Research on Control System of Pitching Pose Error Elimination for Boom-Type Roadheader

Abstract:

The current roadheader automatic cutting technology has been relatively mature, the pose error elimination control technology has become a research hotspot. Pitch pose error of roadheader is too large will cause automatic excavating cut roof or floor, and will make the machine lose its stability. According to the movement way and the work requirements of roadheader, this paper put forward the control method of controlling shovel plate and back support to eliminate the impact of pitching pose error , and the corresponding sensors were selected based on the actual situation. According to the kinematics analysis of shovel plate and back support, the specific control method of the research was completed. The above system has been tested on EBZ200 type roadheader and testing results is good. The study of this system is a part of the pose error elimination control for roadheader, which will lay a foundation for the detection of roadheader pose and directional tunneling.

• Periodical: Applied Mechanics and Materials (Volume 419)
• Pages: 725-730
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.419.725
• Online since: October 2013
• Authors: Yi Bo Du, Xi Gao Liu, Ming Rui Hao, Zhi Min Liu, Miao Wu
• Keywords: Boom-Type Roadheader, Feedback Control, Pitching Pose, Pose Error Elimination

References

[1] Zhu Xinping, Li Rui, Du Yibo and so on. The Measuring Method of Pose Error for roadheader Based on the Total Station[J]. Coal Engineering, 2011, (04): 113-115.

[2] China University of Mining and Technology (Beijing), Shijiazhuang Coal Mine Machinery Co Ltd, Pose parameters measurement system and method for Roadheader, CN101629807 [P] China, Jan (2010).

[3] Ning Zhongliang and Zhang Shiyong, Automatic Forming Control of Boom-type Roadheaders[J]. Colliery Mechanical & Electrical Technology, 2004(1): 10-11, 15.

[4] Tian Jie, Yang Yang, Chen Guoqiang and so on. Automatic section cutting and forming control of longitudinal-axial-roadheaders[J]. Journal of China Coal Society, 2009, 34(1): 111-115.

[5] Zhang Shiyong. Research on Boom-type roadheader auto profiling control[J]. Journal of Shaanxi University of Technology, 2005, 21(3): 18~20, 27.

[6] Wang suyu, Gao feng, Gao juan and so on. Research on Automatic Cross Section Cutting and Forming Control in Coal Mine Underground Based on Oil Cylinder Stroke Sensor and PCC Electrical Control System[J]. Industry and mine automation, 2012(02).

DOI: 10.1115/1.859896.paper66

[7] Du Yibo, Mu Jing, Li Rui and so on. Research on the Pose Error Elimination Control Method for Boom-type Roadheader[J]. Industry and mine automation, 2012(02).

DOI: 10.1109/mace.2011.5988161

[8] Jing Mu, Miao Wu. Study on the shovel and support bracket's compensation for vertical pose's deviation of roadheader[J]. Advanced Materials Research. 2011, Vols. 328-330.

DOI: 10.4028/www.scientific.net/amr.328-330.1832