Analysis of automatic cutting section boundary control error for longitudinal roadheader
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摘要: 为实现掘进装备的高精度自动截割、自主巡航，提出了一种纵轴式掘进机自动截割断面边界控制误差分析方法。明确了掘进机自动截割控制系统的误差来源，主要包括系统稳态误差、传感器精度、截割臂惯性、系统控制方法及其他非理论计算因素。对系统进行了仿真，结果表明负载干扰对系统的稳态特性影响较小，系统是稳定的。对各单项误差进行了计算，最终得到自动截割断面水平边界最大控制误差为71.30 mm、垂直边界最大控制误差为55.27 mm，达到《煤矿井巷工程质量检验评定标准》中规定的最高（优良）标准。进行了掘进机自动截割控制地面试验，实际测量得到系统断面水平边界最大控制误差为45 mm、垂直边界最大控制误差为12 mm。Abstract: In order to realize automatic cutting with high precision and autonomous cruising of tunneling equipments, a analysis method of automatic cutting section boundary control error for longitudinal roadheader was proposed. The error sources of automatic cutting control system for roadheader had been made clear, which were mainly from steady-state error of control system, sensor precision, inertia of cutting arm, system control method and other non-theoretical calculation factors. The system was simulated and the results showed that influence of load disturbance on system steady-state characteristics was low and the system was stable. Each error was calculated and the maximum error of automatic cutting section boundary control was 71.30 mm in horizontal and 55.27 mm in vertical, which showed that the system fully met the highest standard of Standard for Quality Inspection and Assessment of Shaft Sinking and Drifting of Coal Mine. Through ground tests of automatic cutting control for roadheader, the maximum error of section boundary control was 45 mm in horizontal and 12 mm in vertical in actual measurement.
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