A self-adaptive control system and method for cutting arm swing speed of cantilever roadheader

Abstract

The invention discloses a self-adaptive control system and method for the swing speed of a cutting arm of a cantilever type heading machine and belongs to the field of autonomous guiding control of coal fully-mechanized excavating equipment. The self-adaptive control system comprises a sensing and detecting system, a heading-machine-mounted main control system and a system execution mechanism. In the coal wall cutting process of the heading machine, the load of a cutting head is also changed when the hardness of coal rock is changed, so that main work parameters of a cutting part system are also changed correspondingly; the sensing and detecting system detects the work parameters in real time and sends a signal to the heading-machine-mounted main control system; and the heading-machine-mounted main control system processes the received signal and controls the execution mechanism to make action, so that the self-adaptive control effect that the swing speed of the cutting arm is matched with the hardness of the cut coal rock in real time, and accordingly the full-automatic cutting process of the heading machine is achieved during coal mine roadway heading.

Description

technical field [0001] The invention relates to a swing speed self-adaptive control system and method for a cutting arm of a cantilever roadheader, belonging to the field of autonomous control of fully mechanized excavation equipment in coal mines. Background technique [0002] The cantilever roadheader is the core equipment for coal mine roadway excavation. In the process of traditional underground roadway excavation, most of the excavation machines are manually operated and controlled by the machine, and the excavation machine operators only use manual observation and operating experience to adjust the swing speed of the cutting arm. The operation stability is low, the adjustment error is large, and the work efficiency Low, and there are potential safety hazards, which greatly increase the work intensity and work danger of mine workers. The remote intelligent control of the robotized roadheader can realize the less or unmanned fully mechanized excavation face, making the ...

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Problems solved by technology

[0006] (1) The criterion for implementing the swing speed control of the cutting arm is too simple, which can only roughly determine the load of the cutting arm, and does not have the function of human-computer interaction

[0007] (2) It cannot directly indicate or reflect the swing speed of the cutting arm, and the control process is relatively simple, and the control accuracy of the swing speed of the cutting arm cannot be guaranteed, and the control effect cannot be optimal

[0008] (3) Only considering the situation that the load of the cutting arm is too large leads to stuffy car or the damage of structural parts and electrical parts, and does not consider the situation of low cutting efficiency caused by too small load of the cutting arm and redundant driving of the roadheader. The degree of intelligence cannot be achieved. achieve the best

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