掘进机自动成型控制系统的研究.pdfVIP

Subject : The Research of Roadheader Automatic Forming Control System Specialty: Mechanical and Electronic Engineering Name: Jing Le (Signature) Instructor: Ren Zhongquan (Signature) ABSTRACT At present, roadheader is widely applied in mining and underground engineering, mining mechanical development trend in the direction of large-scale, intelligent, and unmanned. Roadway construction and the pursuit of more safety, high quality, energy saving, high efficiency, comfortable development goals. Achieve less people or unmanned operation is to precisely control of roadheader, for roadheader section forming quality and control system were studied. Firstly ，analyzes the EBJ-132A boom-type roadheader work mechanism, by rationally simplifying the mathematical model of the cantilever horizontal and vertical swing are build. Work out between lifting oil cylinder piston rod length and angle of the relation, between rotary cylinder piston rod length and rotation angle of the relation. Then the section form of several common programming corresponding cutting trajectory, using the MATLAB software simulation of cutting head word envelope diagram. Through the analysis of EBJ-132A boom-type roadheader hydraulic control system, using electro-hydraulic proportional value to replace manual value, roadheader cutting part of the automatic is realized. Then the cantilever swing control system model was established, using MATLAB software to build the control system model and simulation. According to the different input signal is obtained the cantilever swing speed curv