矿用全断面硬岩快速掘进机位姿纠偏控制系统设计

Design of Position Rectifying Control System for Fast Mine Full-Face Hard Rock Boring Machine

介绍矿用全断面硬岩快速掘进机及其姿态测量与控制方法。结合盾构机和悬挂掘进机姿态测量方法,提出基于激光指示仪和新型电子激光标靶的测量系统,对掘进机进行实时三维坐标测量。通过采集的俯仰角、滚动角以及水平偏航角,来推导出掘进机切口、尾部中心的坐标以及位置偏差,经过误差仿真实验表明在本测量系统下,测量精度符合施工要求。PLC根据掘进机水平和垂直偏差量对掘进机进行实时纠偏,并给出了纠偏程序实现流程和友好的人机界面设计,实现了对全断面硬岩快速掘进机姿态的准确测量与稳定控制。

The fast mine full-face hard rock boring machine and its attitude measurement and control method are introduced.Combining attitude measuring methods of TBM with shield machine,the measuring system based on the laser indicator and the novel laser target is put forward for real-time 3D coordinate measuring machine.Through acquiring pitch angle,roll angle and horizontal drift angle,the coordinates and position deviation of the boring machine cut center and tail center are derived,the simulation experiments show that the accuracy of this measurement system can meet the demands of construction.According to the horizontal and vertical deviation values of the machine,PLC corrects the boring machine real-time,and gives the rectification program implementation process and friendly man-machine interface design,thus the accurate measurement and stability control of the attitude of the fast mine full-face hard rock boring machine are realized.