Tunneling Robot Control Algorithm Research

Develops and the social life progress unceasingly along with the science and technology, the people more and more set a higher request to the underground passage construction and the work security and comfortableness. Mechanical boring machine in understructure work and mining engineering massive uses, and unceasing to automation, does not have the hominization and the intellectualized direction develops. This article first has carried on the analysis to the automatic tunneling system's organization, and has given the mechanical boring machine automatic tunneling process kinematics mathematical model. And to a tunneling robot cutting pose and the rotary abutment corner, rises and falls parameter relations and so on hinge ear corner to carry on the analysis, and carries on the plan to the partial cross section tunneling process's way. Then realizes the follow-up control and cuts the control. And introduced introduced several intelligent control method, several project application neural network control method realizes the hydraulic system misalignment process identification to realize the permanent power cutting process control.