The Research Of Roadheader Automatic Forming Control System

At present, roadheader is widely applied in mining and underground engineering, miningmechanical development trend in the direction of large-scale, intelligent, and unmanned.Roadway construction and the pursuit of more safety, high quality, energy saving, highefficiency, comfortable development goals. Achieve less people or unmanned operation is toprecisely control of roadheader, for roadheader section forming quality and control systemwere studied.Firstly，analyzes the EBJ-132A boom-type roadheader work mechanism, by rationallysimplifying the mathematical model of the cantilever horizontal and vertical swing are build.Work out between lifting oil cylinder piston rod length and angle of the relation, betweenrotary cylinder piston rod length and rotation angle of the relation. Then the section form ofseveral common programming corresponding cutting trajectory, using the MATLAB softwaresimulation of cutting head word envelope diagram.Through the analysis of EBJ-132A boom-type roadheader hydraulic control system,using electro-hydraulic proportional value to replace manual value, roadheader cutting part ofthe automatic is realized. Then the cantilever swing control system model was established,using MATLAB software to build the control system model and simulation. According to thedifferent input signal is obtained the cantilever swing speed curve, using PID control toimprove the control system, can be seen from the simulation results, the electro-hydraulicproportional control system has good dynamic response.In this paper for the roadheader section forming process has carried on the theoreticalderivation and simulation of control system, to control the roadheader automatic formingmeaningful exploration...