Dynamic Analysis and Control of Automatic Deviation Correction of Roadheader Based on Mechanical Characteristics of Roadway Floor
Automatic deviation correction of the roadheader is the most critical step in the process of automatic roadway cutting,in which the determination of mechanical parameters for the roadway floor is the challenge and difficulty in the automated tunneling of the roadheader.The mechanical characteristics and experimental parameters of the roadway floor were combined to fit the regression equations for mechanical parameters and calculate the resistance of the road-way floor.Additionally,finite element analysis was conducted on the compaction resistance and steering resistance of the roadheader track,establishing an accurate and reliable dynamic devia-tion correction model for the roadheader and proposing a neural network PID(Proportional Inte-gral Differentiation)control method capable of adjusting the parameters in real time.Then,we simulated the dynamic model and control method with Matlab and tested the control method with the roadheader control experimental system.The test results showed that the control system could well meet the control requirements,ensuring the dynamic performance of the roadheader and the quality of the roadway cutting,which could be the theoretical foundation and technical support for intelligent coal mining.
mechanized tunneling working faceroadheaderroadway floor characteristicsdynamic model
万方数据
维普
