Cutting control of boom-type roadheader considering coal rock hardness

Abstract

The coal rock hardness significantly affects the spatial operation status of boom-type roadheader. Analyzing the correlation between the spatial operation status of roadheader and changes in coal rock hardness can help better achieve automatic cutting control of boom-type roadheader. To improve the cutting control precision, a boom-type roadheader cutting control method considering coal rock hardness is proposed. Based on the principles of dynamics, the relationship between the spatial operation status of the boom-type roadheader and the changes of coal rock hardness is obtained. It is found that as the distance between the cutting head and the target point, the radius of the motion range, and the dynamic angle increase, the operational stability of the cutting head will correspondingly improve. The automation control parameters are determined using a weighted balance method, and PID control and closed-loop fuzzy control methods are used to achieve automatic cutting control of the roadheader. The experimental results show that the method exhibits good performance in both horizontal and vertical control. The cutting head swing speed of the roadheader reaches a stable value within 2 seconds, and the dynamic working stability is good. The alignment between the trajectory of the rotation and lifting angle change of the boom-type roadheader's cutting head and the expected trajectory is high, and the overall angle deviation is small, resulting in high control precision.

Keywords

• boom-type roadheader
• automatic cutting control
• coal rock hardness
• automatic control parameters
• weighted balance
• pid