掘进机器人控制算法研究

【作者】 王剑；

【导师】 毛君；

【作者基本信息】 辽宁工程技术大学 ， 机械设计及理论， 2009， 硕士

【摘要】 随着科技的不断发展和社会生活的进步,人们越来越对地下巷道施工及作业的安全性和舒适性提出了更高的要求。掘进机在地下工程和采矿工程中大量使用,并不断的向自动化,无人化和智能化方向发展。本文首先对自动掘进系统的机构进行了分析,并给出了掘进机自动掘进过程的运动学数学模型。并对掘进机器人截割头位姿与回转台转角,升降铰接耳转角等参数关系进行分析,并对部分断面掘进过程的路径进行规划。进而实现跟踪控制和截割控制。并介绍了介绍了几种智能控制方法几种工程应用的神经网络控制方法,以实现液压系统非线性过程的辨识以实现恒功率截割过程的控制。更多还原

【Abstract】 Develops and the social life progress unceasingly along with the science and technology, the people more and more set a higher request to the underground passage construction and the work security and comfortableness. Mechanical boring machine in understructure work and mining engineering massive uses, and unceasing to automation, does not have the hominization and the intellectualized direction develops. This article first has carried on the analysis to the automatic tunneling system’s organization, and has given the mechanical boring machine automatic tunneling process kinematics mathematical model. And to a tunneling robot cutting pose and the rotary abutment corner, rises and falls parameter relations and so on hinge ear corner to carry on the analysis, and carries on the plan to the partial cross section tunneling process’s way. Then realizes the follow-up control and cuts the control. And introduced introduced several intelligent control method, several project application neural network control method realizes the hydraulic system misalignment process identification to realize the permanent power cutting process control.更多还原