钻锚一体机工作臂的一种自动控制方法

Design of automatic control system for the working device of rock drill

针对巷道掘进效率低下问题,设计出钻锚一体机自动控制系统,以空间机器人运动学反解原理为基础,将掘进工作面上的布孔位置换算成钻锚一体机工作臂执行油缸的伸缩位移;以工控机为核心控制元件驱动电液比例阀,使各个执行油缸完成指定的位移;集成在油缸上的直线/角度位移传感器可以将油缸的伸缩尺寸经由数据采集卡传输给工控机,实现闭环反馈控制。

Aimed at the problem of low efficiency in roadway excavation,an automatic control system for the working device of rock drill was designed. The mathematical model of this system is space robot kinematics. Based on the principle of inverse solution,the displacement of every cylinder on the working device was calculated from the drilling position of the working face in the roadway. Industrial computer and electro- hydraulic proportional valve were used in this system,and these devices can control all the cylinders to realize the appointed displacements. The parameters of the cylinders were measured by straight / angle displacement sensor,and all of the parameters were sent to IPC by the data acquisition card,and finally the closed loop control was realized.