自动化掘进机仿形截割控制策略研究
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摘要
以掘进机在煤矿巷道里实现自主作业，无人化掘进为目标，采用EBZ160掘进机为研究对象，对自动化掘进机仿形截割控制理论进行了系统研究。主要研究了其运动学、轨迹规划与跟踪控制、位姿检测、仿形记忆截割控制机理、安全截割控制与预警等，使煤矿巷道施工向安全、高效、舒适的方向发展。
运用坐标齐次变换和机器人学理论，阐述了自动化掘进机各杆件的空间坐标系，建立了工作装置运动学方程，推导了掘进机运动学正、逆问题的求解方法，为截割头位置跟踪和断面轮廓监控奠定基础。考虑煤岩底板特征、赋存特点、巷道形状和各杆系结构等复杂环境，确立了截割头旋转包络面方程，建立了自动化掘进机仿形记忆截割运动学模型，进行了仿真研究，确定了机体和截割头位姿，为巷道定向掘进和仿形截割的自动控制，提供了理论基础。
针对掘进中截割载荷的不稳定性和突变性，将鲁棒控制和神经网络控制算法应用到截割头轨迹跟踪控制，建立了掘进机鲁棒神经网络控制的轨迹跟踪数学模型，研究了仿形截割中出现的不确定性问题。建立了掘进机运行位姿误差，制定位姿测量方案，设计了激光导向仪测算偏航角，双轴倾角仪测俯仰和横滚角，结合激光导向仪构成的掘进导向系统。
根据掘进机截割工艺，建立了仿形截割数学模型，通过确定仿形截割工作参数，推导出相应的工作油缸行程与外包络面空间位置坐标的关系，并采用MATLAB对仿形截割进行了动态仿真分析，得出截割头仿形截割的外包络面，揭示了仿形截割控制机理。利用记忆截割原理，建立了仿形记忆截割模型，采用Pro/E搭建了装配模型，并用ADMAS对掘进机仿形截割实体模型进行运动仿真，验证了模型准确性。通过研究仿形记忆截割与断面轮廓监控系统，有效避免超挖欠挖，完善了掘进机仿形截割控制技术研究。
完成了集姿态角测量、截割预警、仿形截割的控制系统软硬件研究。提出了基于MEMS的悬臂转角检测传感器设计方法，采用三轴数字加速度传感器检测悬臂与重力间的角度，来确定悬臂转角，大大减少了传感器数量，实现截割动作，勿需考虑车体工况位姿。研究了基于热释电人体红外传感的安全截割控制和预警系统，提出了基于热释电人体红外传感器，获取绕机身360°全方位、无死角的检测传感方法，保证了人机安全性。
通过实验室试验和仿真实验，证明了理论研究的正确性，为掘进机器人的研发提供了理论和技术参考。
This paper，in order to realize the roadheader independent operations and unmannedtunneling target in the coal mine tunnel，adopts EBZ160roadheader as the main research object，and systematically studies the automation roadheader profiling cutting control theory. The papermainly researches its kinematics，trajectory planning and tracking control，pose detection，profiling memory cutting control mechanism and safety cutting control and early warning etc.The development tendency of mine roadway is safety，high efficiency and comfortable.
First， using coordinate homogeneous transformation and robotics theory，the spacecoordinate system of automation roadheader each link are described. The kinematics equationsof working device is established. The solution of the roadheader robot positive and inverseproblem is deduced，which lay the foundation for the cutting head position tracking and sectionprofile monitoring.
Considered the backplane characteristics of coal and rock，the coal and rock occurrencecharacteristics of coal and rock，the tunnel shape and size and the structure of roadheader robottruss each connecting rod link etc. complex environment，a cutting head rotating envelopesurface equation is established. The roadheader robot profiling memory cutting kinematic modelis built. The simulation research is carried out. The body and cutting head pose is set up. Whichprovide a theoretical basis for the roadheader roadway directional tunneling and profiling cuttingautomatic control.
According to the instability and mutation of cutting load in tunneling，robust control andneural network control algorithm is used in the roadheader robot cutting head trajectory trackingcontrol. The trajectory tracking mathematical model of roadheader robot robust neural networkcontrol is established. The profiling cutting appear in the uncertain problems are researchedthrough the simulation tests.
Roadheader robot running pose error is formulated. The pose measurement scheme isestablished. The gyro measures yaw axis，inclinometer instrument measures the pitch angle androll angle, combined with laser-guided instrument constitutes a directional tunneling guidancesystem，the system is designed.
According to roadheader cutting process，the mathematical model of profiling cutting isestablished. The corresponding relation of the space coordinates is deduced between the corresponding working cylinder and the outside envelope surface through the determination ofthe roadheader profiling cutting operating parameters. The dynamic simulation of roadheaderrobot profiling cutting is analyzed based on MATLAB.The outside envelope surface of cuttinghead profiling cutting is obtained. The mechanism of a boom roadheader profiling cuttingcontrol is revealed. By memory cutting principle，the model of roadheader robot profilingmemory cutting is built. An assembly model is built based on Pro/E. The movement simulationof roadheader profiling cutting solid model is carried out with ADMAS. The simulation verifisthe accuracy of the model. Avoid effectively super dig owe dig，through the research of profilingmemory cutting and section profile monitoring system. The roadheader profiling cutting controltechnology research is perfected.
Integrated attitude angle measurement，safety cutting control and early warning，profilingcutting into the software and hardware research of control system is completed. A roadheaderrobot cantilever corner detection sensor design is put forward based on MEMS technology.Using the three axes digital acceleration sensor detects the angle between the boom and gravityto determine cantilevered corner. The number of sensors is greatly reduced. The method realizesthe cutting action and doesn't need to consider the posture of the body working conditions. Asafety cutting control and safety cutting early warning system based on heat-releasing infraredsensor is studied. The detection sensor method around the body360°all-round，no dead is putforward based on pyroelectric infrared sensors. The new system ensures the safety of man andmachine.
Finally，through the combination of laboratory tests and computer simulation，the test ofautomation roadheader profiling cutting control proves the correctness of theoretical research. Itprovides the theory and the technology reference for roadheader robot research and development.
运用坐标齐次变换和机器人学理论，阐述了自动化掘进机各杆件的空间坐标系，建立了工作装置运动学方程，推导了掘进机运动学正、逆问题的求解方法，为截割头位置跟踪和断面轮廓监控奠定基础。考虑煤岩底板特征、赋存特点、巷道形状和各杆系结构等复杂环境，确立了截割头旋转包络面方程，建立了自动化掘进机仿形记忆截割运动学模型，进行了仿真研究，确定了机体和截割头位姿，为巷道定向掘进和仿形截割的自动控制，提供了理论基础。
针对掘进中截割载荷的不稳定性和突变性，将鲁棒控制和神经网络控制算法应用到截割头轨迹跟踪控制，建立了掘进机鲁棒神经网络控制的轨迹跟踪数学模型，研究了仿形截割中出现的不确定性问题。建立了掘进机运行位姿误差，制定位姿测量方案，设计了激光导向仪测算偏航角，双轴倾角仪测俯仰和横滚角，结合激光导向仪构成的掘进导向系统。
根据掘进机截割工艺，建立了仿形截割数学模型，通过确定仿形截割工作参数，推导出相应的工作油缸行程与外包络面空间位置坐标的关系，并采用MATLAB对仿形截割进行了动态仿真分析，得出截割头仿形截割的外包络面，揭示了仿形截割控制机理。利用记忆截割原理，建立了仿形记忆截割模型，采用Pro/E搭建了装配模型，并用ADMAS对掘进机仿形截割实体模型进行运动仿真，验证了模型准确性。通过研究仿形记忆截割与断面轮廓监控系统，有效避免超挖欠挖，完善了掘进机仿形截割控制技术研究。
完成了集姿态角测量、截割预警、仿形截割的控制系统软硬件研究。提出了基于MEMS的悬臂转角检测传感器设计方法，采用三轴数字加速度传感器检测悬臂与重力间的角度，来确定悬臂转角，大大减少了传感器数量，实现截割动作，勿需考虑车体工况位姿。研究了基于热释电人体红外传感的安全截割控制和预警系统，提出了基于热释电人体红外传感器，获取绕机身360°全方位、无死角的检测传感方法，保证了人机安全性。
通过实验室试验和仿真实验，证明了理论研究的正确性，为掘进机器人的研发提供了理论和技术参考。
This paper，in order to realize the roadheader independent operations and unmannedtunneling target in the coal mine tunnel，adopts EBZ160roadheader as the main research object，and systematically studies the automation roadheader profiling cutting control theory. The papermainly researches its kinematics，trajectory planning and tracking control，pose detection，profiling memory cutting control mechanism and safety cutting control and early warning etc.The development tendency of mine roadway is safety，high efficiency and comfortable.
First， using coordinate homogeneous transformation and robotics theory，the spacecoordinate system of automation roadheader each link are described. The kinematics equationsof working device is established. The solution of the roadheader robot positive and inverseproblem is deduced，which lay the foundation for the cutting head position tracking and sectionprofile monitoring.
Considered the backplane characteristics of coal and rock，the coal and rock occurrencecharacteristics of coal and rock，the tunnel shape and size and the structure of roadheader robottruss each connecting rod link etc. complex environment，a cutting head rotating envelopesurface equation is established. The roadheader robot profiling memory cutting kinematic modelis built. The simulation research is carried out. The body and cutting head pose is set up. Whichprovide a theoretical basis for the roadheader roadway directional tunneling and profiling cuttingautomatic control.
According to the instability and mutation of cutting load in tunneling，robust control andneural network control algorithm is used in the roadheader robot cutting head trajectory trackingcontrol. The trajectory tracking mathematical model of roadheader robot robust neural networkcontrol is established. The profiling cutting appear in the uncertain problems are researchedthrough the simulation tests.
Roadheader robot running pose error is formulated. The pose measurement scheme isestablished. The gyro measures yaw axis，inclinometer instrument measures the pitch angle androll angle, combined with laser-guided instrument constitutes a directional tunneling guidancesystem，the system is designed.
According to roadheader cutting process，the mathematical model of profiling cutting isestablished. The corresponding relation of the space coordinates is deduced between the corresponding working cylinder and the outside envelope surface through the determination ofthe roadheader profiling cutting operating parameters. The dynamic simulation of roadheaderrobot profiling cutting is analyzed based on MATLAB.The outside envelope surface of cuttinghead profiling cutting is obtained. The mechanism of a boom roadheader profiling cuttingcontrol is revealed. By memory cutting principle，the model of roadheader robot profilingmemory cutting is built. An assembly model is built based on Pro/E. The movement simulationof roadheader profiling cutting solid model is carried out with ADMAS. The simulation verifisthe accuracy of the model. Avoid effectively super dig owe dig，through the research of profilingmemory cutting and section profile monitoring system. The roadheader profiling cutting controltechnology research is perfected.
Integrated attitude angle measurement，safety cutting control and early warning，profilingcutting into the software and hardware research of control system is completed. A roadheaderrobot cantilever corner detection sensor design is put forward based on MEMS technology.Using the three axes digital acceleration sensor detects the angle between the boom and gravityto determine cantilevered corner. The number of sensors is greatly reduced. The method realizesthe cutting action and doesn't need to consider the posture of the body working conditions. Asafety cutting control and safety cutting early warning system based on heat-releasing infraredsensor is studied. The detection sensor method around the body360°all-round，no dead is putforward based on pyroelectric infrared sensors. The new system ensures the safety of man andmachine.
Finally，through the combination of laboratory tests and computer simulation，the test ofautomation roadheader profiling cutting control proves the correctness of theoretical research. Itprovides the theory and the technology reference for roadheader robot research and development.
引文
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