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Tunneling robot control algorithm

Author: WangJian
Tutor: MaoJun
School: Liaoning Technical University
Course: Mechanical Design and Theory
Keywords: mechanism kinematics pro and con solution path plan neural network cerebellum CMAC model intelligent control identification
CLC: TD421.5
Type: Master's thesis
Year: 2009
Downloads: 82
Quote: 1
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Abstract


Develops and the social life progress unceasingly along with the science and technology, the people more and more set a higher request to the underground passage construction and the work security and comfortableness. Mechanical boring machine in understructure work and mining engineering massive uses, and unceasing to automation, does not have the hominization and the intellectualized direction develops. This article first has carried on the analysis to the automatic tunneling system’s organization, and has given the mechanical boring machine automatic tunneling process kinematics mathematical model. And to a tunneling robot cutting pose and the rotary abutment corner, rises and falls parameter relations and so on hinge ear corner to carry on the analysis, and carries on the plan to the partial cross section tunneling process’s way. Then realizes the follow-up control and cuts the control. And introduced introduced several intelligent control method, several project application neural network control method realizes the hydraulic system misalignment process identification to realize the permanent power cutting process control.

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CLC: > Industrial Technology > Mining Engineering > Mining machinery > Mining machinery > Underground mining machinery > Boring machine
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