煤矿用顶管掘进机半物理仿真系统

Semi-physical Simulation System of Pipe Jacking Machine for Coal Mine

针对顶管掘进机系统结构复杂、自动化程度高、无法以实际施工培训操作手等问题,进行了煤矿用顶管掘进机半物理仿真训练系统研究。建立了顶管掘进机沿程力学模型、进水排渣模型和纠偏控向模型,通过可编程控制实现了顶管掘进机自主推进、自主导向和自动进水排渣。搭建了多传感器信息融合计算机仿真系统,并进行了各种工况及外部突发响应下的自主推进稳定性测试。结果表明,半物理仿真训练系统可有效模拟顶管掘进机运动过程,自主推进算法稳定可靠,可用于培训顶管掘进机操作手,对于顶管掘进机在煤矿的推广应用具有重要作用。

Aiming at the problem that pipe jacking machine system has a complicated structure and high degree of automation,and it is impossible to train the operator with actual construction,a semiphysical simulation training system for the pipe jacking machine for coal mine was studied.The model of resistance along the way,the model of in-fluent slag discharge and the model of deviation correction and direction control were established,and the automatic switching of pipe jacking machine,autonomous propulsion,autonomous guidance and automatic in-fluent slag discharge were realized through programmable control.A multi-sensor information fusion computer simulation system was built,and the autonomous propulsion stability test under various working conditions and external burst response was conducted.The results show that the semi-physical simulation training system can effectively simulate the movement process of the pipe jacking machine.The autonomous propulsion algorithm is stable and reliable,and can be used to train the pipe jacking machine operators.It has an important role in the promotion and application of pipe jacking machine in coal mine.