矿用EBZ220型掘进机行驶控制系统设计研究

Design and research on driving control system of EBZ220 roadheader

为提高矿用EBZ220型掘进机左右履带行驶的稳定性和同步性,阐述了掘进机行驶控制系统的工作原理和负载特性,分析了掘进机行驶跑偏的影响因素,并对跑偏进行了理论计算。设计了基于PID控制算法的电液同步行驶控制策略,轮边测速装置及智能行驶系统等关键技术。测试结果表明,EBZ220型掘进机左侧履带角速度均值为0.554 rad/s,右侧履带角速度均值为0.553 rad/s,左右履带行驶同步性良好,跑偏量满足掘进机煤炭行业标准,为煤矿井下快速掘进向智能化、无人化发展提供可靠的行驶技术方案。

In order to improve the stability and synchronization of the left and right tracks of the mining EBZ220 roadheader,the working principle and load characteristics of the roadheader driving control system are expounded,the influencing factors of the roadheader driving deviation and the theoretical calculation of the deviation are analyzed,the key technologies are designed such as the electrohydraulic synchronous driving control strategy based on the PID control algorithm,the wheel side speed measuring device and the intelligent driving system.The test results show that,the average angular velocity of the left track and right track is 0.554 rad/s and 0.553 rad/s,respectively.The driving synchronization of the left and right tracks is good,and the deviation meets the coal industry standard of the roadheader,which provides a reliable driving technical scheme for the development of intelligent and unmanned underground rapid tunneling.