井下掘进机行进纠偏调度规划与控制研究  

Study on path planning and tracking of the underground mining road-header

作　　者：瞿圆媛[1] 宋林珂 吉晓冬[1] 吴淼[1] Qu Yuanyuan;Song Linke;Ji Xiaodong;Wu Miao(School of Mechanical Electronic&Information Engineering,China University of Mining&Technology-Beijing,Beijing 100083,China)

机构地区：[1]中国矿业大学(北京)机电与信息工程学院,北京100083

出　　处：《矿业科学学报》2020年第2期194-202,共9页Journal of Mining Science and Technology

基　　金：国家自然科学基金青年科学基金(61803374);国家自然科学基金面上项目(51874308,61673385)。

摘　　要：根据井下掘进机行进特点制定机身纠偏路径规划,建立掘进机履带式行走位姿偏差模型;以履带移动线速度和转向角速度作为路径跟踪控制输入量,基于滑模控制器理论设计控制律以确保位姿偏差的收敛性;利用李雅普诺夫稳定原则证明了路径跟踪控制的稳定性;以某结构尺寸的掘进机为对象,对多种典型偏航情况进行了机身的纠偏调度仿真。结果表明,基于位姿偏差的路径跟踪控制能在有限的调度周期内实现机身纠偏,掘进机的纠偏路径规划和路径跟踪调度方案整体合理可行,可为深入研究煤巷自动掘进提供良好基础。According to the working characteristics of the underground road-header,path planning and movements scheduling for path correction of the road-header is formulated.The position and orientation errors of the road-header during working are also presented based on its kinematic model.Taking the working speed and turning angular speed as control inputs,the control law is designed and simplified to ensure the convergence of position and orientation errors based on the theory of sliding mode control.The stability of the proposed control system is proved by using the principle of Lyapunov.The corresponding simulations show that the designed tracking control enables the road-header to come back to the aimed path within limited adjusting steps,The whole scheduling scheme introduced for path correction is reasonable and feasible,and can provide a positive foundation for further study of automatic mining in the coal industry.

关 键 词：掘进机 行进纠偏 调度规划 路径跟踪 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]