Research on the Walking Control Strategy of Roboticized Roadheader Based on the Fuzzy Control

Jian Gong; Wei Liu; Fu Zhong Wang

doi:10.4028/www.scientific.net/AMM.373-375.275

Paper Titles

Autonomous Robots Path Planning: An Adaptive Roadmap Approach
p.246

Operant Conditioning Learning Model in the Bionic Experiment
p.255

Design and Kinematics Analysis of Propulsion Mechanism of Biped Robot Running on Water
p.265

Research on Automatic Tape Vulcanizing Tank Hoisting Manipulator Based on PLC
p.271

Research on the Walking Control Strategy of Roboticized Roadheader Based on the Fuzzy Control
p.275

Gait Planning of Quadruped Robot Walking on a Slope Based on Static Balance
p.282

Service Robot Passive Safety Impedance Mechanism Design and Dynamics Analysis
p.287

Design and Implementation of High Precision Active Wheel Sensor
p.297

Properties of Fiber Optic DNA Sensor Based on Fluorescence Quenching Using Lock-in Amplifier
p.302

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 373-375Research on the Walking Control Strategy of...

Research on the Walking Control Strategy of Roboticized Roadheader Based on the Fuzzy Control

Abstract:

This paper considers the problem of trajectory deviating for a class of roboticized roadheader. The motion model of roadheader is first established based on the analysis of excavation construction procedure, then the fuzzy control strategy based on dual-modality structure is proposed to realize directional adjustment and forward-walking control. The relationship between steering angle and driving wheel speed and the establishment of fuzzy control model are mainly focused. The experiment results indicate that the control strategy can satisfy the requirements of excavation construction procedure, and the remote control of roadheader can also be conducted. It is shown that the proposed approach can take an important role in few or unattended roadheader working face construction.

You might also be interested in these eBooks

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 373-375)

Pages:

275-281

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.373-375.275

Citation:

Cite this paper

Online since:

August 2013

Authors:

Jian Gong, Wei Liu, Fu Zhong Wang

Keywords:

Directional Adjustment Model, Dual-Modality Fuzzy Control, Forward Control Model, Roboticized Roadheader, Walking Process

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] LI Jun li, Lian Zi sheng, LI Yuan zong. Kinematics analysis and carriage position ing of roboticized roadheader[J]. Journal of China Coal Society, 2008, 33(5): 583~587.

Google Scholar

[2] Tian Yuan . Key technologies of roadheader robotization. Mining Machinery, 2010, 38（12）: 10~13.

Google Scholar

[3] ZhaoJianjun. Differential type steering of tracked vehicle dynamics analysis and comparison[J]. Engineering Mechanical Press. 2002 (8)：18-22.

Google Scholar

[4] SuYue wen, Zhu Ai bin, Chen Wei. Power match and experiment of tracked travelling system of continuous miner[J]. Journal of China Coal Society, 2009, 34( 3 ): 415~ 419.

Google Scholar

[5] Wang Fu zhong , Song Zhen zhen. Model of Hydrostatic Drive System for Robotic Roadheader[J] Computer Simulation, 2012，29（3）：33~36.

Google Scholar

[6] LuLianjun, SunFengchun, ZhaiLi. Steering Performance Simulation for Electric Drive TrackedVehicle Based on MATLAB SIMULINK[J]. Acta Armamentarii. 2006, 27(1)：69~74.

Google Scholar