基于地下铲运机自主铲装过程的控制算法设计与实验分析  

Control Algorithm Design and Test Analysis of the Autonomous Loading Process of Underground LHDs

作　　者：王振启[1] 杨支海 赵晓燕 严博 王伯健 WANG Zhen-qi;YANG Zhi-hai;ZHAO Xiao-yan;YAN Bo;WANG Bo-jian

机构地区：[1]紫金矿业集团股份有限公司,福建上杭364200 [2]云南驰宏锌锗股份有限公司会泽冶炼分公司,云南会泽654211 [3]北矿机电科技有限责任公司,北京100160

出　　处：《有色设备》2022年第4期26-31,共6页Nonferrous Metallurgical Equipment

基　　金：十三五国家重点研发计划项目“地下金属矿规模化无人采矿关键技术研发与示范”(2018YFC0604402)。

摘　　要：本文以某地下铲运机铲装机构为研究对象,介绍了铲运机及铲装工作机构组成及工作原理,针对不同铲装方法详细分析了自主铲装过程,建立出铲装轨迹并对其轨迹进行跟踪控制,以实现铲运机自主铲装作业。结合专家知识经验,设计了自主铲装控制算法,并对控制算法进行了实验验证,结果表明:自主铲装过程精度高,满斗率达标,验证了该控制算法的准确性和可靠性。Taking the loading mechanism of a certain underground load-haul-dump(LHD)as the object of study,the article first describes the composition and working principles of the LHD and its loading mechanism,and then probes into the autonomous process based on different loading methods to achieve autonomous loading.A curve describing the movement of the bucket was mapped out and tracked.Then a control algorithm was developed based on expert knowledge,and was tested.According to the test results,the autonomous loading was of high precision and reached the standard for the full-bucket rate.The accuracy and reliability of the algorithm was thus verified.

关 键 词：地下铲运机 自主铲装 控制算法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]