Research Of Walking Track For Mine Boring Machine Based On Fuzzy Control Strategy

It is more widely for cantilever boring machine in mining engineering withproduction needs and productivity of safety production for China’s coal mine. Theboring machine has become indispensable for production equipment of modern mine.Current, the boring machine is moving in high-power, heavy, automation, intelligentdirection. It has become one of the important issues of the mining and undergroundengineering to improve our level of automation boring machine. It is one of the key ofboring machine automation for automatic walking track of boring machine.This paper describes the measurement method of total station, and measured theposition and direction of the boring machine. This article describes the composition ofboring machine’s running gear. Analysis the working principle and mathematical modelmodeling, and establish mathematical model of boring machine tracking andmathematical model of the body’s own movements, and combined with the hydraulicsystem, made a boring machine trajectory tracking control algorithm. Using this methodof double-layer fuzzy, one layer is path tracking fuzzy control, and the input is theposition deviation and azimuth deviation between the intended path and the center lineof boring machine, and the output is the speed change quantity of tracks. By changingthe speed change quantity of tracks make the boring machine forward along theintended path. Another layer is speech fuzzy control, and the one of the input is thedeviation between expected speed and actual speed of track which moving by hydraulicdrive system, and another input is the rate of change. The output is voltage which is theinput of electro-hydraulic proportional valve. In order to control the hydraulic system,make boring machine walking with predetermined speed. In order to verify thecorrectness of control algorithms.this paper simulates using MATLAB software for navigation control system ofboring machine. and established the simulink simulation modle of various modules. Wecan be seen from this simulation, the boring machine can move forward along theintended path, It achieved control precision for position error and azimuth error. Thecontrol algorithm can be achieved the automatic walking track of boring machine.