Research On Roadway Cross Section Automatic Profiling Control Strategy For Boom-type Roadheader

At present, The Boom-type roadheader has been more and more widely used in China’s coal industry. Domestic boring machine is operated mainly by the driver manual, the laneway section shaping quality is poor, and the driver’s safety is not guaranteed, resulting in low efficiency of roadway drivage. Operate unmanned or less personified TBM is an important direction of development.This paper conducts research on Automation cutting based on Boom-type roadheader as the control object, which is also to study the automatic Forming of roadway cross section.Roadway cross section shape control is to control cutting arm swinging.The paper gives a brief introduction of the basic structure of cantilever boring machines, focusing on cutting arm mechanism are described.Introduces the common shapes of cross section of roadway, carries out on the cross section shape of cutting path planning. Kinematics analysis was carried out on the cutting structure, the establishment of the relationships between the of cutting arm joint variables and cutting head position in the coordinate system, and solves the equation to achieve transformation between the cutting head coordinate and cutting arm joints, to lay the foundation for tracking controlfor of the target trajectory.In the paper a dynamic model of cutting arm mechanism was wstablished, which lays the foundation for the design of the control algorithm. Based on the system and the cross section of multivariable nonlinear and repeatability problems in the forming factors of cutting process, puts forward some requirements for control algorithm of the control system, and puts forward the iterative learning control algorithm to control the cutting arm.The paper expounds the basic principle of iterative learning control and designes the cutting arm PD type iterative learning controller, and verifies the convergence of the algorithm, and makes some simulations analysis of the algorithm to verify the effectiveness of the proposed algorithm. In view of the non repetitive disturbance problems existing in the system, design of cutting arm adaptive iterative learning controller, and simulation analysis was carried out on the control algorithm, to verify the effectiveness of the control algorithm.TBM through laboratory simulation platform to test the control method, build a test platform and design of control systems, write cross-section forming control program downloaded to the controller, recording and analyzing relevant data, to verify the effectiveness of the control method to make a better theory applied in practice.