Engineering machinery oil cylinder displacement data dynamic calculation method for long-time operation

Abstract

The invention provides an engineering machinery oil cylinder displacement data dynamic calculation method for long-time operation, which comprises the following steps of: 1, analyzing the geometric change between the displacement of an engineering machinery oil cylinder and an oil cylinder driving part, and establishing a geometric mathematical model of engineering machinery; 2, taking the cantilever type heading machine as an example, analyzing the geometric mathematical model of the experiment platform of the cantilever type heading machine to obtain a geometric mathematical model of the heading machine, and performing dynamic numerical calculation on the geometric mathematical model of the cantilever type heading machine; 3, analyzing an oil cylinder displacement-oil cylinder driving part change curve; 4, determining size data of the oil cylinder; according to the data variable quantity of the oil cylinder displacement sensor, the actual variable quantity of the oil cylinder is determined through reverse search, and finally the actual size data of the oil cylinder is calculated; and dynamically calculating the size data of the engineering machinery oil cylinder based on real-time feedback. According to the method, the data quality and reliability of the oil cylinder size data in the long-time working operation process of the engineering machinery are improved.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent engineering equipment, and particularly relates to a dynamic calculation method for the displacement data of construction machinery cylinders for long-term operation, aiming to improve the data quality of the displacement data of construction machinery cylinders during long-term operation. Background Art

[0002] During the long-term operation of construction machinery (such as roadheaders, cranes, excavators, etc.), the cylinder, as the core power execution component, the accurate measurement of its displacement data is of great significance for realizing mechanical motion control, structural safety monitoring, and life prediction. Currently, the technologies for obtaining cylinder displacement data mainly rely on two methods: direct sensor measurement method and static geometric model mapping method, both of which have obvious deficiencies in practical applications. The direct sensor measurement method obtains the physical displacement data of the cylinder piston rod in real time by installing displacement sensors and other devices. However, due to the influence of harsh working conditions such as mechanical vibration, oil pollution, and temperature drift at the engineering site, the accuracy of the sensor output often drops significantly during long-term operation; more critically, this method can only reflect the motion state of the cylinder itself and it is difficult to directly establish the dynamic correspondence relationship between the cylinder displacement and mechanical components (such as the rotation angle of the cutting arm of a roadheader and the rotation cylinder of the cutting arm), resulting in the gradual accumulation of positioning errors of the end effector. Relatively speaking, the static geometric model mapping method relies on a mathematical model (such as a geometric trigonometric function model) constructed based on mechanical structure parameters, and indirectly calculates the end position through model mapping. However, this method defaults the mechanical structure as an ideal rigid body during the construction process, ignoring the model parameter offset caused by mechanical wear and component deformation (such as an increase in hinge clearance and settlement of the cylinder installation point) during long-term operation, and at the same time, it is also unable to correct in real time the non-linear fluctuations caused by dynamic load changes (such as sudden changes in the hardness of the cut rock stratum), resulting in a large deviation between the model output and the actual working conditions. Therefore, the existing technologies are difficult to ensure both high-precision cylinder displacement measurement and real-time requirements of dynamic response under complex working conditions, and there is an urgent need for a new monitoring and calculation method to overcome the above technical defects and further improve the motion control accuracy, structural safety, and reliability of equipment life prediction of construction machinery. Summary of the Invention

[0003] Aiming at the uncertainty difference between the measurement data of the oil cylinder displacement sensor and the actual required data during the long-term operation of construction machinery (such as roadheaders), and the adverse impact of this difference on the accuracy of the digital twin model and the virtual-real interaction effect, the present invention proposes a dynamic calculation method for the oil cylinder displacement data of construction machinery for long-term operation. This method first conducts geometric mathematical modeling on the working oil cylinder and the oil cylinder drive components of the construction machinery. By constructing a mathematical model reflecting the geometric relationship between the oil cylinder and the oil cylinder drive components, taking the roadheader as an example, the telescopic change amount of the oil cylinder can be accurately calculated at a specific working angle of the cutting arm. At the same time, by using the real-time data collected by the oil cylinder displacement sensor, in-depth analysis and correction are carried out on the actual relative change of the oil cylinder size of the roadheader, so as to extract accurate size data. Through this data and dynamic calculation method, it is possible to effectively make up for the sensor drift and data errors caused by mechanical vibration, environmental changes, and long-term use in traditional measurement methods. The implementation of the present invention not only improves the quality and reliability of the oil cylinder displacement data of construction machinery during long-term working conditions, but also provides strong technical support for the precise control and condition monitoring of construction machinery, meeting the strict requirements of modern construction machinery for precise measurement and dynamic response under high load and complex working conditions.

[0004] In order to solve the problems such as inaccurate oil cylinder displacement data during the long-term operation of the above-mentioned construction machinery, taking the roadheader as an example, the technical solution adopted by the present invention is:

[0005] First, based on the geometric mathematical model of the roadheader, geometric motion analysis is carried out on the rotary motion of the cutting mechanism in its model through mathematical relationships such as the cosine theorem, and a geometric mathematical model is established between the angle of the cutting arm of the roadheader and the telescopic change amount of the roadheader oil cylinder. Geometric mathematical model:

[0006] Where: A, B, β, E0, E1 are known rigid body geometric parameters, θ is the rotary angle of the cutting head of the roadheader, C0, D0 are the sizes of the rotary cylinders C, D in the initial state of the roadheader, α0 is the rotary angle in the initial state of the roadheader, C θ , D θ are the sizes of the rotary cylinders C, D after the rotary angle θ of the cutting head of the roadheader, and α θ is the rotary angle in the initial state after the rotary angle θ of the cutting head of the roadheader.

[0007] Combined with the above background technology, due to the complex working conditions of the roadheader, during actual operation, the rotation of cylinders C and D of the roadheader will change. The change amount of cylinder C is ΔC, and the change amount of cylinder D is ΔD. Using the geometric model established above between the cutting arm rotation angle and the roadheader rotation cylinders, dynamic simulation of the cutting head rotation movement is carried out. The dynamic simulation process is as follows: Determine the cutting head rotation angle as the object of dynamic simulation. Assume that cylinder C changes, and its change amount is ΔC. After the change of cylinder C, use the geometric model between the cutting arm rotation angle and the roadheader rotation cylinders to dynamically simulate the cutting head rotation angle to obtain simulation data. The simulation data is the cutting head rotation angle θ. Combine the cylinder change amount and the dynamic simulation data for iterative interpolation to obtain the change relationship curve between the cylinder change amount and the cutting head rotation angle. The change relationship curve is as follows: When cylinder C undergoes a fixed change and cylinder D undergoes a corresponding change, when the cutting head rotation angle θ changes, the change amount ΔD of cylinder D shows fluctuations different from the change ΔC of cylinder C, and the change relationship curve is obtained.

[0008] Analyze and process the data collected by the sensor. Among them, L Cθ is the data collected by the rotation cylinder C after the cutting head of the cantilever roadheader rotates by the angle θ, and L Dθ is the data collected by the rotation cylinder D after the cutting head of the cantilever roadheader rotates by the angle θ. Extract the relative values between the data of the rotation cylinders of different cantilever roadheaders. Using these relative values, the relative values of cylinders C and D can be analyzed. This relative value is the change amount of cylinders C and D. Combine the above change relationship curve and the dynamic simulation data to extract the corresponding cutting head rotation angle, and let the angle be γ. Combine the geometric model between the cutting arm rotation angle and the roadheader rotation cylinders with the analyzed and extracted angle γ to obtain the geometric relationship: Furthermore, calculate the values of C θ , D θ , and substitute them into the error geometric relationship between the sensor installation position and the actual measurement data: T C = C θ - L Cθ , T D = D θ - L Dθ , T C is the error between the sensor data of cylinder C and the actual data to be measured, and T D is the error between the sensor data of cylinder D and the actual data to be measured, and obtain the error between the sensor data of the cylinder and the actual data to be measured.

[0009] The specific technical solution is as follows:

[0010] A dynamic calculation method for the displacement data of the cylinders of construction machinery for long-term operation includes the following steps:

[0011] Step 1: Construction of the geometric mathematical model of construction machinery;

[0012] Use analytic geometry methods to analyze and calculate the geometric changes between the telescopic displacement of the construction machinery cylinder and the cylinder drive components, and establish a geometric mathematical model of the telescopic displacement of the cylinder and the cylinder drive components.

[0013] Step 2: Dynamic calculation of the geometric mathematical model of the cylinder telescopic displacement and the cylinder drive components;

[0014] Utilize the geometric mathematical model of the telescopic displacement of the construction machinery cylinder and the cylinder drive components established in Step 1 to perform dynamic calculations on the telescopic displacement of the cylinder and the cylinder drive components.

[0015] Step 3: Analysis of the cylinder telescopic displacement - geometric change curve of the cylinder drive components;

[0016] Step 4: Determination of cylinder size data;

[0017] Based on the change amount of the sensor data installed on the roadheader, through reverse search, the actual change amount is determined, and finally the actual data is deduced and the digital twin geometric model of the roadheader is completed. Based on real-time feedback, the operating parameters of the roadheader are dynamically adjusted to achieve adaptive optimization and meet the operation requirements under complex geological conditions.

[0018] The specific methods for each step are as follows:

[0019] In step (1), the process of constructing the geometric mathematical model of construction machinery is as follows:

[0020] (1-1) Install displacement sensors at the working parts of the cylinder to collect its operation data in real time;

[0021] (1-2) Transmit the collected real-time data to the data storage program through MQTT;

[0022] (1-3) Use analytic geometry; establish a geometric mathematical model of the telescopic displacement of the cylinder - cylinder drive components of construction machinery, and update the key parameters in the model through the data of the cylinder displacement sensor;

[0023] This invention mainly takes the boom roadheader in construction machinery as an example. In the geometric mathematical model of the boom roadheader experimental platform, A, B, β, E0, E1 are known fixed geometric parameters, θ is the cutting head rotation angle of the boom roadheader, C0, D0 are the sizes of the slewing cylinders C, D in the initial state of the boom roadheader, α0 is the slewing angle in the initial state of the boom roadheader, C θ 、D θ are the sizes of the slewing cylinders C, D after the cutting head of the boom roadheader rotates by the angle θ, and α θ is the slewing angle in the initial state after the cutting head of the boom roadheader rotates by the angle θ.

[0024] Given the tunneling design dimensions A, C0, D0, E0, E1, in the initial state, C0 = D0 and

[0025] The geometric relationship of the rotation angle α0 in the initial state is as follows:

[0026]

[0027] When the cutting head is in the rotary working motion process, the rotation angle of the cutting head is θ, and the parameters of the roadheader after the working motion change are C θ , D θ , and the changed angle α θ is:

[0028]

[0029] The relationship of the roadheader cylinder size is obtained by inverse solution through the geometric model:

[0030]

[0031] In step (2), the process of geometric angle and distance change calculation is as follows:

[0032] Step (2-1): Assume that the rotary cylinder C of the roadheader experimental platform changes, and the change amount is ΔC, and the change amount of the cylinder D in the roadheader geometric model is ΔD.

[0033] Step (2-2): Simulate the motion of the cutting head rotation angle θ of the roadheader experimental platform. Assume that the right direction of the cutting head is positive and the left direction is negative, and let it traverse in the range of -20° to 20° with a change of 0.1° each time;

[0034] Step (2-3): Given ΔC as 10, use the roadheader experimental platform to dynamically simulate the cutting head rotation angle, and obtain the change amount of ΔD at different angles;

[0035] (3) Analysis of the change curve of the cutting arm angle - telescopic change amount

[0036] Use the python program to plot the relationship curve between the simulated calculated angle and the geometric change amount (ΔD) of the D rotary cylinder, and use the python program for iterative interpolation extraction to determine the corresponding change amount of ΔD at the cutting head rotation angle θ (-20°, +20°).

[0037] In step (4), the process of adaptive optimization includes the following steps:

[0038] Step (4-1): Analyze the sensor measured data (L C , L D ), LC The data measured by the C cylinder sensor is denoted as C, and the data measured by the D cylinder sensor is denoted as LD. The average data extraction is carried out in time segments to obtain the relative values of the actual measured data of the sensor in time segments.

[0039] Step (4-2): Determine the actual change amount of ΔC from the relative values of the actual measured data of the sensor in time segments, and extract the matched ΔD and the cutting head rotation angle using Step 3.

[0040] Step (4-3): Using the actual change amounts of ΔC and ΔD and the cutting head rotation angle γ analyzed in Step (4-2), through calculate C θ , D θ .

[0041] Step (4-4): Finally, through T C = C θ - L Cθ , T D = D θ - L Dθ , where T C is the error between the data of the C cylinder sensor and the actual data to be measured, T D is the error between the data of the D cylinder sensor and the actual data to be measured, L Cθ is the data collected by the rotary cylinder C after the cutting head of the roadheader rotates by the angle θ, and L Dθ is the data collected by the rotary cylinder D after the cutting head of the roadheader rotates by the angle θ. Calculate the error between the data measured by the sensor and the actual data to obtain the cylinder size data, making it have fidelity.

[0042] The technical solution provided by the present invention has the following technical effects:

[0043] 1. Improve data quality and reliability;

[0044] Through dynamic optimization calculation, the present invention conducts precise geometric mathematical modeling and dynamic optimization on the operation process of the roadheader, and can effectively eliminate problems such as the deviation of the data of the cylinder displacement sensor during the long-term operation of the roadheader and the difficulty in accurately determining the installation position of the sensor, resulting in problems such as the inconsistency between the digital twin virtual and real.

[0045] 2. Support precise control of virtual-real interaction;

[0046] During the virtual-real interaction process of the digital twin of the roadheader, the present invention processes the real-time cylinder displacement sensor data of the roadheader through a dynamic optimization method to obtain its accurate installation position, generates accurate cylinder displacement data, thereby improving the operation efficiency and safety of the equipment, and ensuring its efficient and safe operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic diagram of the experimental platform of a roadheader with a cantilever boom;

[0048] In the figure: 1. Rear support, 2. Laser sensor, 3. Fixed section of the oil cylinder, 4. Telescopic section of the oil cylinder, 5. Slewing platform, 6. Cutting arm, 7. Cutting head;

[0049] Figure 2 It is the geometric mathematical model of the experimental platform of a roadheader with a cantilever boom;

[0050] Figure 3 It is the simulated motion range of the geometric mathematical model of the experimental platform of a roadheader with a cantilever boom;

[0051] Figure 4 It is the variation amount of the D oil cylinder when the angle of the experimental platform of the roadheader with a cantilever boom is simulated and changed;

[0052] Figure 5 It is the flow chart of the dynamic optimization method for a roadheader with a cantilever boom; Specific implementation mode

[0053] In view of the problems that during the complex working conditions of the roadheader, due to factors such as the difficulty in accurately determining the installation position of the data of the oil cylinder displacement sensor, data distortion occurs during the digital twin virtual-real interaction process of the roadheader with a cantilever boom, thus causing problems such as virtual-real inconsistency. The following further elaborates on the present invention according to the attached drawings and by listing embodiments

[0054] This embodiment adopts the schematic diagram of the experimental platform of the roadheader with a cantilever boom as shown in Figure 1 It includes a rear support 1, a laser sensor 2, a fixed section 3 of the oil cylinder, a telescopic section 4 of the oil cylinder, a slewing platform 5, a cutting arm 6, and a cutting head 7.

[0055] A dynamic calculation method for the oil cylinder displacement data of construction machinery for long-term operation includes the following steps:

[0056] Step 1: Construction of the geometric mathematical model of construction machinery;

[0057] Step 2: Dynamic calculation of the geometric mathematical model;

[0058] Step 3: Analysis of the change curves of the oil cylinder displacement and the oil cylinder drive components;

[0059] Step 4: Determination of the oil cylinder size data;

[0060] In step (1), taking the roadheader with a cantilever boom in construction machinery as an example, the process of establishing the geometric mathematical model of the roadheader with a cantilever boom is as follows:

[0061] (1-1) Install a displacement sensor at the working part of the slewing oil cylinder of the roadheader to collect its operation data in real time.

[0062] (1 - 2) Transmit the collected real - time data to the data storage program through MQTT.

[0063] (1 - 3) Establish a digital twin geometric model of the roadheader using analytic geometry (cosine theorem), and update the key parameters in the model through real - time sensor data to ensure the synchronous update of the virtual model and the actual device.

[0064] A, B, β, E0, E1 are known rigid - body geometric parameters, θ is the cutting - head rotation angle of the roadheader, C0, D0 are the dimensions of the rotation cylinders C and D in the initial state of the roadheader, α0 is the rotation angle in the initial state of the roadheader, C θ , D θ are the dimensions of the rotation cylinders C and D after the cutting - head rotation angle θ of the roadheader, and α θ is the rotation angle in the initial state after the cutting - head rotation angle θ of the roadheader.

[0065] Given the tunneling design dimensions A, C0, D0, E0, E1, and in the initial state, C0 = D0 and

[0066] Therefore, as Figure 2 shown, the geometric relationship of the rotation angle α0 in the initial state is as follows:

[0067]

[0068] When the cutting - head is in the rotary working motion process, the cutting - head rotation angle is θ, and the parameters of the roadheader after the working motion change are C θ , D θ , and the changed angle α θ is:

[0069]

[0070] Reverse - solve the relationship about the roadheader cylinder dimensions through the geometric model:

[0071]

[0072] In step (2), the process of geometric angle and distance change calculation is as follows:

[0073] In this step, through the above - mentioned analysis of the geometric model of the roadheader experimental platform, the geometric mathematical model of the roadheader is obtained, and the geometric angle and distance change of the roadheader experimental platform are simulated and calculated.

[0074] Step (2 - 1): Assume that the rotation cylinder C of the roadheader experimental platform changes, and the change amount is ΔC. From the geometric model of the roadheader, it can be known that the change amount of the cylinder D is ΔD.

[0075] Step (2-2): Conduct a simulated movement on the cutting head rotation angle θ of the roadheader experimental platform. Assume that the right direction of the cutting head is positive and the left direction is negative, and let it perform a traversal movement with a change of 0.1° each time between -20° and 20°, as Figure 3 shown.

[0076] Step (2-3): Given ΔC as 10, use the roadheader experimental platform to conduct a dynamic simulation on the cutting head rotation angle, and obtain the change amount of ΔD at different angles. As Figure 4 shown, the change amount of ΔD is the change amount with a change of 0.1° each time between the cutting head rotation angles of -20° and 20°.

[0077] (3) Analysis of the change curve of the cutting arm angle - telescopic change amount

[0078] In the above steps, use the python program to plot the relationship curve between the simulated calculated angle and the geometric change amount (ΔD) of the D rotary oil cylinder, and use the python program for iterative interpolation extraction to determine the corresponding change amount of ΔD at the cutting head rotation angle θ (-20°, +20°).

[0079] In step (4), the process of the adaptive adjustment mechanism includes the following steps:

[0080] Step (4-1): Analyze the measured data of the sensor (L C , L D ), conduct extraction of the average data in sub-periods, and obtain the relative values of the measured data of the sensor in sub-periods.

[0081] Step (4-2): Determine the change amount of the actual ΔC from the obtained relative values of the measured data of the sensor in sub-periods, and use step 3 to extract the matched ΔD and the cutting head rotation angle.

[0082] Step (4-3): Use the change amounts of the actual ΔC, ΔD and the cutting head rotation angle γ analyzed in step (4-2), and calculate C through θ , D θ .

[0083] Step (4-4): Finally, through T C = C θ - L Cθ , T D = D θ - L Dθ , T C is the error between the C oil cylinder sensor data and the actual data to be measured, T D is the error between the D oil cylinder sensor data and the actual data to be measured, L CθData obtained by the slewing cylinder C after the cutting head of the roadheader slews by an angle θ, L Dθ Data obtained by the slewing cylinder D after the cutting head of the roadheader slews by an angle θ, calculate the error between the data measured by the sensor and the actual data, and obtain the data to further complete the data twin geometric model parameters of the roadheader platform to make it have fidelity.

Claims

1. A dynamic calculation method for the displacement data of construction machinery cylinders for long-term operation, characterized in that The following steps are involved: Step 1: Construction of geometric mathematical model of engineering machinery; The analytic geometry method is used to analyze and calculate the geometric changes between the expansion and contraction variation of the engineering machinery cylinder and the cylinder drive components, and the geometric mathematical model of the expansion and contraction variation of the cylinder and the cylinder drive components is established; Step 2: Dynamic calculation of the cylinder extension and contraction variation and the geometric mathematical model of the cylinder drive components; Using the geometric mathematical model of the engineering machinery oil cylinder expansion and contraction variation and the oil cylinder driving component established in step 1, dynamically calculate the oil cylinder expansion and contraction variation and the oil cylinder driving component; Step 3: Analysis of the cylinder extension and contraction variation - cylinder drive component geometry variation curve; The relationship curve between the dynamically calculated oil cylinder driving component and the expansion and contraction variation of the oil cylinder is drawn by using the python program, and the expansion and contraction variation of the oil cylinder corresponding to the oil cylinder driving component is determined by iterative interpolation extraction using the python program; Step 4: Determine the cylinder size data; According to the data change of the displacement sensor of the construction machinery oil cylinder, the actual expansion and contraction change of the oil cylinder is determined by reverse search, and finally the actual size data of the oil cylinder is calculated; Based on real-time feedback, the operating parameters of construction machinery are dynamically adjusted to achieve adaptive optimization and meet the operational needs in complex geological environments.

2. The dynamic calculation method for the displacement data of the construction machinery cylinder for long-term operation according to claim 1, wherein In step (1), the process of constructing the geometric mathematical model of the cylinder telescopic variation and the cylinder drive component is as follows: (1-1) Install a displacement sensor at the working position of the cylinder to collect its operating data in real time; (1-2) Transmit the collected real-time data to the data storage program via MQTT; (1-3) Using analytical geometry; establishing the cylinder expansion and contraction variation and the cylinder drive component geometric model, and updating the cylinder expansion and contraction variation through real-time displacement sensor data; The technical solution is described by using a roadheader. In the geometric mathematical model of the roadheader experimental platform, A is the distance from the end of the oil cylinder to the rotation center of the slewing platform, B is the distance from the fixed end of the oil cylinder to the rotation center of the slewing platform, E0 is the distance from the fixed end of the oil cylinder to the midpoint of the rear support, E1 is the distance from the midpoint of the rear support to the rotation center of the slewing platform, β is the fixed included angle with E1, which is a fixed design parameter, θ is the cutting head rotation angle of the roadheader, C0 and D0 are the sizes of the slewing cylinders C and D in the initial state of the roadheader, α0 is the slewing angle in the initial state of the roadheader, C θ , D θ are the sizes of the slewing cylinders C and D after the cutting head rotation angle θ of the roadheader, and α θ is the slewing angle in the initial state after the cutting head rotation angle θ of the roadheader; Given the tunneling design dimensions A, C0, D0, E0, E1, where C0 = D0 in the initial state and The geometric relationship of the rotation angle α0 in the initial state is as follows: When the cutting head is in the rotary working motion process, the rotary angle of the cutting head is θ, and the parameters of the roadheader after the working motion changes are C θ , D θ , and the changed angle α θ is as follows: The relationship between the cylinder size of the tunnel boring machine is solved by inversely solving the geometric model:

3. The dynamic calculation method for the displacement data of the construction machinery cylinder facing long-term operation according to claim 1, characterized in that, In step (2), the process of calculating the geometric angle and distance change is as follows: Step (2-1): Assume that the rotary cylinder C of the tunnel boring machine experimental platform changes, and the change amount is ΔC, and the change amount of the cylinder D in the tunnel boring machine geometric model is ΔD; Step (2-2): simulate the movement of the cutting head rotation angle θ of the tunnel boring machine experimental platform, assuming that the cutting head is positive when it moves to the right and negative when it moves to the left, and let it traverse between -20° and 20° with a change of 0.1° each time; Step (2-3): Given ΔC as 10, dynamically calculate the cutting arm angle and the extension and contraction variation of the cylinder of the cantilever roadheader to obtain the change in the extension and contraction variation ΔD of the cylinder D at different cutting arm angles.

4. The dynamic calculation method for the displacement data of the construction machinery oil cylinder for long-term operation according to claim 2, characterized in that In step (4), the adaptive optimization process includes the following steps: Step (4-1): Analyze the actually measured data L of the sensor C and L D , L C is the data measured by the C cylinder sensor, and L D is the data measured by the D cylinder sensor. Extract the average data in different time periods to obtain the relative values of the actually measured data of the sensor in different time periods; Step (4-2): Determine the actual change of ΔC by dividing the relative values ​​of the obtained sensor measured data into time periods, and use step 3 to extract the matched ΔD and the cutting head rotation angle; Step (4-3): Using the actual changes in ΔC and ΔD and the cutting head rotation angle γ analyzed in step (4-2), calculate C and D θ ; θ ; Step (4-4): Finally, through T C = C θ - L Cθ 、T D = D θ - L Dθ ,T C is the error between the data of the C cylinder sensor and the actual data to be measured, T D is the error between the data of the D cylinder sensor and the actual data to be measured, L Cθ is the data collected by the rotary cylinder C after the cutting head of the roadheader rotates by the angle θ, L Dθ is the data collected by the rotary cylinder D after the cutting head of the roadheader rotates by the angle θ, calculate the error between the data measured by the sensor and the actual data, and obtain the actual size of the roadheader cylinder to make it have fidelity.

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