Research On Articulated Deflection Correction System Of Full Face Coal Mine Heading Machine

At present,the contradiction of "mining imbalance" in coal mines is becoming increasingly serious,and the lagging development technology of tunneling machines limits the mining efficiency of coal mines.The full face coal mine excavation machine integrates mechanical,electrical,hydraulic,sensing,and communication,and is the core high-end intelligent equipment to improve the efficiency of coal mine comprehensive excavation.The deviation correction system is an important component of the full face coal mine excavation machine,and its main task is to ensure that the real-time excavation direction of the excavation machine is along the design axis,and quickly adjust the deviation angle of the excavation machine to ensure that the excavation machine can work correctly,efficiently,and stably.This article designs and studies the deviation correction system of a full face coal mine tunneling machine.Firstly,design the overall deviation correction plan,mainly including the design of the deviation correction system execution mechanism,deviation correction hydraulic system,and deviation correction workflow.We have determined a correction plan for the hinge joint of the three-level shell,introduced the equivalent stiffness of the hinge hydraulic cylinder,and conducted analysis and calculation;According to the technical requirements of the full face tunneling machine,design the hydraulic circuit of the deviation correction system and select and design the main hydraulic components;Finally,design and explain the deviation correction workflow.Secondly,the strapdown inertial navigation system is introduced,and a coordinate system is established using the tunneling machine as the carrier.Based on the azimuth relationship between the inertial navigation system and the navigation coordinate system,as well as the position and speed information of the tunneling machine at the initial time,the initial time alignment is carried out,and the attitude calculation of the tunneling machine is completed using the quaternion method.Design the correction trajectory of the tunneling machine based on the obtained posture information.Three kinds of plane deviation correction track routes are designed in turn: "arc arc","arc Archimedes spiral arc","arc straight line arc".Theoretical calculation shows that the "arc straight line arc" track route has the shortest deviation correction displacement.Based on this,design the correction trajectory of the excavation machine in three-dimensional space.Thirdly,based on the Terzaghi theory,the local squeezing of surrounding rock during the deviation correction process of the tunneling machine is analyzed to obtain the correction torque that the correction hydraulic cylinder needs to provide during the deviation correction process.Taking the upward correction working condition as an example,the overall mechanical analysis of the tunneling machine is carried out.Based on the force situation,establish a load model for the correction hydraulic cylinder,and establish a hydraulic simulation model under the pitch correction working condition in AMEsim.Analyze the hydraulic cylinder movement speed under no-load and step load conditions,providing a basis for controller design in the following text.Finally,in order to verify the reliability and stability of the deviation correction system,AMEsim/Matlab software was used for joint simulation.Fuzzy PID and RBF-PID controllers were used for closed-loop feedback control of the deviation correction hydraulic cylinder speed,and the motion speed curve of the deviation correction hydraulic cylinder was obtained.The simulation results show that the RBF-PID controller has better stability and robustness,which can further improve the deviation correction performance of the tunneling machine.This thesis contains 60 figures,8 tables and 83 references.