Design Of The Control System For The Robot Of The Robot Of Boom-type Roadheader In Mine Coal

The automation and intelligentization of boom-type roadheader,which is the core equipment of fully mechanized face,is the key to improve the quality and efficiency of excavating.Much researches have been done on the key technology and engineering application of automatic shaping and cutting of roadheader at home and abroad,but the current control system of roadheader lacks the characteristics of automatic mechanized face,which can not meet the needs of autonomous orientation,automatic path tracking and remote monitoring.Therefore,the development of boom-type roadheader robot control system suitable for underground coal mine can promote the development of locating,directional and forming cutting technology in tunnel tunneling,which has great significance to improve the efficiency of boom-type roadheader machine and reduce the difficulty of tunneling.This paper analyzes the needs of control system of boom-type roadheader robot,puts forward the solution of the control system of DSP + airborne computer of boom-type roadheader robot,and uses DSP to complete the functions of data acquisition,control output,cut trajectory calculation,cut path planning and control decision,and the on-board computer to complete the function of cut head attitude measurement,man-machine interaction and storage and display of the data of the condition.Aiming at Attitude measurement for cutting head,a new method based on machine vision is proposed to study the non-contact dynamic measurement of cutting head based on infrared target.The principle of single-line imaging is analyzed and a three-dimensional coordinate measurement model based on coplanar feature points and a deviation model based on dual quaternion are established to calculate the Cutting arm attitude angle.Finally,the precision of monocular vision measurement is studied and the Kalman filter equation is established to estimate the attitude angle.proposed.With the boom-type roadheader robot as the research object,a unified kinematics and dynamics model is set up,and the control strategy of the control system of the roadheader is designed to inverse the dynamic uncertainty of the sliding mode adaptive controller compensation system.The stability of the controller is analyzed,and the effectiveness of the algorithm is verified by computer simulation and experimental test.Finally,the experimental platform of the control system of the boom-type roadheader robot is set up,and the function modules of the system are verified.The experiment shows that the developed controller meets the design requirements and can meet the automatic control requirements in the tunnel excavation.