Simulation Study On The Automatic Cutting Control Of Boom-type Roadheader

Boom-type roadheader is the main excavation equipment in coal mine roadways.The automatic cutting and forming technology for roadway section of roadheader is the key to improve the automation and intelligent level of excavating,and is the premise to achieve the unmanned excavation face.In this paper,the hydraulic system in the traditional roadheader used for cutting is optimized.After analyzing the characteristics of the valve-controlled dual-cylinder hydraulic system and establishing the dynamic model of the mechanical system of roadheader used for cutting,the nonlinear mathematical model of the cutting system in roadheader is established.After selecting the main hydraulic component in the optimized hydraulic system,the simulation model of the cutting system in roadheader is established in the Matlab/Simulink environment.The scheme of PID control,which is proposed by this paper,for cantilever rotating and lifting,and the scheme of the trajectory control of cutting head,are verified by the simulation.After establishing the AMESim modelling of the main hydraulic component,the model of the mechanical and hydraulic integration co-simulation of the cutting system in roadheader is established,based on AMESim and ADAMS.The rotating and lifting of the cantilever are simulated,and thus the feasibility of the model is verified.After establishing the co-simulation model,which based on Simulink,AMESim and ADAMS,of the mechanical-electrical-hydraulic integration of the cutting system in roadheader,the response of the rotating speed changing and the load changing of the cutting system,and the tracking of the cutting head trajectory,are investigated by the co-simulation.The process route of the cutting and forming of the three common section,rectangular,trapezoidal and semicircular arches,is planned.The scheme of controlling automatic cutting and forming of the roadway section of roadheader is proposed,and the under-excavation emerging in the process of cutting is analyzed.And the brushing scheme is proposed to optimize the process route of the cutting and to improve the forming quality of the roadway section.This study provides a new sight for the research on the technology of controlling the automatic cutting of heading machine,and is useful for guiding the engineering practice of the automatic cutting technology of heading machine.Besides,this study is useful for the research on the device with mechanical-electrical-hydraulic integration.Figure [77] Table [9] Reference [92]...