Research on intelligent cutting control technology of transverse moving machine for large cross-section roadheader

Abstract

With the continuous development of the coal mine industry in our country, the cross-section of the roadway is getting larger and larger. The widely used EBZ series roadheader cannot complete the roadway cutting operation with a large cross-section at one time, so it usually needs to move the equipment left and right to complete all its cutting tasks. This paper studies the intelligent control technology of large cross-section roadway cutting, which mainly solves the positioning and attitude determination technology of roadheader in the large cross-section, and offers an accurate shape-cutting control technology and a path planning technology using a lateral moving machine. This paper proposes to combine the signals of laser sensor and fiber-optic inertial navigation system to form a combined positioning and attitude determination system, so as to make use of the advantages and avoid the disadvantages of their respective systems, and improve the accuracy of roadheader positioning and attitude determination. A swing kinematics model of the cutting arm is established, based on which the precise motion control of the first roadway section cutting and the second roadway section cutting can be realized. A key parameter calculation model of roadheader lateral moving machine is put forward to calculate the operation parameters for roadheader lateral moving machine path planning. Finally, the experimental research on intelligent cutting control technology of large cross-section roadheader is carried out in 12307 intelligent heading face of Wangjialing Coal Mine. The results show that the positioning error of the combined positioning and attitude determination system proposed in this paper is between 50-90 mm in the X-axis direction and between 25-45 mm in the Y-axis direction. The average attitude measurement error of heading angle is between 0.5 and 1.5°. This makes the technology appropriate for engineering use. The studied cutting control system achieves a cutting error of 25-50 mm for the first section, and a cutting error of 40-90 mm for the complete section. The complete section cutting error meets the ±100 mm cutting error requirement required in engineering. The intelligent cutting control technology of the lateral moving machine of the large-section tunnel boring machine studied in this paper can realize accurate cutting of the large-section tunnel of 5.6 meters. The research results of this paper provide a reference for the intelligent construction of heading faces.