煤矿综掘机自动截割控制系统的应用研究

Application Research on Automatic Cutting Control System for Coal Mine Roadheader

针对煤矿井下作业环境恶劣,掘进时视线受影响较大,导致巷道偏离中线、尺寸不足、成型差的问题,对综掘机自动截割控制系统开展应用研究。采用动态倾角、水平方位角、三轴角速率等多种监测方式对综掘机的状态进行连续性监测,根据监测结果对综掘机截割部的运行轨迹进行规划,通过伺服控制系统控制电磁阀,使综掘机运行动作与设定值误差小于0.01,准确实现截割部按规定的轨迹运行,进而实现自动掘进。研究结果表明,自动截割系统能够降低粉尘、机身抖动等外部环境对司机操作综掘机截割过程的影响,使截割效率提高了6%。

In order to address the problems of deviation from the centerline,insufficient dimensions,and poor formation of tunnels caused by the harsh underground working environment and limited visibility during tunneling,research has been carried out on the application of an automatic cutting control system for the roadheader.Multiple monitoring methods,such as dynamic inclination angle,horizontal azimuth angle,and three-axis angular velocity,are used to continuously monitor the status of the roadheader.Based on the moni⁃toring results,the operating trajectory of the roadheader's cutting part is planned,and the electromagnetic valve is controlled through a servo control system to ensure that the deviation between the actual motion of the roadheader and the setpoint is less than 0.01,thus accurately achieving the specified trajectory of the cut⁃ting part and realizing automatic tunneling.The results show that the automatic cutting system can greatly re⁃duce the impact of external factors such as dust and body vibrations on the operator's operation of the road⁃header during the cutting process,resulting in a 6%increase in cutting efficiency.