悬臂式掘进机自动调速控制技术的研究  

Research on Automatic Speed Control Technology of Cantilever Tunneling Machine

作　　者：刘晓军 LIU Xiaojun(Shanxi Lu’an Group Puxian Kaituo Coal Industry Co.,Ltd.,Linfen,Shanxi 041000,China)

机构地区：[1]山西潞安集团蒲县开拓煤业有限公司,山西临汾041000

出　　处：《自动化应用》2023年第17期53-56,共4页Automation Application

摘　　要：针对通用悬臂式掘进机截割控制存在无法实现截割轨迹规划与自动调速控制的问题,本文研究了悬臂式掘进机自动调速控制技术,借助PCC与工控机实现悬臂式掘进机的自动调速控制,利用ABAQUS软件对截割头与煤层三维模型进行有限元分析,以获取相关工况信息的关系,采用改进S形切割线路规划截割轨迹,构建截割臂摆动全局最优速度模型,最终采用模糊PID控制算法实现控制量计算,获取截割臂的最优控制,并通过反馈至工控机,由工控机下达可获取截割臂最佳摆动速度的控制指令。In response to the problem that the cutting contr ol of a universal cantilever tunneling machine cannot achieve cutting trajectory planning and automatic speed control,a cantilever tunneling machine automatic speed control technology is researched.The cantilever tunneling machine utilizes PCC and industrial control machines to achieve automatic speed control.ABAQUS software is used to conduct finite element analysis of the cutting head and the three-dimensional model of the coal seam,obtain the relationship between relevant working conditions,and use an improved S-shaped cutting line for cutting trajectory planning.A global optimal speed model for the swing of the cutting arm is constructed.Finally,the fuzzy PID control algorithm is used to calculate the control quantity and obtain the optimal control of the cutting arm,And through feedback to the industrial control computer,the control command that can obtain the optimal swing speed of the cutting arm can be issued by the industrial control computer.

关 键 词：悬臂式掘进机 自动调速控制 截割头 截割臂 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]