掘进机控制系统研究

Research on Control System of Roadheader

针对回坡底煤矿悬臂式掘进机控制系统的需求,对掘进机系统进行了一系列研究,由截割部动力学建模得出掘进机截割部位的位置以及速度直接受到旋转角度的影响,基于DSP为核心的断面自动成形程序显示,当掘进机的回转角度和升降角度的误差值小于0.8°时,可以实现精确控制,截割部实际运行轨迹与理论轨迹基本吻合,实现了巷道断面自动成形控制的目的,满足巷道掘进的要求。

In view of the cantilever back to bottom coal mine machine control system requirements,the machine system in a series of research,the cutting of dynamics modeling,it is concluded that the position of the machine cutting part,and for the Angle of rotation speed is directly theta_1 and theta_2,the influence of cross section automatic forming process based on DSP as the core,according to when the turning Angle and Angle of the lift error of machine value is less than 0.8°,can realize accurate control,cutting the actual running track with track basic theory,the aim of roadway cross section automatic shape control,meet the requirements of roadway drivage.