悬臂式掘进机器人巷道成形智能截割控制系统研究
Research on intelligent cutting control system for roadway forming of boom-type tunneling robot
【索引】杨文娟,张旭辉,张超,等.悬臂式掘进机器人巷道成形智能截割控制系统研究[J].工矿qy288千亿国际,2019,45(9):40-46.
【Reference】YANG Wenjuan,ZHANG Xuhui,ZHANG Chao,et al.Research on intelligent cutting control system for roadway forming of boom-type tunneling robot[J].Industry and Mine Automation,2019,45(9):40-46.
【DOI】10.13272/j.issn.1671-251x.17445
【作者】杨文娟1,2,张旭辉1,2,张超1,2,赵建勋1,2 ,马宏伟1,2
【Author】 YANG Wenjuan1,2,ZHANG Xuhui1,2,ZHANG Chao1,2,ZHAO Jianxun1,2,MA Hongwei1,2
【作者机构】1.西安科技大学 机械工程学院, 陕西 西安710054;2.陕西省矿山机电装备智能监测重点实验室, 陕西 西安710054
【Unit】1.College of Mechanical Engineering, Xi'an University of Science and Technology, Xi'an 710054,China; 2.Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring, Xi'an 710054, China
【摘要】针对目前煤矿井下掘进过程qy288千亿国际程度低、掘进效率低、巷道成型质量差等问题,提出了一种悬臂式掘进机器人巷道成形智能截割控制系统。该系统结合巷道尺寸和截割工艺要求,基于三次多项式光滑函数的悬臂式掘进机器人关节空间轨迹规划方法,通过建立的悬臂式掘进机器人坐标系统及悬臂式掘进机器人运动学正问题与逆问题求解,确定轨迹规划光滑函数参数;规划好截割轨迹后,以视觉定位方法获得的悬臂式掘进机器人截割头位姿数据作为反馈量,基于反馈线性化积分滑模控制器的截割轨迹控制算法实时计算控制量,以规划轨迹点和视觉测量位姿点构建反馈控制系统,实现对悬臂式掘进机器人巷道成形截割过程的动态控制。实验结果表明,该系统能够实现悬臂式掘进机器人巷道成形截割过程的智能控制,定位精度高,稳定性好,轨迹跟踪误差小于25.61 mm,可满足巷道成形质量需求。
【Abstract】In view of problems such as low automation degree, low tunneling efficiency and poor roadway forming quality in the tunneling process of underground coal mining, an intelligent cutting control system for roadway forming of boom-type tunneling robot was proposed.According to the size of roadway and the cutting process requirement, based on the joint space trajectory planning method of boom-type tunneling robot based on cubic polynomial smooth function, the system determines the smooth function parameters of trajectory planning by establishing the boom-type tunneling robot coordinate system and solving forward and inverse kinematics problems of boom-type tunneling robot. After planning cutting trajectory, taking the pose data of cutting head of boom-type tunneling robot obtained by visual positioning method as feedback quantity, the cutting trajectory control quantity was calculated in real time by cutting trajectory control algorithm based on feedback linearized integral sliding mode controller. A feedback control system based on the planning track points and visual measurement position point was built to realize dynamic control of cutting process of roadway forming of boom-type tunneling robot. The experimental results show that the system can realize intelligent control of cutting process of roadway forming of boom-type tunneling robot, and has high positioning accuracy and good stability, and trajectory tracking error is less than 25.61 mm, can meet the demand of roadway forming quality.
【关键词】 悬臂式掘进机器人; 巷道成形; 截割轨迹规划; 运动学逆解; 视觉定位; 滑模控制器
【Keywords】boom-type tunneling robot; roadway forming; cutting trajectory planning; inverse kinematics;visual positioning; sliding mode controller
【文献出处】工矿qy288千亿国际,2019年9期
【基金】国家绿色制造系统集成项目(工信部节函〔2017〕327号);陕西省创新人才计划项目(2018TD-032);陕西省重点研发计划项目(2018ZDCXL-GY-06-04)
【分类号】TD421
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