EBZ260A悬臂式掘进机掘进控制系统的研究

Research on Digging Control System of EBZ260A Cantilever Roadheader

为了解决悬臂式掘进机采用视频监控和平面信息控制所存在的巷道断面成巷质量差、效率低的不足,以EBZ260A悬臂式掘进机为基础,对其控制系统进行改造.利用视觉测量技术精确确定掘进机的位姿数据,利用空气状态传感器精确获取截割作业环境数据,以此作为数字孪生驱动控制的基础,构建掘进机虚拟模型和虚拟场景耦合控制逻辑,实现了对掘进机截割作业的精确跟踪控制.根据实际应用表明,新的控制系统能够将掘进机截割控制精度提高到±30mm,将截割控制反应速度提升到0.1 s,极大提升了井下截割效率和精确性.

In order to solve the deficiencies of poor quality and low efficiency of roadway section formation that exist in cantilever is roadheading machine using video monitoring and plane information control.Based on EBZ260A cantilever type roadheader,its control system is modified.Using visual measurement technology to accurately determine the position data of the roadheader,using air state sensors to accurately obtain the cutting operation environment data,as the basis of digital twin drive control,to build a virtual model of the roadheader and virtual scene coupling control logic,to achieve the precise tracking control of the cutting operation of the roadheader.According to the practical application,the new control system can improve the cutting control accuracy of the roadheader to±30 mm and the cutting control reaction speed to 0.1 s,which greatly improves the cutting efficiency and accuracy of underground cutting.