Multiparameter Control Strategy and Method for Cutting Arm of Roadheader

Wang, Pengjiang; Yang, Sixu; Ji, Xiaodong; Zong, Kai; Zheng, Weixiong; Wang, Dongjie; Wu, Miao

doi:10.1155/2021/9918988

Shock and Vibration

2021

DOI: 10.1155/2021/9918988

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Multiparameter Control Strategy and Method for Cutting Arm of Roadheader

Pengjiang Wang

Sixu Yang

Xiaodong Ji

et al.

Abstract: A multiparameter control strategy and method for the cutting arm of a roadheader is proposed through the operation analysis of roadheader. The method can address the problems of low intelligence and low cutting efficiency faced by the roadheader in the cutting process. The control strategy is divided into two parts: the cutting load identification part and the swing speed control part. The former part is designed using a backpropagation neural network that is optimized by an improved particle swarm optimizatio… Show more

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Cited by 3 publications

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“…Ma et al 19 analysed the research status of intelligent excavation at home and abroad and proposed a shape cutting control method based on vision technology and an adaptive cutting control method based on genetic algorithm optimization for intelligent cutting. Wang et al 20 took the current of the cutting motor, the vibration acceleration of the cutting arm and the pressure of the hydraulic cylinder as the judgement basis for load identification, used the improved BP neural network algorithm of particle swarm optimization to determine the cutting load, and completed the swing speed control of the cutting arm through the improved simulated annealing particle swarm optimization (ISAPSO) fuzzy PID controller. Thus, the adaptive control of the roadheader can be realized.…”

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confidence: 99%

Research on the "shape-performance-control" integrated digital twin system for boom-type roadheaders

Zhang,

Wan,

Wang

et al. 2024

Sci Rep

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The boom-type roadheader plays a crucial role in coal mining. However, conducting the real-time monitoring of the mechanical performance and comprehensive adaptive cutting in the dynamic cutting process are challenging. To address these issues, a digital twin system that integrates the elements of “shape, performance, and control” for roadheaders is presented in this paper. The system comprises three components: physical space, service space, and twin space. The service space forms the core of the entire system. Within this space, twin models and control models are created using numerical simulation, artificial intelligence and multi-source data fusion technology. These models serve the purpose of predicting the roadheader’s mechanical performance and controlling the swing speed of the cutting arm. The physical space is built using technologies such as robot kinematics, electrical systems, hydraulic transmission, and other relevant techniques. This approach facilitates the transmission of multi-sensor data to twin models. The control model then manages the roadheader’s function based on the output signals from the control model. The twin space is constructed utilizing physical rendering engines, databases, and 3D modelling tools. This space visualizes and stores the movement, performance, and control parameters of the roadheader. The results demonstrate that the average absolute error between the measured data from the test’s three position strain gauges and the predicted data from the twin system is 10.38 MPa. Furthermore, the twin system achieves an average update interval of 0.34 s, allowing real-time stress monitoring of the structural components of the roadheader and preventing damage caused by overload. The proposed control model enables adaptive adjustment of the swing speed of the cutting arm in approximately 0.3 s. This improvement significantly enhances the adaptive cutting capabilities of roadheaders when dealing with complex coal and rock formations.

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confidence: 99%

Research on the "shape-performance-control" integrated digital twin system for boom-type roadheaders

Zhang,

Wan,

Wang

et al. 2024

Sci Rep

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Leveling and Minimizing the Load of the Universal Earthmoving Machinery Actuators by Improving the Kinematics of Their Movement When Digging the Soil

et al. 2022

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This article considers external loads experienced on the rotor actuator of the universal continuous earthmoving machinery when digging wide excavations (ditches) in the soil and the ways to improve its productivity. Under the condition of translational and rotational supply of the soil-developing actuator to the face, the possibility of minimizing and leveling external loads on the actuator by improving the kinematics of its cyclic movement in the face has been experimentally proved. The actuator should move according to the required trajectory, which corresponds to the curve of the lemniscate of Bernoulli. The load of the UEM soil-developing actuator, operating in the mode of digging the soil, and the effectiveness of the suggested method for leveling the external loads have been experimentally assessed on the current physical model of the operating equipment. Leveling and reducing the absolute values of loads on the UEM operating equipment is achieved by improving the actuator trajectory optimization when digging the soil. It implies the additional rotation of the actuator intermediate frame at the end of each half cycle of the operating process. The required duration of the additional rotation of the intermediate frame is functionally dependent on the actual speed of machinery movement. The additional rotation of the intermediate frame, the duration of which is 1.1 s in the mode of maximum productivity, reduces the maximum load of the operating equipment, namely: torque on the rotor axis Мt-by 19% (up to 60 kN m), the components of the main force vector: vertical force-by 9% (up to 40 kN), and lateral force Рl.m-by 32% (up to 58 kN). The obtained results enable to comprehensively assess the maximum load of the UEM operating equipment under the conditions of changing values of the factors on which it depends and to objectively assess the directional stability of the machinery. Aligning the thickness of the shavings cut by the buckets of the rotor actuator in a half-cycle enables to improve the productivity of the universal earthmoving machinery almost twice.

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The Use of a Roadheader Simulator in Research of Dynamics and Energy-Consumption of Excavating Underground Roadways and Tunnels

2022

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Boom-type roadheaders are commonly used for excavation of roadways in underground mines, tunnels, and other architectural structures using trenchless techniques, as well as sinking shafts and occasionally excavating the harder soil and softer formations in cut and cover construction. The main research and development of these machines is to offer solutions for automatic control. This refers to automation or robotization of the operation, and raises the possibility of their eventual unmanned operation. This article presents a roadheader research simulator which implements experimentally verified mathematical models describing the dynamics of a roadheader in operation and the rock cutting process. Due to very high computational requirements, a distributed system comprising several workstations connected via TCP/IP was used. Both the visualization of the roadheader in the heading face of the excavation and the graphic simulation of the course of the rock-cutting process were carried out using the Autodesk Inventor Professional 2022 graphics engine. It provided the simulator with a virtual scene environment and enabled the control of the roadheader model’s movement during the simulated cutting process, including the generation of breakout graphics in the heading face while drilling a roadway or tunnel. The presented roadheader simulator enables the determination of various time characteristics, for example, dynamic loads, power demand, efficiency, energy consumption, and others. It is still under development.

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Multiparameter Control Strategy and Method for Cutting Arm of Roadheader

Cited by 3 publications

References 34 publications

Research on the "shape-performance-control" integrated digital twin system for boom-type roadheaders

Research on the "shape-performance-control" integrated digital twin system for boom-type roadheaders

Leveling and Minimizing the Load of the Universal Earthmoving Machinery Actuators by Improving the Kinematics of Their Movement When Digging the Soil

The Use of a Roadheader Simulator in Research of Dynamics and Energy-Consumption of Excavating Underground Roadways and Tunnels

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