煤矿掘进机巷道断面自动截割成形控制方法研究  

Research on Automatic Cutting and Forming Control Method for Tunnel Cross-Section of Coal Mine Tunneling Machine

作　　者：玉米提·尼加提 向晓丹 张官禹 YUMITI Nijiati;XIANG Xiaodan;ZHANG Guanyu(Ili New Mining Coal Industry Co.,Ltd.,Ili,Xinjiang 835000,China)

机构地区：[1]伊犁新矿煤业有限责任公司,新疆伊犁835000

出　　处：《自动化应用》2024年第16期4-7,共4页Automation Application

摘　　要：常规的巷道断面自动截割成形控制点位标定均为单点设置,控制的覆盖范围受限,导致最终得出的成形控制垂直偏差增大。针对这一现状,开展煤巷断面自动切割成型控制方法的研究和设计。基于目前的控制要求,探究截面自动切割成型的运动,采用多点位的方式打破控制覆盖范围受到的限制,完成空间位置坐标多点位设定。在此基础上,进行截割臂摆动角控制,设计多感知截割成形控制模型,采用自动平衡调速的方式来实现控制处理。结果表明,在3 200 mm、3 500 mm、3 800 mm、4 200 mm这4个截割断面尺寸下,结合截割点的变动,根据实际的成形控制需求,最终得出的成形控制垂直偏差被较好地控制在40 mm以下,说明此次设计的巷道断面自动截割成形控制方法更佳,针对性与稳定性明显提升,实际应用效果好,具有较高的实践价值。The calibration of control points for automatic cutting and forming of conventional tunnel cross-sections is set at a single point,which limits the coverage range of control and leads to an increase in the vertical deviation of the final forming control.In response to this situation,this project conducts research and design on the control method of automatic cutting and shaping of coal roadway cross-sections.Based on the current control requirements,research has been conducted on the motion of automatic cutting and forming of cross-sections.A multi-point approach has been adopted to break through the limitations of control coverage,and the spatial position coordinates have been set at multiple points.On this basis,the swing angle control of the cutting arm has been carried out,and a multi perception cutting and forming control model has been designed.The control processing is achieved through automatic balance speed regulation.The results show that under four cutting section sizes of 3200 mm,3500 mm,3800 mm,and 4200 mm,combined with changes in cutting points and based on actual forming control requirements,the final vertical deviation of forming control is well controlled below 40 mm.This indicates that the automatic cutting and forming control method for tunnel sections designed in this design is better,with significantly improved pertinence and stability,good practical application effect,and high practical value.

关 键 词：煤矿掘进 巷道断面 自动截割 成形控制 巷道标定 

分 类 号：TD421.5[矿业工程—矿山机电]