【作者】 王苏彧；

【导师】 吴淼；

【作者基本信息】 中国矿业大学（北京） ， 机械电子工程， 2014， 博士

【摘要】 本论文针对悬臂式掘进机记忆截割及自动截割控制技术展开研究，旨在巷道围岩稳定的条件下，为掘进装备提供一种新的控制手段—记忆截割，同时保证巷道断面成形质量。论文提出了巷道断面轮廓概念，通过形成的巷道边界轮廓数组，可实现对任意巷道断面的自动截割及自动刷帮控制；提出了掘进机记忆截割控制方法，工人根据巷道环境及断面形状操作掘进机示范截割一刀，控制单元将示范路径采集、记录、存储、优化后，一键式触发掘进机按人工示意过程自动截割，对整个过程中涉及到的四项关键技术人工示范路径采集、路径存储及读写、路径拟合及智能优化、记忆自动截割分别进行了研究；提出了掘进机断面边界控制方法，分别设计人工截割、自动截割及记忆截割的边界控制方案；对系统误差进行理论分析，计算得出了误差最大值。对研发的各项功能分别开展地面试验，经试验验证，本系统除可实现自动截割、记忆截割等功能外，边界控制精度较高，系统的设计满足井下施工精度要求。更多还原

【Abstract】 This paper carried out the research on memory cutting and automatic cutting control techniquesof boom-type roadheader and provides a new control method, which is memory cutting, forexcavating equipments under the condition of roadway with stable surrounding rock, at the sametime guarantees the quality of forming roadway cross section. It puts forward roadway cross sectionprofile which will be stored as a boundary profile array and used to realize the automatic cuttingand forming control of arbitrary cross section. The control method of roadheader memory cutting isalso proposed. The workers operate the machine to cut out a section firstly in demonstration, thenthe control unit collects demonstrate path to record, store and optimize, finally one-touch trigger theroadheader to repete the demonstration automatically. Four key technologies are artificialdemonstration path collection, path storage and read-write, fitting and intellect optimization, andautomatic memory cutting. The section boundary control method of roadheader is proposed andseparately made for artificial, automatic and memory cutting. Analyze the system error theoreticallyfinally and calculate out the maximum error. The whole control system is installed on the machineand put on the ground tests. The results of the tests can prove that this system coule realize thefunctions of automatic cutting and memory cutting and the precision of boundary control is high.The design is completely meet the precision requirement of underground construction.更多还原