Research On Intelligent Pose Control System For Fast Full-face Hard Rock Boring Machine

Full-section hard rock rapid boring machine is the product of the construction of “smart mine” in recent years.It is safe,efficient,and highly automated,which greatly liberates the productivity,improves safety,and speeds up construction efficiency.However,in the process of excavation,it is susceptible to external geological factors and its own design and other factors,such as serpentine excavation,position and attitude deviation,etc.,which seriously affect the progress of work and construction quality.The author conducted the following research to conduct position correction.Starting from position and position and navigation research of the roadheader,the intelligent surveying equipment total station was used to measure the position and attitude of the roadheader in real time,quickly and with high accuracy,reduce the pose deviation from the source,and calculate the three-dimensional space The relationship between the shaft misalignment and the misalignment angle verifies that the surveying and guiding system meets the requirements for downhole excavation;it studies and analyzes the actuator and position servo system of the whole section hard rock tunneling machine,and the accuracy of the positional servo system for the tunneling machine under non-linear disturbance is low.With poor robustness and other phenomena,a composite control strategy based on internal model repetition and fuzzy adaptation is adopted.After simulation analysis,the position servo control system can better track and respond,and has strong robustness to nonlinear disturbances,and is suitable for downhole applications.Work environment;The author controls the adjustable deviation on a small scale on the two basic needles,and designs a synchronized synchronous two-cylinder corrective control system to ensure that the shield body is steadily shielded by a preset trajectory,preventing uncontrollable deviations,and simulation analysis and The trial modification has proved that the collaborative correction can reduce the deviation and deformity of the position posture,and has strong practicality.