悬臂式掘进机定向掘进系统的设计

Design of Directional Driving System of the Cantilever Roadheader

针对煤矿井下掘进机掘进过程中经常出现的偏离巷道中心,进而导致切割面超挖、欠挖等问题,结合矿井工作面实际工程特点,提出一种基于MEMS捷联惯性导航技术的悬臂式掘进机定向掘进系统。重点分析了系统的核心结构、掘进相关环节的建模过程、纠偏马达控制器的设计,并对路径进行仿真分析,结果显示,通过合理的参数设计,系统可有效控制掘进机掘进过程,实现定向掘进。

In view of the problems that often deviate from the roadway center during the excavation of coal mine underground roadheader,resulting in over excavation and under excavation of the cutting surface,combined with the actual engineering characteristics of the mine face,a cantilever roadheader directional excavation system based on MEMS strapdown inertial navigation technology is proposed.It focuses on the core structure of the system,the modeling process of tunneling related links,the design of deviation correction motor controller and path simulation analysis.Through reasonable parameter design,the system can effectively control the tunneling process of roadheader and realize directional tunneling.