考虑煤岩硬度的悬臂式掘进机截割控制

许向前; 简阔; 王宁; 李胜利

doi:10.13272/j.issn.1671-251x.18171

考虑煤岩硬度的悬臂式掘进机截割控制

doi: 10.13272/j.issn.1671-251x.18171

1.
山西科技学院能源工程学院，山西晋城　048011
2.
太原科技大学能源与材料工程学院，山西晋城　048011

基金项目: 山西省基础研究计划项目（202303021211209）。

详细信息

作者简介:
许向前（1986—），男，山西晋城人，讲师，博士，研究方向为深部矿山岩体力学、岩土工程，E-mail：xuxiangqian202300@163.com

中图分类号: TD632.2
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- 被引次数: 0
出版历程
- 收稿日期: 2023-11-08
- 修回日期: 2024-04-25
- 网络出版日期: 2024-05-10

Cutting control of boom-type roadheader considering coal rock hardness

1.
Institute of Energy Engineering, Shanxi Institute of Science and Technology, Jincheng 048011, China
2.
College of Energy and Materials Engineering, Taiyuan University of Science and Technology, Jincheng 048011, China

摘要

摘要: 煤岩硬度显著影响悬臂式掘进机空间运行状态，分析掘进机空间运行状态与煤岩硬度变化的关联性，有助于更好地实现悬臂式掘进机自动化截割控制。为提高截割控制精度，提出了一种考虑煤岩硬度的悬臂式掘进机截割控制方法。根据动力学原理获得了悬臂式掘进机空间运行状态与煤岩硬度变化的关系，得出随着截割头与目标点之间的距离、运动范围半径及动态角度增大，截割头的运行稳定性会相应提高。采用加权平衡的方式确定自动化控制参数，采用PID控制和闭环模糊控制方法实现掘进机自动化截割控制。实验结果表明，该方法横向控制和纵向控制都表现出较好的性能，掘进机截割头摆速在2 s内达到稳定值，动态工作稳定性好；悬臂式掘进机截割头回转和升降角度变化轨迹与期望轨迹之间的吻合度较高，整体偏离程度较小，控制精度较高。
- 悬臂式掘进机 /
- 自动化截割控制 /
- 煤岩硬度 /
- 自动化控制参数 /
- 加权平衡 /
- PID
Abstract: The coal rock hardness significantly affects the spatial operation status of boom-type roadheader. Analyzing the correlation between the spatial operation status of roadheader and changes in coal rock hardness can help better achieve automatic cutting control of boom-type roadheader. To improve the cutting control precision, a boom-type roadheader cutting control method considering coal rock hardness is proposed. Based on the principles of dynamics, the relationship between the spatial operation status of the boom-type roadheader and the changes of coal rock hardness is obtained. It is found that as the distance between the cutting head and the target point, the radius of the motion range, and the dynamic angle increase, the operational stability of the cutting head will correspondingly improve. The automation control parameters are determined using a weighted balance method, and PID control and closed-loop fuzzy control methods are used to achieve automatic cutting control of the roadheader. The experimental results show that the method exhibits good performance in both horizontal and vertical control. The cutting head swing speed of the roadheader reaches a stable value within 2 seconds, and the dynamic working stability is good. The alignment between the trajectory of the rotation and lifting angle change of the boom-type roadheader's cutting head and the expected trajectory is high, and the overall angle deviation is small, resulting in high control precision.
- boom-type roadheader /
- automatic cutting control /
- coal rock hardness /
- automatic control parameters /
- weighted balance /
- PID

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图 1 实验用悬臂式掘进机

Figure 1. Experimental boom-type roadheader

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图 2 不同煤岩硬度下掘进机截割头位移

Figure 2. Displacement of cutting head of roadheader under different coal rock hardness

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图 3 截割臂摆速变化量控制结果

Figure 3. Control results of the swing speed variation of the cutting arm

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图 4 悬臂式掘进机截割头角度控制轨迹

Figure 4. Control trajectory of cutting head angle of roadheader

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表 1 煤岩体及掘进机相关实验参数

Table 1. Related experimental parameters of coal rock mass and roadheader

参数	值
煤岩体长度/m	315
最大行走速度/（m·s⁻¹）	10
最大岩石单轴抗压强度/MPa	80
装机功率/kW	10 500
截割头转速/（r·min⁻¹）	46～23
截割伸长量/mm	680
液压泵功率/kW	120
掘进最宽量/mm	6 800
掘进功率/kW	200
掘进最高量/mm	5 500
回转油缸两腔容积/L	21.22
升降油缸两腔容积/L	19.1～30.5
悬臂垂直摆角范围/（°）	−30.524～−50.698
悬臂总质量/kg	226
总机质量/kg	39 600
回转台质量/kg	1 474
悬臂长度/mm	3 470
截割头伸缩量/mm	550

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表 2 煤岩硬度参数

Table 2. Coal rock hardness parameters

煤岩	硬度等级	坚固性系数	典型矿种	摩擦因数	单位截割阻力/（N·cm⁻¹）
H₁	低硬度	2～3	大理岩	0.35	500
H₂	中硬度	4～5	花岗岩	0.40	800
H₃	高硬度	6～7	石英岩	0.45	1 200

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