Research On Rectification Control Of Shield Type Tunneling Robot System

According to the national strategic deployment of "accelerating the development of coal mine intelligence",building a safe,green,efficient,and intelligent tunneling robot system and improving the intelligence level of my country's tunneling equipment has become an important goal at this stage.At present,domestic and foreign researchers have conducted a lot of research on the technology of directional tunneling.Due to the complex underground environment,uneven surrounding rock pressure,and the inaccurate positioning of the tunneling equipment,the tunneling yaw problem still exists.Therefore,the tunneling equipment is accurately positioned and corrected.Control research can promote the development of roadway directional excavation technology,and is of great significance to the improvement of roadway excavation quality and efficiency.Aiming at the problem of shield type tunneling robot system's tunneling direction control problem,by comparing the current correction control methods of tunneling equipment at home and abroad,this paper proposes a correction control scheme based on the negative feedback of system pose and cylinder stroke.This scheme adopts "total station+inertia".The combined positioning method of "guide" measures the system's pose,combined with the cable sensor to measure the cylinder stroke,constructs a roadway excavation correction control system,and dynamically adjusts the pose of the shield type tunneling robot system to realize the correction control of the intelligent tunneling robot system.Aiming at the problem of precise positioning in the process of adjusting the position and attitude of underground excavation equipment in coal mines,a combined positioning method of"total station+inertial navigation" is studied.The total station measurement technology is used to analyze and study the single prism positioning principle and establish the system position.The pose calculation model uses the pose calculation algorithm of the vector included angle to calculate the system pose in the total station coordinate system,combined with the system pose measured by the inertial navigation,and improves the reliability of the pose data through data fusion.According to the system pose solution Calculate the model and perform coordinate conversion to obtain the system pose under the roadway coordinate system,so as to realize the precise positioning of the shield type tunneling robot system.Aiming at the problem of correcting and adjusting the intelligent tunneling robot system,a precise control method of cylinder stroke is studied,and the system's correcting control mechanism and control strategy are analyzed.The essence of correcting control is to accurately control the stroke of the telescopic cylinder,and establish the system's posture correction control.Model,derive the mathematical formula between the system correction amount and the telescopic cylinder stroke control amount,plan the correction trajectory according to the posture deviation,use the PID control algorithm to accurately control the telescopic cylinder stroke,and use the cylinder stroke difference to realize the correction of the intelligent tunneling robot system Adjustment.Finally,build an shield type tunneling robot system pose measurement platform to verify the accuracy of the pose measurement;build an shield type tunneling robot system correction control experimental platform to verify the correction performance.The experimental results show that the positioning accuracy of the "total station+inertial navigation" combined positioning method meets the design requirements.Based on the position and attitude measurement,the cylinder stroke is accurately controlled according to the deviation,and the shield type tunneling robot system rectification control is realized.Function to meet the requirements of directional excavation of roadways.