基于虚拟样机的掘进机模拟操纵系统研究
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摘要
掘进机广泛应用于采矿工程和地下工程中。目前,掘进机的操作主要是人在作业现场通过操作台来实现的,现场的环境比较恶劣。随着科学技术的发展和人民生活水平的提高,掘进机的智能化、无人化发展趋势越来越受到人们的重视。本文以某型悬臂式掘进机为对象,对掘进机截割机构模拟操纵控制进行了研究。
论文分析断面形状与截割臂姿态之间的关系,根据煤矿巷道断面的成形过程,提出截割头在断面成形过程中的截割路径规划方案。并将路径离散化成一个点序列,从而将断面的截割路径分成若干小段,每一小段看作直线段。论文针对掘进机截割臂的运动特点,推导出其运动的空间几何模型,并进行抽象简化。构建了掘进机构虚拟样机模型,并进行了运动学仿真分析。
论文进行了控制数据与样机模型之间的接口程序开发。数据文件是独立于ADAMS模型存在的,要实现外部数据文件的驱动仿真,需要编写用户接口函数,实现读取外部数据文件生成样条曲线的功能。ADAMS提供了开放的用户接口,通过自定义子函数,经过编译连接后得到ADAMS动态连接库函数,仿真过程中调用库函数实现外部控制数据驱动虚拟样机模拟操纵的功能。
论文最后部分,通过掘进机截割机构虚拟样机仿真试验验证研究方案的正确性。
Roadheader is widely used in mining and underground engineering. At present, the Roadheader operation is mainly manual operation. The environment is relatively poor at the scene. With scientific and technological development and the improvement of people's living standards, more and more people have pay attention to the intelligent and automatic development of roadheader. Based on an automatic boom-type roadheader, this paper discusses the simulation control of rocker arm in the laneway profiling.
This paper analyzed the calculation formula between sectional shape and rocker arm gesture. According to the profiling process of the coalmine laneway section, proposed the path planning of the section forming process. The path was turned into a discrete sequence of points. Thus the path was divided into many segments, and each segment can be seen as a short line. Based on the kinematics characteristics of the rocker arm, derived a space geometric model of its motion and then simplified the model. Constructed virtual prototyping model of tunneling institutions, and done the kinematics simulation analysis. Introduces three-axis operation control devices based on electro-hydraulic proportional control, through the manipulation of controller generates control data files and drive the virtual prototype simulation.
This thesis mainly developed interface program between control data and prototype model. Data files is independent of ADAMS models, if we want to realize the simulation of external data files driver simulation, we have to code user interface function, in order to realize the function of read the external data file and generate spline curve. ADAMS provides open user interface, through the custom son function, and then we get languae ADAMS dynamic-link libraries function after connect, the simulation process call library function, and then we can realize the function of external control data driven virtual prototype simulation manipulations.
This thesis’last part has verified the correctness of the research schemes, in the way of virtual prototype of determing cutting simulation test cut institutions.
论文分析断面形状与截割臂姿态之间的关系,根据煤矿巷道断面的成形过程,提出截割头在断面成形过程中的截割路径规划方案。并将路径离散化成一个点序列,从而将断面的截割路径分成若干小段,每一小段看作直线段。论文针对掘进机截割臂的运动特点,推导出其运动的空间几何模型,并进行抽象简化。构建了掘进机构虚拟样机模型,并进行了运动学仿真分析。
论文进行了控制数据与样机模型之间的接口程序开发。数据文件是独立于ADAMS模型存在的,要实现外部数据文件的驱动仿真,需要编写用户接口函数,实现读取外部数据文件生成样条曲线的功能。ADAMS提供了开放的用户接口,通过自定义子函数,经过编译连接后得到ADAMS动态连接库函数,仿真过程中调用库函数实现外部控制数据驱动虚拟样机模拟操纵的功能。
论文最后部分,通过掘进机截割机构虚拟样机仿真试验验证研究方案的正确性。
Roadheader is widely used in mining and underground engineering. At present, the Roadheader operation is mainly manual operation. The environment is relatively poor at the scene. With scientific and technological development and the improvement of people's living standards, more and more people have pay attention to the intelligent and automatic development of roadheader. Based on an automatic boom-type roadheader, this paper discusses the simulation control of rocker arm in the laneway profiling.
This paper analyzed the calculation formula between sectional shape and rocker arm gesture. According to the profiling process of the coalmine laneway section, proposed the path planning of the section forming process. The path was turned into a discrete sequence of points. Thus the path was divided into many segments, and each segment can be seen as a short line. Based on the kinematics characteristics of the rocker arm, derived a space geometric model of its motion and then simplified the model. Constructed virtual prototyping model of tunneling institutions, and done the kinematics simulation analysis. Introduces three-axis operation control devices based on electro-hydraulic proportional control, through the manipulation of controller generates control data files and drive the virtual prototype simulation.
This thesis mainly developed interface program between control data and prototype model. Data files is independent of ADAMS models, if we want to realize the simulation of external data files driver simulation, we have to code user interface function, in order to realize the function of read the external data file and generate spline curve. ADAMS provides open user interface, through the custom son function, and then we get languae ADAMS dynamic-link libraries function after connect, the simulation process call library function, and then we can realize the function of external control data driven virtual prototype simulation manipulations.
This thesis’last part has verified the correctness of the research schemes, in the way of virtual prototype of determing cutting simulation test cut institutions.
引文
[1]煤炭科学研究院太原分院.国外掘进机.北京:煤炭工业出版社,1986.11
[2]丛铁军编.巷道掘进机.北京:煤炭工业出版社,1982.5
[3]李建英等.悬臂式掘进机在我国铁路隧道施工中的应用前景.铁道建筑技术, 2001.2
[4]任葆锐,王虹.煤及半煤岩巷道掘进设备技术发展及思考.煤矿机电,2000.5
[5]钱七虎等.隧道掘进机在中国地下工程中应用现状及前景展望.地下空间,2002,22 (1),1-11.
[6]王宏.国外巷道掘进施工技术及发展趋势[J].中国煤炭,2000.26(4):57—58
[7]汪昌龄,韩崎.我国掘进机发展分析.煤矿机械,19972.2
[8]刘建平.浅谈掘进机机电一体化的研究方向[C].中国科协2004年学术年会第16分会,中国海南琼海.2004年:327一331.
[9]黄日恒.悬臂掘进机.北京:中国矿业大学出版社,1996
[10]李晓豁.截割粉尘成因与控制方法研究[M] .徐州:中国矿业大学出版社,2003
[11]李晓豁,隗金文,刘利.横向截割头摆动截割时切屑图的模拟研究[J].辽宁工程技术大学学报(自然科学版),2002.2
[12]南京晨光机器厂技术资料
[13]李军利.悬臂式掘进机断面自动成形理论与控制策略研究:[学位论文].太原:太原理工大学,2009.4
[14]郭迎福等.纵轴式掘进机截割头横摆时的运动学分析及其仿真[J].煤炭学报, 2002.2
[15]郭迎福等.纵轴式掘进机截割头简化运动与真实运动比较分析.煤矿机电, 2001.1
[16]常琏.试论两种悬臂式掘进机截割机构[J].煤矿机电,1994,6
[17]李晓豁.部分断面掘进机的总体布置与参数选择[J].探矿工程,1998.2
[18]张士勇.悬臂掘进机巷道断面成形控制研究: [学位论文].西安:西安科技大学,2004
[19]熊双辉.悬臂式掘进机巷道断面成型控制系统研究:[学位论文].西安:西安科技大学,2009
[20]宁仲良.悬臂式掘进机巷道自动成形控制初探.煤矿机电,2004(1):10-15.
[21] Li, Q., Zhang, W.J., Design for control-a concurrent engineering approach for mechatronic systems design, Mechatronics, IEEE/ASME Transactions on,Volume:6 Issue:2,June 2001,Page(s):161-169
[22] C. Gertosio, et al., Modeling and simulation of the control framework on a flexible manufacturing system, Int. J. Production Economics 64 (2000):285-293
[23] M’quad,Organization of Knowledge Base in Automatic Design Drum Cutting Machines Proceeding of International Symposium on Mine Mechanization and Automation[J].Vol.1:3,1995.6.
[24]李亚军.虚拟样机技术及其应用.航空制造技术,2002(2),36-38
[25]苟凌怡,熊光楞.支持虚拟样机的协同仿真平台关键技术研究.系统仿真学报, 2002. 14(3):348-355
[26]李伯虎.复杂产品虚拟样机工程.计算机集成制造系统,2002.8(9) :678-683
[27]邵立.虚拟制造中仿真技术的应用.工业工程与管理,2000(4):21-25
[28]李军. ADAMS实例教程.北京:北京理工大学出版社,2002
[29]王国强,张进平.虚拟样机技术及其在ADAMA上的实践[M].西安:西安西北工业大学出版社,2002.3
[30]杨东超,汪劲松.ADAMS在拟人机器人研究中的运用.机器人技术与应用, 2001 (4):21-23
[31]郭卫军.虚拟样机技术与ADAMS应用实例教程.北京:北京航空航天大学出版社,2008.6
[32]郑建荣.ADAMS-虚拟样机技术入门与提高[M].北京:机械工业出版社,2001
[33]韩玉龙. Pro/ENGINEER Wildfire组件设计与运动仿真专业教程.北京:清华大学出版社,2004
[34]田绪东. PRO/E三维机械设计[M].北京:北京机械工业出版社,2006.2
[35]丁海滨等.ADAMS与常用CAD软件接口[J].微计算机息,2005,21(10-3):202-204
[36]陈立平等.机械系统动力学分析及ADAMS应用教程.北京:清华大学出版社,2005.1
[37] http://www.doc88.com/p-59759156710.html
[38]兰志恒.基于电液比例控制的三轴操纵控制器的研究. [学位论文].西安:西安科技大学,2009
[39] Jorge Angeles著,宋伟刚译.机器人机械系统原理理论、方法和算法[M].北京:机械工业出版社,2004.
[40]徐艳华.复杂产品的虚拟样机仿真技术研究:[学位论文].天津:天津大学,2004
[41] http://www.tw-sensor.com/haizwdj36_6.htm
[42] Cui-hua MAN, Xun FAN, Cheng-rong LI, Zhong-hui ZHAO. Kinematics Analysis Based on Screw Theory of a Humanoid Robot [J]. Journal of China University of Mining and Technology.2007.3, 17(1):49-52.
[43] Klingsheim, K., Aaserud, O., Design theory: the foundation for concurrent engineering, Reliability and Maintainability Computer-Aided Engineering in Concurrent Engineering,1990 and 1991.,Combined Proceedings of the 1990 and 1991 Leesburg Workshops on,9-11 Oct.1990&30 Sept.-3 Oct.1991,Page(s): 43-50
[44] Weiqun Ren; Miaohua Huang, Virtual prototype technology in automotive concurrent design, Vehicle Electronics Conference,1999.(IVEC'99) Proceedings of the IEEE International,6-9 Sept.1999,Page(s):421-424 vol.1
[45] Using ADAMS/View, Reference Manual, Version 12.0,Ann Arbor, Michigan, U.S.A.,MDI,2002
[46] http://www.idnovo.com.cn/article/2009/1221/article_58082.html
[47] W.-H.Zhu, J.-C. Piedbceuf, Emulation of a space robot using a hydraulic manipulator on ground, Proceedings of the 2002 IEEE International Conference on Robotics & Automation, Washington. DC, May 2002,pp:2315-2320
[48] Persson JF,The impact of different levels of detail in manufacturing systems simulation models, Robotics and Computer Integrated Manufacturing, 18(2002),P.319-325
[49] J.Torano Alvarez, M. Menendez Alvarez, R.Rodriguez Diez, Experimental results of a low-power roadheader driving a gallery with different types of rock at the face. Tunnelling and Underground Space Technology 18(2003)395–404
[50] Jean-Joes’Orteu, Juan-Carlos Catalina, Michel Devy. Perception for a Roadheader in Automatic Selective Cutting Operation. Proceedings of the 1992 IEEE International Conference on Robotics and Automation Nice, France, May, 1992.
[2]丛铁军编.巷道掘进机.北京:煤炭工业出版社,1982.5
[3]李建英等.悬臂式掘进机在我国铁路隧道施工中的应用前景.铁道建筑技术, 2001.2
[4]任葆锐,王虹.煤及半煤岩巷道掘进设备技术发展及思考.煤矿机电,2000.5
[5]钱七虎等.隧道掘进机在中国地下工程中应用现状及前景展望.地下空间,2002,22 (1),1-11.
[6]王宏.国外巷道掘进施工技术及发展趋势[J].中国煤炭,2000.26(4):57—58
[7]汪昌龄,韩崎.我国掘进机发展分析.煤矿机械,19972.2
[8]刘建平.浅谈掘进机机电一体化的研究方向[C].中国科协2004年学术年会第16分会,中国海南琼海.2004年:327一331.
[9]黄日恒.悬臂掘进机.北京:中国矿业大学出版社,1996
[10]李晓豁.截割粉尘成因与控制方法研究[M] .徐州:中国矿业大学出版社,2003
[11]李晓豁,隗金文,刘利.横向截割头摆动截割时切屑图的模拟研究[J].辽宁工程技术大学学报(自然科学版),2002.2
[12]南京晨光机器厂技术资料
[13]李军利.悬臂式掘进机断面自动成形理论与控制策略研究:[学位论文].太原:太原理工大学,2009.4
[14]郭迎福等.纵轴式掘进机截割头横摆时的运动学分析及其仿真[J].煤炭学报, 2002.2
[15]郭迎福等.纵轴式掘进机截割头简化运动与真实运动比较分析.煤矿机电, 2001.1
[16]常琏.试论两种悬臂式掘进机截割机构[J].煤矿机电,1994,6
[17]李晓豁.部分断面掘进机的总体布置与参数选择[J].探矿工程,1998.2
[18]张士勇.悬臂掘进机巷道断面成形控制研究: [学位论文].西安:西安科技大学,2004
[19]熊双辉.悬臂式掘进机巷道断面成型控制系统研究:[学位论文].西安:西安科技大学,2009
[20]宁仲良.悬臂式掘进机巷道自动成形控制初探.煤矿机电,2004(1):10-15.
[21] Li, Q., Zhang, W.J., Design for control-a concurrent engineering approach for mechatronic systems design, Mechatronics, IEEE/ASME Transactions on,Volume:6 Issue:2,June 2001,Page(s):161-169
[22] C. Gertosio, et al., Modeling and simulation of the control framework on a flexible manufacturing system, Int. J. Production Economics 64 (2000):285-293
[23] M’quad,Organization of Knowledge Base in Automatic Design Drum Cutting Machines Proceeding of International Symposium on Mine Mechanization and Automation[J].Vol.1:3,1995.6.
[24]李亚军.虚拟样机技术及其应用.航空制造技术,2002(2),36-38
[25]苟凌怡,熊光楞.支持虚拟样机的协同仿真平台关键技术研究.系统仿真学报, 2002. 14(3):348-355
[26]李伯虎.复杂产品虚拟样机工程.计算机集成制造系统,2002.8(9) :678-683
[27]邵立.虚拟制造中仿真技术的应用.工业工程与管理,2000(4):21-25
[28]李军. ADAMS实例教程.北京:北京理工大学出版社,2002
[29]王国强,张进平.虚拟样机技术及其在ADAMA上的实践[M].西安:西安西北工业大学出版社,2002.3
[30]杨东超,汪劲松.ADAMS在拟人机器人研究中的运用.机器人技术与应用, 2001 (4):21-23
[31]郭卫军.虚拟样机技术与ADAMS应用实例教程.北京:北京航空航天大学出版社,2008.6
[32]郑建荣.ADAMS-虚拟样机技术入门与提高[M].北京:机械工业出版社,2001
[33]韩玉龙. Pro/ENGINEER Wildfire组件设计与运动仿真专业教程.北京:清华大学出版社,2004
[34]田绪东. PRO/E三维机械设计[M].北京:北京机械工业出版社,2006.2
[35]丁海滨等.ADAMS与常用CAD软件接口[J].微计算机息,2005,21(10-3):202-204
[36]陈立平等.机械系统动力学分析及ADAMS应用教程.北京:清华大学出版社,2005.1
[37] http://www.doc88.com/p-59759156710.html
[38]兰志恒.基于电液比例控制的三轴操纵控制器的研究. [学位论文].西安:西安科技大学,2009
[39] Jorge Angeles著,宋伟刚译.机器人机械系统原理理论、方法和算法[M].北京:机械工业出版社,2004.
[40]徐艳华.复杂产品的虚拟样机仿真技术研究:[学位论文].天津:天津大学,2004
[41] http://www.tw-sensor.com/haizwdj36_6.htm
[42] Cui-hua MAN, Xun FAN, Cheng-rong LI, Zhong-hui ZHAO. Kinematics Analysis Based on Screw Theory of a Humanoid Robot [J]. Journal of China University of Mining and Technology.2007.3, 17(1):49-52.
[43] Klingsheim, K., Aaserud, O., Design theory: the foundation for concurrent engineering, Reliability and Maintainability Computer-Aided Engineering in Concurrent Engineering,1990 and 1991.,Combined Proceedings of the 1990 and 1991 Leesburg Workshops on,9-11 Oct.1990&30 Sept.-3 Oct.1991,Page(s): 43-50
[44] Weiqun Ren; Miaohua Huang, Virtual prototype technology in automotive concurrent design, Vehicle Electronics Conference,1999.(IVEC'99) Proceedings of the IEEE International,6-9 Sept.1999,Page(s):421-424 vol.1
[45] Using ADAMS/View, Reference Manual, Version 12.0,Ann Arbor, Michigan, U.S.A.,MDI,2002
[46] http://www.idnovo.com.cn/article/2009/1221/article_58082.html
[47] W.-H.Zhu, J.-C. Piedbceuf, Emulation of a space robot using a hydraulic manipulator on ground, Proceedings of the 2002 IEEE International Conference on Robotics & Automation, Washington. DC, May 2002,pp:2315-2320
[48] Persson JF,The impact of different levels of detail in manufacturing systems simulation models, Robotics and Computer Integrated Manufacturing, 18(2002),P.319-325
[49] J.Torano Alvarez, M. Menendez Alvarez, R.Rodriguez Diez, Experimental results of a low-power roadheader driving a gallery with different types of rock at the face. Tunnelling and Underground Space Technology 18(2003)395–404
[50] Jean-Joes’Orteu, Juan-Carlos Catalina, Michel Devy. Perception for a Roadheader in Automatic Selective Cutting Operation. Proceedings of the 1992 IEEE International Conference on Robotics and Automation Nice, France, May, 1992.