Research Of Automation Roadheader Profiling Cutting Control Strategy

This paper，in order to realize the roadheader independent operations and unmannedtunneling target in the coal mine tunnel，adopts EBZ160roadheader as the main research object，and systematically studies the automation roadheader profiling cutting control theory. The papermainly researches its kinematics，trajectory planning and tracking control，pose detection，profiling memory cutting control mechanism and safety cutting control and early warning etc.The development tendency of mine roadway is safety，high efficiency and comfortable.First， using coordinate homogeneous transformation and robotics theory，the spacecoordinate system of automation roadheader each link are described. The kinematics equationsof working device is established. The solution of the roadheader robot positive and inverseproblem is deduced，which lay the foundation for the cutting head position tracking and sectionprofile monitoring.Considered the backplane characteristics of coal and rock，the coal and rock occurrencecharacteristics of coal and rock，the tunnel shape and size and the structure of roadheader robottruss each connecting rod link etc. complex environment，a cutting head rotating envelopesurface equation is established. The roadheader robot profiling memory cutting kinematic modelis built. The simulation research is carried out. The body and cutting head pose is set up. Whichprovide a theoretical basis for the roadheader roadway directional tunneling and profiling cuttingautomatic control.According to the instability and mutation of cutting load in tunneling，robust control andneural network control algorithm is used in the roadheader robot cutting head trajectory trackingcontrol. The trajectory tracking mathematical model of roadheader robot robust neural networkcontrol is established. The profiling cutting appear in the uncertain problems are researchedthrough the simulation tests.Roadheader robot running pose error is formulated. The pose measurement scheme isestablished. The gyro measures yaw axis，inclinometer instrument measures the pitch angle androll angle, combined with laser-guided instrument constitutes a directional tunneling guidancesystem，the system is designed.According to roadheader cutting process，the mathematical model of profiling cutting isestablished. The corresponding relation of the space coordinates is deduced between the corresponding working cylinder and the outside envelope surface through the determination ofthe roadheader profiling cutting operating parameters. The dynamic simulation of roadheaderrobot profiling cutting is analyzed based on MATLAB.The outside envelope surface of cuttinghead profiling cutting is obtained. The mechanism of a boom roadheader profiling cuttingcontrol is revealed. By memory cutting principle，the model of roadheader robot profilingmemory cutting is built. An assembly model is built based on Pro/E. The movement simulationof roadheader profiling cutting solid model is carried out with ADMAS. The simulation verifisthe accuracy of the model. Avoid effectively super dig owe dig，through the research of profilingmemory cutting and section profile monitoring system. The roadheader profiling cutting controltechnology research is perfected.Integrated attitude angle measurement，safety cutting control and early warning，profilingcutting into the software and hardware research of control system is completed. A roadheaderrobot cantilever corner detection sensor design is put forward based on MEMS technology.Using the three axes digital acceleration sensor detects the angle between the boom and gravityto determine cantilevered corner. The number of sensors is greatly reduced. The method realizesthe cutting action and doesn’t need to consider the posture of the body working conditions. Asafety cutting control and safety cutting early warning system based on heat-releasing infraredsensor is studied. The detection sensor method around the body360°all-round，no dead is putforward based on pyroelectric infrared sensors. The new system ensures the safety of man andmachine.Finally，through the combination of laboratory tests and computer simulation，the test ofautomation roadheader profiling cutting control proves the correctness of theoretical research. Itprovides the theory and the technology reference for roadheader robot research and development.