Research On Boom-type Roadheader Intelligent Control Of The Driving System

Now, the roadheader is widely used in underground coal mine and laneway excavation, the intelligent roadheader is the tendency. The goal of the thesis is to realize the intelligent control on the driving system of the roadheader, control the roadheader move always along the laneway that have been designed when the roadheader move and work, finally realize the automatic excavation. First,stated the location method of the roadheader during the laneway excavation in this thesis, apply the GPS tech to the traditional location. simplify the roadheader a structure that contains two leading wheels and two driving hydraulic motors. Disperse the centerline of the laneway and display the corresponding curve by the line that link the two points of the laneway,make out the coordinate of points. Control the roadheader move along the line that link two discrete points. The roadheader need adjust its position at the discrete point of the laneway during the laneway excavation, this thesis make out the relation between the distance that the roadheader have moved/ adjustment angle of the roadheader and the needed flu of the hydraulic motor. Last, make program with the MATLAB software to realize the control course according to the designed moving route for the roadheader /the method of the flu control and the relative parameter of the driving system. Although the object studied in this thesis is EBZ-132SH boom-type roadheader, but the control theory and method can be used widely on all machines whose driving system is hydraulic motor to realize the intelligent control of the driving system.