巷道掘进用悬臂式掘进机智能控制平台研究

Research on Intelligent Control Platform of Cantilever Roadheader for Roadway Excavation

为提高悬臂式掘进机控制平台的智能化水平和运行效率,降低故障发生率,对原控制平台进行优化设计。以InterControl控制器为核心CPU,扩展PWM、通信以及DI/DO接口,以CAN总线通信模式周期性地采集掘进机的机身位姿、截割状态、履带行走等关键参数并进行计算、逻辑处理,进而完成对掘进机的智能化、信息化控制。试验结果表明,优化后的悬臂式掘进机控制平台极大地提升了智能化控制水平,提高了掘进机的运行效率。

In order to improve the intelligence level and operational efficiency of the control platform of cantilever roadheader and reduce the incidence of failure, the original control platform is optimised and designed. With the Inter Control controller as the core CPU and the extension of PWM, communication and DI/DO interfaces, the key parameters such as body position, cutting status and crawler travel of the roadheader are collected periodically in the CAN bus communication mode and calculated and logically processed, thus completing the intelligent and informative control of the roadheader. The test results show that the optimised control platform of the cantilever roadheader has greatly enhanced the level of intelligent control and improved the operational efficiency of the roadheader.