悬臂式掘进机自动截割控制系统研究

Research on Automatic Cutting Control System of Cantilever Roadheader

以煤矿EBZ220型悬臂式掘进机悬臂机构为研究对象,建立悬臂机构的截割运动在巷道断面的数学模型,确定截割头在巷道断面投影的位置坐标与截割机构升降油缸、回转油缸伸缩长度及截割机构摆动角度之间的几何关系。经控制单元计算出掘进机截割头在巷道空间下的实时位置坐标,并与上位机设定的巷道边界参数进行比较,提出具有反馈控制的巷道断面自动截割控制方案。针对常见的矩形、梯形及半圆拱形3种巷道断面形状设计了控制程序、截割工艺路径及人机交互界面功能。以EBZ220型悬臂式掘进机为样机进行地面和井下试验,应用结果表明,该控制系统可靠性高、实时性强,控制精度高,能满足巷道掘进工作面自动截割控制的要求,巷道断面自动成形控制精度≤15 cm/20 m,悬臂机构动态俯仰角和偏航角测量精度≤0.1°,为实现煤矿掘进工作面智能化、无人化提供一些技术研究基础。

Taking the cantilever mechanism of EBZ220 cantilever roadheader in coal mine as the research object,the mathematical model of the cutting motion of the cantilever mechanism in the roadway section is established,and the geometric relationship between the position coordinate of the projection of the cutting head on the roadway section and the telescopic length of the lifting cylinder and rotary cylinder of the cutting mechanism and the swing angle of the cutting mechanism is determined.The real-time position coordinates of the cutting head of the roadheader in the roadway space are calculated by the control unit,and compared with the roadway boundary parameters set by the host computer,the automatic cutting control scheme of roadway section with feedback control is proposed.The control program,cutting process path and human-computer interaction interface function are designed for the common rectangular,trapezoidal and semi-circular arch roadway section shapes.The ground and underground tests are carried out with EBZ220 cantilever roadheader as the prototype.The application results show that the control system has high reliability,strong real-time performance and high control accuracy,and can meet the requirements of automatic cutting control of roadway heading face.The control accuracy of roadway section automatic forming is≤15 cm/20 m,and the measurement accuracy of dynamic pitch angle and yaw angle of cantilever mechanism is≤0.1°.It provides some technical research basis for realizing the intellectualization and unmanned of coal mine heading face.