Boom Type Roadheader Automatic Cutting Control System Based On Labview

The boom type roadheader is the key equipment in the underground folly mechanized face and the main tool for tunneling and rock crushing. At present, most of the coal mine,the cantilever roadheader work is completed by manual control. The efficiency of the tunnel boring machine is low,the forming precision of the tunnel is low, which cause the poor safety of personnel and equipment. Cantilever boring machine position control and automatic cutting control system with high precision and high reliability has become the focus of the current research and development.These research can improve the level of fully mechanized mining equipment, and have an important significance to improve the safety and efficiency of fully mechanized excavation work.This paper designed a high precision automatic roadheader cutting control system, this system uses NI's Labview as a software support and relates hardware devices to achieve the roadheader complete automatic cutting control.Based on the classical geometric analysis, the roadheader cutting system mathematical model was found. Using robot engineering knowledge, the correction and optimization of the mathematic model was finished, eliminating the stress and vibration caused by the rotation and shift, improving the roadway forming control accuracy.According to the model, the automatic cutting control system of roadheader is developed. The system consists of two parts, hardware and software. The hardware system includes sensor system, data acquisition system, output drive controller CompactRio, hydraulic control system. The software system uses Labview software to develop data acquisition,control strategy and control output,and realize automatic control of cutting.Finally, taking the EBZ135 roadheader as an example, the error analysis of the control system is carried out. Including the sensor system error, the computer control strategy error, the cutting arm motion inertia error, the system steady error. Finally, the total error of the smaller system is obtained,and the higher control accuracy is achieved.