Research On Attiude Adjustment Control System Of Full-face Hard Rock Tunnelling Machine

Full-face hard rock tunneling machine is a kind of full-face tunneling equipment used in the construction of hard rock tunnel.It can realize one-off operation such as excavation,support,lining and slag discharge in the course of tunnel construction.It has automatic and industrial performance.Comprehensive analysis of geological conditions,surface buildings,train operation safety and other influencing factors,planning ideal tunnel design axis,roadheader heading attitude adjustment and control technology are the key technologies of roadheader path correction.To ensure the unity between the real time driving path and the design axis of roadheader,to reduce the deviation of tunneling,to improve the quality of tunnel construction and the efficiency of tunneling.aiming at the deviation rectification of full face hard rock roadheader.A mathematical model of attitude adjustment is established to find the optimal design path for the return path of roadheader.Because the attitude adjustment method of the tunnelling machine is not all the same as the adjustment method of the ordinary tunnelling machine,the optimal regression path algorithm is found through analysis,and the position of the turning point of the optimal regression path is derived,which lays a theoretical foundation for the design of the optimal regression path.The research of attitude adjustment control algorithm for full face hard rock roadheader is carried out.When the tunneling process deviates from the setting tunnel,an adaptive PID control algorithm based on RBF neural network is proposed to improve the speed and accuracy of the tunnelling machine.The relationship between pose transformation and the displacement and speed of the boom cylinder is derived.The simulation tool of Matlab and AMESim is used to establish the control model of the attitude adjustment system.The simulation proves that the controller can accurately control the protruding speed of the support shoe cylinder and adjust the heading attitude to the trajectory design requirements.The experimental verification of the attitude adjustment control method is carried out.The detailed analysis of the collected data,the speed and pressure of the tunnelling machine's normal driving speed and pressure in the required range,the real time trajectory and the design trajectory of the roadheader can be maintained in unity,reflecting the superiority of the attitude adjustment control method in this paper.