摘要
矿井巷道开采的过程中司机的视线和所处的环境受粉尘,水雾,光线等的影响,导致在巷道断面在截割的过程中出现超挖或欠挖的现象,使得断面的形状尺寸不规则,进而给后面的顶板支护工作也带来困难,严重影响着巷道掘进的进度;为了解决以上问题,提出掘进机器人巷道断面记忆截割控制策略;记忆截割就是司机对断面初次截割的过程中把截割数据包括截割头的位置、截割臂摆动的角度和速度等数据存储在专门的存储器中,作为之后截割的参考数据直接调用,省去司机频繁的操作,大大提高截割的效率;通过MATLAB仿真和EBZ160试验研究可知,截割头摆动误差可控制在5cm以内,表明掘进机器人巷道断面记忆截割控制策略可以更加有效地控制掘进机截割出整齐的断面,为掘进机巷道断面自动成型奠定了理论依据。
Mine tunnel mining process driver＇ s line of sight and the environment affected by dust, mist, light and other effects, resul- ting in a roadway in the process of cutting or Overexcavation overbreak, making the cross--sectional shape and size are not normal, and then to the back of the roof support work is difficult, serious impact on the progress of tunneling. In order to solve the above problems, proposed roadway excavation robot Memory cutting control strategy. Memory is the cutting section during the initial cutting of the cutting data, inclu- ding the location of the cutting head, with a cutting angle of the swing arm and speed data are stored in a special memory as reference data af- ter cutting direct call , eliminating the need for frequent driver operation, greatly improving the efficiency of cutting. Through MATLAB simulation and EBZ160 experimental study shows that the cutting head wobble error can be controlled in less than 5cm, indicating that memo- ry roadway excavation cutting robot control strategies can be more effectively controlled Roadheader a neat cross--section for roadway auto- matic boring machine laid the theoretical basis for shaping.
出处
《计算机测量与控制》
北大核心
2014年第3期737-740,共4页
Computer Measurement &Control
