Research On The Key Technology Of Control System Of Multifunctional Explosion-Proof Digging And Bolting Machine

As a result of high safety performance and fast driving speed, the mechanized tunneling technology in the roadway is a priority scheme for the design of large coal roadway driving plan at present, and as one of the many advantages of the digging and bolting machine, it has been widely used in large scale coal mines abroad. At present, the domestic research in this field is still in its infancy, failing to form a breakthrough in the key technology of the integration of digging and anchoring, and develop mature products. In the construction process of the integration of the excavation and anchor, such as the high hardness of the coal seam under the conditions of high speed driving, is extremely easy to cause the motor overload and damage; On the contrary, if the speed can not increase in time under the weak coal seam, it will lead to the low efficiency of the whole machine and increase the production cost, Therefore, how to solve the problem of intelligent, safe, efficient, and adaptive control of tunneling parameters under complex conditions, is one of the key technologies in the domestic development of the digging and bolting machine. The successful development of the digging and bolting machine will also fill the gaps in the country, which is of great theoretical and engineering significance.To solve these problems, motor protect, power control and synchronization walking three key technologies are researched. First of all, the use of symmetrical components to work three-phase motor current protection and internal temperature rise criterion established overload fault protection model, to achieve three-phase short motor integrated protection. secondly, by the least square method and their normalization method of fitting the handle to control the output curve, realize flexible control, combined with synchronous factor three closed-loop PID control, assisted laser inertial navigation system, three-car sync walk; again, the fuzzy control theory, combined with self-tuning PID control parameters Fuzzy modeling, simulation and optimization of parameters through joint electro-hydraulic, automatic driving power matching control. Finally, in the development of ZJM4200 bolter miners prototype hardware and software platform, through field experiments, data analysis, to verify the motor integrated protection of the issue raised, three-car travel control and automatic synchronization driving power matching control method is correct.