【作者】 田劼；

【导师】 吴淼；

【作者基本信息】 中国矿业大学（北京） ， 机械电子工程， 2010， 博士

【摘要】 本论文以实现悬臂式掘进机自动截割成形控制为主要目标,主要阐述了煤巷自动化掘进控制的关键技术；进行了掘进机截割头空间轨迹测控方法的研究,建立了截割臂空间位置参数(l1,l2,α,β,△l)和巷道断面自动成形控制参数(x,y,z)之间的数学模型,提出了综合采用角度和行程传感器检测截割头空间轨迹测控传感方法,并根据井下掘进机振动特性对倾角传感器加装隔振装置；进行了掘进自动截割成形方法的研究,对截割头行进路径进行了规划,并提出了断面自动成形及截割臂摆速自动调节的控制策略；设计完成了整套掘进自动截割成形控制系统,包括硬件系统和软件系统的设计研究；进行了掘进自动截割成形控制系统动态特性的研究,深入探讨其对截割位置精度及截割臂摆速调节的影响；最后进行了煤巷掘进自动截割成形控制试验,经过工业性试验验证,该掘进自动截割成形控制系统可以满足煤巷质量标准要求。更多还原

【Abstract】 In order to realize the automation control of boom-type roadheader, this dissertation mainly presents the key technologies of automation excavation control for coal roadway. The space trajectory control and sensing methods of roadheader cutting head are studied. The kinematics model between spatial location parameters (l1, l2,α,β,Δl) and controlling parameters (x,y,z) of laneway section automatic forming is established. The cutting head space trajectory control and sensing detection method is proposed, which comprehensively use angle and travel sensors. And we add vibration isolation device according to the vibration characteristics of roadheader. The automatic cutting forming method of laneway driving is studied. We did the layout about cutting path of cutting head, and proposed the control strategy for automatic forming of section and the swing speed regulation of the cutting boom. Design and finished complete set of automatic cutting forming control system for laneway driving, which includes the design study of hardware and software system. The dynamic characteristic of automatic cutting and forming control system for coal roadway driving is investigated, and the influence of it on cutting position precision and the swing speed regulation of the cutting boom are further discussed. Finally, the experiment of automatic cutting forming control system for laneway driving is carried out. The industrial test results show that this automatic cutting forming control system of boom-type roadheader can satisfy the quality standards of coal roadway.更多还原