Research On Intelligent Control System Of Boom-type Roadheader

The automation and intelligentization of the boom-type roadheader,which is the core equipment of fully mechanized face,is the key to improve the quality and efficiency of the tunneling.The walking control of the cantilever roadheader,the automatic section cutting control of the section,the dynamic sensing of coal and rock,the real-time monitoring of working status and the intelligent monitoring of remote monitoring are the hotspots of research at home and abroad.At present,the roadheader control system lacks a special design for efficient tunneling,and it is difficult to meet the requirements of cutting adaptive control,autonomous positioning of the roadheader body,automatic section forming,transplantation of complex algorithms,and remote monitoring.Therefore,in view of the control problem of cantilever tunneling machine,this paper studies the positioning,orientation and shaping cutting control technology in coal mine underground roadway excavation,effectively improves the intelligent level of cantilever roadheader,and is important for ensuring tunneling efficiency and roadway forming quality.Aiming at the problem that the roadheader control system has poor data processing capability,complex algorithm integration is difficult to implement,and more modules are needed for control,a new control system that meets the requirements of cantilever type roadheader automation,intelligence and remote monitoring is developed.The paper puts forward the intelligent control system solution of cantilever type roadheader with DSP+CPLD as the core.The lower position machine adopts DSP+CPLD as the core controller to complete the working condition data acquisition,control quantity output,intelligent cutting algorithm transplantation and control decision function.The upper computer adopts VS(Microsoft Visual Studio)and Qt software to realize the functions of storage and display of human-computer interaction and working condition data,and the upper and lower machines use CAN bus to realize communication.For the roadheader affected by the geological structure during the cutting process,the coal rock or pinch causes the load of the roadheader to change randomly.In order to achieve the best rock breaking effect,based on the cutting current of the motor,the pressure of the lifting cylinder,the pressure of the rotary cylinder,the moving speed of the cutting head and the speed,the multi-sensor fusion technology is used to dynamically sense the state of coal and rock.An adaptive cutting control scheme is proposed to realize the speed of the cutting head of the roadheader and the swinging speed of the cutting arm automatically adapt to the working load,so as to realize the efficient and smooth cutting of the cantilever type roadheader.Aiming at the problem of low precision automatic section forming control and easy over-excavation,a cutting control algorithm based on PID neural network is proposed.The paper establishes the kinematics and dynamics model of cantilever type boring machine,and designs the cutting section of the roadheader automatically.The forming control strategy realizes the adaptive cutting of the section forming and is verified by MATLAB simulation and experimental test.Finally,the laboratory cantilever type roadheader model is taken as the experimental object,and the experimental function verification of each function module of the control system is carried out.The experimental results show that the developed intelligent control system meets the preliminary design requirements and can initially meet the functions of remote control,adaptive cutting and section forming in tunneling.