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Research on Boom-type Roadheader Laneway Profiling Control

Author: WangDaoBin
Tutor: ChaiYi
School: Chongqing University
Course: Control Theory and Control Engineering
Keywords: Automatic boring machine Cutting arm Profiling control CAN Simulated intelligent control
CLC: TP273.5
Type: Master's thesis
Year: 2008
Downloads: 208
Quote: 1
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Abstract


The boring machine is widely used in mining engineering and underground engineering. Currently, the operation of the boring machine at the job site to achieve through the console. Relatively harsh environment of the scene, with the development of science and technology and the improvement of people's living standard, boring machine intelligent unmanned trends more and more attention has been paid. A fully automatic roadheader research roadway section forming in intelligent control of the cutting arm. The paper analyzes the relationship between the cross-sectional shape of the cutting arm gesture, the forming process of the coal mine roadway section, the cutting head section forming process cutting path planning programs. Discrete into a sequence of points and the path, so that the cross section of the cutting path is divided into a number of pieces, each short regarded as a straight segment. Thesis focuses on the the roadheader arm movement characteristics derived its spatial geometry model of the movement, and abstract simplified. Formula between the cutting head position and cutting arm gesture and body posture. The coordinate system, and deduced the transformation between the coordinate system of the roadheader cutting head position. Calculated based on the start and end of each short coordinates corresponding cutting arm gesture segmented control. Boring machine control system is heavy machinery hydraulic drive system, system lag, dead zone and saturation nonlinear part, makes it difficult for accurate and stable control. And the hydraulic system in the work process, the change of the hydraulic oil temperature will cause changes in the control system parameters, it is difficult to obtain accurate model of the controlled object. Papers humanoid intelligent controllers charged with the characteristics of the object model does not require precise humanoid intelligent control algorithm, which some local nonlinear characteristics for linear processing, in the course of their work in the analysis of the cutting arm dead saturation characteristics, design the corresponding control rule set. Boring machine working the scene very harsh environment, vibration, dust, interference, explosion-proof requirements in CAN industrial fieldbus control boring machine's control system, according to the communication interface design movement and gesture detection sensor and control , the sensor output directly CAN signal, reduced the lead to the failure of signal conversion generates link, from hardware to ensure the stability and reliability of the system. Experiments on the kind of automatic boring machine, recording and analysis of relevant data. And roadway trajectory simulation. The results show that the system to normal operation, tunneling function cutting expected roadway section, the effect is better, the system the whole system is a feasible solution.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Automation systems > Automatic control,automatic control system > Computer control, computer control system
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