悬臂式掘进机截割断面极限位置分析

基金项目:

国家高技术研究发展计划(“863”计划)资助项目(2008AA062201

详细信息

Analysis of Extreme Position of Cutting Section of Boom-type Roadheader

School of Mechanical Electronic and Information Engineering of CUMT.(Beijing), Beijing 100083, China

摘要: 针对悬臂式掘进机机身位姿出现偏差时截割断面会出现偏差而严重影响定向掘进的问题，提出了一种控制截割臂进行截割断面自动补偿的方法；分析了截割臂回转和升降摆动控制原理，建立了截割臂回转和升降联合模型，并给出了该联合模型的Matlab仿真验证及控制截割臂进行截割断面边界补偿的应用方法。仿真结果验证了该方法的正确性。
- 悬臂式掘进机 /
- 定向掘进 /
- 截割臂 /
- 截割断面 /
- 位姿 /
- 自动补偿 /
- 边界补偿
Abstract: In view of problem that cutting section will take place error when pose of boom-type roadheader has error and will influence on directional mining seriously, the paper proposed a method that controlling cutting arm to make automatic compensation for cutting section. It analyzed control principle of rotary and lifting swing of cutting arm, built a combined model of rotary and lifting of cutting arm, and gave Matlab simulation verification of the model and application method of boundary compensation of cutting section by controlling cutting arm. The simulation result validated correctness of the method.
- boom-type roadheader, directional mining, cutting arm, cutting section, pose, automatic compensation, boundary compensatio