Volume 50 Issue 4
Apr.  2024
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Article Navigation >  Journal of Mine Automation  > 2024  >  50(4): 153-158
XU Xiangqian, JIAN Kuo, WANG Ning, et al. Cutting control of boom-type roadheader considering coal rock hardness[J]. Journal of Mine Automation，2024，50（4）：153-158.  doi: 10.13272/j.issn.1671-251x.18171
Citation: XU Xiangqian, JIAN Kuo, WANG Ning, et al. Cutting control of boom-type roadheader considering coal rock hardness[J]. Journal of Mine Automation，2024，50（4）：153-158.  doi: 10.13272/j.issn.1671-251x.18171
shu

Cutting control of boom-type roadheader considering coal rock hardness

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

  • Received Date: 2023-11-08
  • Rev Recd Date: 2024-04-25
    • Available Online: 2024-05-10
    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.

     

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