanical and hydraulic systems are analyzed.Based on the stress information of the gyration platform,the weak links of the gyration platform was found by the reliability analysis of the gyration platform.In order to solve the problem of over-excavation and under-excavation in the process of roadheader horizontal swing cutting,the cutting head position is taken as the controlled parameter,and the virtual model technology and the SVR algorithm are used to obtain the internal model and the inverse model of the roadheader.Establishment of SVR internal model control system.The simulation results show that the roadheader horizontal swing control system with SVR internal mode control can quickly track the trajectory of the system,and the overshoot is small,which has a good control effect.The research of this paper provides a new idea and method for mining machinery control system design and dynamic reliability verification,and has certain engineering application value.