煤矿两臂锚杆机器人钻臂控制系统开发  

Development of Boom Control System of Two-arm Bolt Robot in Coal Mine

作　　者：孙歌 Sun Ge(Shanxi Coal Transportation and Marketing Group Puxian Haojinyuan Coal Industry Co.,Ltd.,Linfen,Shanxi 041206)

机构地区：[1]山西煤炭运销集团蒲县昊锦塬煤业有限公司,山西临汾041206

出　　处：《江西煤炭科技》2025年第1期199-202,共4页Jiangxi Coal Science & Technology

摘　　要：针对煤矿用两臂锚杆机器人锚杆钻臂控制系统存在控制精度低、实时性不高等问题,提出基于PWM控制、变频控制以及CAN总线通讯技术融合的锚杆钻臂控制系统设计方案,以CX5020-1122为核心控制器,采用模糊PID控制方法对电动机运行速度进行精确控制,采用PWM控制方法对电磁阀开度进行实时控制;采用CAN总线通讯技术与锚杆钻臂的操作面板、HMI人机界面以及变频器完成控制指令与状态数据交互。通过试验和实际应用分析表明,设计的锚杆钻臂控制系统成孔施工孔距误差≤90 mm,孔径误差≤5 mm,孔深误差≤50 mm;最高支护数为182根/班且一次完成,减少锚杆支护工3人/班,安全性好;满足煤矿井下锚杆支护工程应用要求。In response to the problems of low control accuracy and low real-time performance in the control system of the two-arm bolt robot in coal mines,the paper proposes a design scheme for the anchor boom control system based on the integration of PWM control,variable frequency control,and CAN bus communication technology,using CX5020-1122 as the core controller,adopting fuzzy PID control method to accurately control the operating speed of the motor,using PWM control method to real-time control the opening of the solenoid valve,and using CAN bus communication technology to exchange control commands and status data with the operation panel,HMI human-machine interface,and frequency converter of the anchor rod drilling arm,whose experimental and practical application shows that the designed anchor boom control system has a hole spacing error of≤90 mm,a hole diameter error of≤5 mm,and a hole depth error of≤50 mm during drilling construction,the maximum number of supports is 182 per shift and can be completed in one go,reducing the number of bolt support workers by 3 per shift,ensuring good safety and meeting the application requirements of underground anchor rod support engineering in coal mines.

关 键 词：锚杆机器人 锚杆钻臂 PWM控制 模糊变频控制 CAN总线通讯 

分 类 号：TD421.29[矿业工程—矿山机电] TD679