Research On Boom-type Roadheader Auto Cutting And Profiling Control System

In order to realize the automation control of boom-type roadheader, this dissertation mainly presents the key technologies of automation excavation control for coal roadway. The space trajectory control and sensing methods of roadheader cutting head are studied. The kinematics model between spatial location parameters (l1, l2,α,β,Δl) and controlling parameters (x,y,z) of laneway section automatic forming is established. The cutting head space trajectory control and sensing detection method is proposed, which comprehensively use angle and travel sensors. And we add vibration isolation device according to the vibration characteristics of roadheader. The automatic cutting forming method of laneway driving is studied. We did the layout about cutting path of cutting head, and proposed the control strategy for automatic forming of section and the swing speed regulation of the cutting boom. Design and finished complete set of automatic cutting forming control system for laneway driving, which includes the design study of hardware and software system. The dynamic characteristic of automatic cutting and forming control system for coal roadway driving is investigated, and the influence of it on cutting position precision and the swing speed regulation of the cutting boom are further discussed. Finally, the experiment of automatic cutting forming control system for laneway driving is carried out. The industrial test results show that this automatic cutting forming control system of boom-type roadheader can satisfy the quality standards of coal roadway.