Study on the pitch angle control of a robotized hydraulic drive roadheader using different control methods

Zhang, Minjun; Lyu, Fuyan; Fu, Shichen; Cai, Xiuhang; Zong, Kai; Wu, Miao

doi:10.1007/s12206-018-0937-7

Cited by 12 publications

(6 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The response regularities of multibody large-scale displacement of roadheader under effect of multi-factors, is one of the primary key basic problems in the fully mechanized excavation face, which can provide useful theoretical basis for deviation rectification control of the multibody structures of roadheader. However, in most cases, measurement and control of the pose parameters of roadheader are the focus of concern, 23–25 while the response characteristics and mechanism under complex excitations are seldom researched and reported, which causes serious faultage situation in theoretical study of roadheader. Therefore, the response characteristics of multibody large-scale displacement of roadheader need to be studied and solved urgently, and solution of this problem contributes to improvement of roadheader’s overall stability and realization of speedy drivage of the roadway, and furtherly promotes the development of mining machinery dynamics.…”

Section: Introductionmentioning

confidence: 99%

Modelling and response analysis of multibody large-scale displacement of boom-type roadheader

Zong

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part K:

Self Cite

View full text Add to dashboard Cite

Boom-type roadheader is the most widely used equipment in the fully mechanized excavation face of coal mine. Under complicated operation conditions of underground coal mine, multibody large-scale displacement phenomenon of roadheader will occur during cutting process. Specifically, the position and attitude of the body are changing continuously, and radial runout phenomenon of the cutting arm will take place, which will seriously reduce the overall stability of roadheader and drivage efficiency of the roadway. Focused on the vertical cutting condition, the coupling dynamical model of position and attitude of the body is established based on Lagrange equation. Combined with the calculated cutting load, the dynamical model is solved through Simulink simulation method, and the solving results are analysed under different influence factors. Consequently, the response regularities of position and attitude of the body under influence of different factors are obtained. In the similar way, the dynamical model of radial runout quantity of the cutting arm is established, and the dynamic response of radial runout of the cutting arm during vertical cutting process is obtained as well. Finally, the simulation analysis results are validated through field experiments. The research work of this paper provides useful theoretical basis for deviation rectification control of the multibody structures of roadheader, fills the vacancy of theoretical study in this aspect, and contributes to improving the dynamics theory of mining machinery.

show abstract

Section: Introductionmentioning

confidence: 99%

Modelling and response analysis of multibody large-scale displacement of boom-type roadheader

Zong

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part K:

Self Cite

View full text Add to dashboard Cite

show abstract

“…Formula (19) showed that when the cutting radius r i remained unchanged, the cutting error a increased with an increase in the cutting step L. The cutting step L should be greater than r i but not greater than 2r i . In addition, the cutting radius r i could be taken as a known quantity, so that when the maximum cutting error a was specified, the range of cutting step L could be determined.…”

Section: Cutting Path Controlmentioning

confidence: 99%

“…Xu et al established the spatial pose model of a cantilever roadheader by using the D-H parameter method, deduced the spatial pose matrix of roadheader and cutting head, determined the coordinates of the inflection point of the cutting path, and finally simulated it with MATLAB [18]. Zhang et al realized the adjustment of the pitching angle of the roadheader during tunneling by combining the particle swarm optimization algorithm and PID [19]. Yang et al used a genetic algorithm and a mutation particle swarm optimization algorithm to optimize the path target point set, effectively improving the roadheader's attitude planning capability [20].…”

Section: Introductionmentioning

confidence: 99%

Research on Path Planning and Control Method for Secondary Autonomous Cutting of Cantilever Roadheader in a Large-Section Coal Roadway

Fang

et al. 2022

Sustainability

View full text Add to dashboard Cite

A cantilever roadheader is the main tunneling equipment for underground coal mine roadways. The key to the safe, efficient and intelligent development of coal enterprises is to achieve the autonomous cutting and intelligent control of the cantilever roadheader. In order to realize the automatic cutting shaping control of a large-section coal roadway, the path planning and control method of secondary automatic cutting of a cantilever roadheader were studied. The Wangjialing 12307 belt roadway was used as the engineering background, the vertical displacement law of the roadway roof under different cutting paths was simulated with the FLAC 3D software, the reasonable cutting path was determined according to the actual situation, and the underground industrial test was carried out. The simplified model and spatial position and attitude coordinate system of the roadheader were established, the kinematics of the roadheader was analyzed, and the position and attitude expression of the cutting head center in the roadway coordinate system was obtained. The simplified model of the cutting head was established, the position expression of the pick in the roadway coordinate system was derived, the position coordinate of the inflection point and the cutting step distance were determined according to the relationship between the cutting head and the roadway boundary, and the cutting path control flow was designed. Finally, the reliability of the cutting path control method was verified with a MATLAB simulation. The research works provide a theoretical foundation for path planning and control to realize “secondary autonomous cutting of cantilever roadheader”.

show abstract

“…The Dynamic Error Elimination Controller was designed to reduce the response time and overshoot of the control system, increase the robustness and improve the pitch angle control performance of the roadheader, and was used to control the pitch angle of crawler coal mining robots under complex working conditions (M. Zhang, Cai, et al, 2018). In addition, the deviation correction motion control algorithm of the excavation robot was proposed to realize the real‐time control of deviation position‐attitude correction (M. Zhang, Lyu, et al, 2018; M. Zhang et al, 2021). To realize the straightening of the scraper conveyor by using the push of the hydraulic support robot, a straightening method based on the motion law the floating linkage was proposed to realize precise push of the hydraulic support to the scraper conveyor and realize straightening of the scraper conveyor (Li, Xie, Ren, et al, 2021).…”

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

Expected position and attitude adjustment control method of coal mine roadway support robot

Chen

et al. 2023

Journal of Field Robotics

View full text Add to dashboard Cite

This paper proposes an expected position-attitude adjustment control method of coal mine roadway support robot (CMRSR) based on a real-time position-attitude detection system. Taking advantage of lateral adjustment mechanism and control method, the CMRSR has flexible maneuverability and high dynamic expected position-attitude adjustment performance. It can guarantee stability and safety of the relative position-attitude in time-varying roadway environment in underground coal mines. First, the structural characteristics, hydraulic system characteristics, and

show abstract

Study on the pitch angle control of a robotized hydraulic drive roadheader using different control methods

Cited by 12 publications

References 15 publications

Modelling and response analysis of multibody large-scale displacement of boom-type roadheader

Modelling and response analysis of multibody large-scale displacement of boom-type roadheader

Research on Path Planning and Control Method for Secondary Autonomous Cutting of Cantilever Roadheader in a Large-Section Coal Roadway

Expected position and attitude adjustment control method of coal mine roadway support robot

Contact Info

Product

Resources

About