Research On Control System With Automatic Forming And Constant Power Cutting Of A Longitudinal Axis Type Roadheader

Nowadays, the traditional roadheader is an important equipment forexcavating coal roadway. However, in the actual situation, roadheader driver is toodifficult to control the operating position of cutting head exactly, because thecondition of working environment is very bad. Therefore, the quality of sectionforming is poor and the swing speed of cutting boom is dramaticly changed. Inorder to solve these problems and improve working efficiency and automation, thecontrol strategy of automatic section forming of laneway and constant-powercutting was proposed. The automatic control system was studied and simulated byMatlab software.In this paper, longitudinal-axis boom-type roadheader of EBZ135is made asan example. This paper analyzed the mechanism and procedure of cutting unit.The geometrical relationship formulas among the spatial position of cutting head,the length of hydro-cylinder, and the pivot angle of the cutting boom wereestablished. Based on the laneway cutting section shape, the cutting path of cuttinghead is formulated. All of the research contents are the theoretical foundation forsimulation of section forming and building automatic control system.Based on the theoretical analysis, principle of simulation on section formingwas illustrated. The corresponding controlling system of section forming wasprogrammed. The space moving trajectory of cutting head was plotted, whichcoincided with the cutting path of cutting head. In theory, the automatic cuttingforming mathematical model is correct, which is the preparation for visualizationof cutting trajectory and section shape and dimension.According to the traditional manual control system, the electro-hydraulicproportional control system of automatic section forming with feedback elementwas established. The main components of the control system were selected andmodeled. It lays the foundation for the simulation of hydraulic control system.Finally, the constant power control system of cutting head was proposed. Themodel of swing speed regulation of cutting boom was established. Simulinksoftware was used to carry out the simulation of PID control. The simulationresults indicated that the electro-hydraulic proportional control system hasexcellent dynamic response characteristics and can eliminate the effect of loadvariation. Besides, it can be seen that the constant power control strategy ofcutting head is theoretically feasible.