The Roadheader Auto-Rectification Dynamic Analysis and Control Based on the Roadway Floor Mechanic Characteristics

Abstract

The auto-rectification of the roadheader is one of the most key steps in the roadway auto-cutting progress, and the performance of the roadheader rectification on the mechanized excavation faces the key performance parameter. The determination of the roadway floor mechanical parameter is the big challenge and difficulty to the automation excavation of the roadheader. Combined the component of the roadway floor mechanical property and experiment parameters for the mechanical parameters regression equation, the floor mechanical parameter formula can be got, which is accurate and could be utilized in calculating the resistance. Analyzing the finite element part on the compaction resistance and steering resistance of the roadheader track, the accurate and reliable dynamic model of the roadheader rectification can be built. Combined with the roadheader’s structure and motion characteristic, the neural net PID(Proportion Integration Differentiation)control method is proposed which can real-time adjust the control parameters. Then the dynamic model and control method are simulated by MATLAB and the control method is tested by the roadheader control experiment system. Based on the experiment result, the designed control system can well meet the control requirements, fast response, small overshoot and better stability, which could ensure the good dynamic performance of the roadheader and the cutting quality of the roadway. It could be the theoretical basis and important technical support for the intelligent mining of coal mine.