悬臂式掘进机断面自动成形理论与控制策略研究
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摘要
悬臂式掘进机在巷道施工中得到了广泛的应用。近年来,悬臂式掘进机的自动化及断面自动成形技术已成为国外的研究热点,且一部分成果已投入实际应用,而我国在这些领域尚处于起步阶段。研究自动化掘进机的最终目的是代替手动操纵掘进机,以拓展其应用领域,适应恶劣的工作环境,节约生产成本,提高巷道成形精度,同时降低劳动强度,提高生产效率。本论文以实现纵轴悬臂式掘进机断面自动成形为目标,对其的运动学、动力学及电液比例控制系统进行分析与建模,研究断面成形过程的监测理论以及截割轨迹的规划理论和控制策略。
构建了悬臂式掘进机的全局坐标系统,建立了运动学闭链回路,运用齐次变换和机器人运动学理论对掘进机工作装置、掘进机车体和掘进机运动学进行了分析,建立了关节空间和驱动空间的运动学方程,确定了掘进机截割头的空间位置,并对运动学进行了仿真。
论文对截割头的截割阻力进行了分析和研究,运用达朗贝尔原理计算了各关节的广义驱动力和广义驱动力矩,运用拉格朗日方程建立了掘进机工作装置的动力学模型。分析表明,动力学方程与工作装置的形位密切相关,具有非线性和强耦合特性。
设计了压力补偿电液比例系统,分析了负载敏感系统LSS(LoadSensing System)的工作原理,对工作装置的液压控制系统进行了建模,对模型中的一些关键参数进行了近似估算和辨识。研究表明,液压系统模型是多变量、慢时变和非线性的。
实时监测掘进机截割头的空间位置和断面轮廓尺寸是断面自动成形的重要保证。论文从截割头的结构入手,按照轮廓边界的位置建立了各截齿尖的坐标,分析了各截齿的极限截割范围与工作装置摆角、截割头钻进深度的关系,确定了成形巷道断面轮廓的边界点坐标,建立了断面轮廓的曲线方程和坐标系统,研究了巷道中心线的方向表达式。
分析并归纳出截割轨迹的种类,运用以抛物线过渡的直线插值方法对掘进机工作装置进行了关节空间和驱动空间轨迹规划,提出了规划方法和步骤,进行了仿真研究。研究了非平行断面的校正和断面的调整问题。
为了实现截割轨迹的精确跟踪控制,以工作装置的关节转角、驱动油缸的输出力、输出速度和行程为被控量,探索实现轨迹跟踪的最优控制策略。分别研究了关节转角的变参数非线性PID控制、驱动油缸输出力的变结构控制以及驱动油缸输出行程的模型参考自适应控制,设计了控制算法,并进行了仿真和试验。结果表明:采用基于参考模型的自适应控制,能够实现对掘进机工作装置截割轨迹的有效跟踪控制。试验结果证明了理论研究的正确性。
Boom-type roadheader has found widespread application in tunnel excavation. In recent years, research on automation and automatic cross section profiling of boom-type roadheader has become a focus abroad, and some of the results have been put into practical application. However, these studies are still in its infancy in our country. The final aim of researching on automatic roadheader is to replace the manually operated roadheader, develop its application domain, adapt to poor working conditions, cut production cost, improve tunnel profiling precision, reduce labor intensity and increase production efficiency. The goal of this thesis is to achieve automatic cross section profiling of longitudinal axis boom-type roadheader. Kinematics, dynamics and electro-hydraulic proportional control system for the roadheader are analyzed and modelled. Monitoring theory of cross section contour, as well as cutting trajectory planning theory and control strategy are studied.
The overall coordinate system of roadheader is constructed, and close kinematics loop is established. Kinematics of manipulator, body and roadheader are analyzed using the theory of homogeneous transformation and robotic kinematics, and the kinematics equations in the joint space and the drive space are established, and spatial position of roadheader cutting head are given. Kinematics simulations are completed.
Cutting resistance forces are analyzed and studied. Based on the D'Alembert principle and the Lagrange equation, the joint generalized force, the joint generalized torque and the dynamic model of the roadheader manipulator are established. Research showed that the dynamatics equation is closely related to the form and the position of the manipulator, and have the characteristics of non-linear and strong-coupling.
The pressure compensation electro-hydraulic proportional system of the roadheader is designed, and the working principle of LSS (Load Sensing System) is analyzed. Models of the hydraulic control system for the roadheader manipulator are deduced. Some key parameters are estimated and identified. Study showed that the hydraulic control system model is multi-variable, slow time-varying and non-linear.
Real-time monitor of the position of the cutting head and the size of the contour is very important to automatic cross section profiling. From structure of the cutting head, coordinates of pick are established according to position of contour boundary. Relations among the cutting limit scope of the pick, the joint angle of the manipulator, and the cutting depth are analyzed, and coordinates of the contour boundary are given. Curve equation and coordinate of the cross section contour and the directional expression of tunnel centerline are established.
Shapes of the cutting trajectory are analyzed and summarized, and trajectory plannings of the manipulator in the joint space and the driving space are developed by straight-line interpolation method with parabola transition, and simulations are carried out. Calibrations of the non-parallel cross section and adjustments of the cross section are studied.
With the joint angle, the cylinder drive force, the cylinder output speed and travel as controlled objects, control strategies of accurate trajectory tracking for the manipulator are studied, which include non-linear PID control of the joint angle, variable structure control of the cylinder drive force and model reference adaptive control of the cylinder output travel. Control algorithms are designed, and simulations and experiments are carried out. It is shown whatever for control precision and velocity the accurate trajectory tracking is reached using the adaptive control of the cylinder drive velocity and travel. So the adaptive control in the thesis can be utilized for trajectory tracking control of the manipulator. The results of experiment proved the validity of the fundamental research.
构建了悬臂式掘进机的全局坐标系统,建立了运动学闭链回路,运用齐次变换和机器人运动学理论对掘进机工作装置、掘进机车体和掘进机运动学进行了分析,建立了关节空间和驱动空间的运动学方程,确定了掘进机截割头的空间位置,并对运动学进行了仿真。
论文对截割头的截割阻力进行了分析和研究,运用达朗贝尔原理计算了各关节的广义驱动力和广义驱动力矩,运用拉格朗日方程建立了掘进机工作装置的动力学模型。分析表明,动力学方程与工作装置的形位密切相关,具有非线性和强耦合特性。
设计了压力补偿电液比例系统,分析了负载敏感系统LSS(LoadSensing System)的工作原理,对工作装置的液压控制系统进行了建模,对模型中的一些关键参数进行了近似估算和辨识。研究表明,液压系统模型是多变量、慢时变和非线性的。
实时监测掘进机截割头的空间位置和断面轮廓尺寸是断面自动成形的重要保证。论文从截割头的结构入手,按照轮廓边界的位置建立了各截齿尖的坐标,分析了各截齿的极限截割范围与工作装置摆角、截割头钻进深度的关系,确定了成形巷道断面轮廓的边界点坐标,建立了断面轮廓的曲线方程和坐标系统,研究了巷道中心线的方向表达式。
分析并归纳出截割轨迹的种类,运用以抛物线过渡的直线插值方法对掘进机工作装置进行了关节空间和驱动空间轨迹规划,提出了规划方法和步骤,进行了仿真研究。研究了非平行断面的校正和断面的调整问题。
为了实现截割轨迹的精确跟踪控制,以工作装置的关节转角、驱动油缸的输出力、输出速度和行程为被控量,探索实现轨迹跟踪的最优控制策略。分别研究了关节转角的变参数非线性PID控制、驱动油缸输出力的变结构控制以及驱动油缸输出行程的模型参考自适应控制,设计了控制算法,并进行了仿真和试验。结果表明:采用基于参考模型的自适应控制,能够实现对掘进机工作装置截割轨迹的有效跟踪控制。试验结果证明了理论研究的正确性。
Boom-type roadheader has found widespread application in tunnel excavation. In recent years, research on automation and automatic cross section profiling of boom-type roadheader has become a focus abroad, and some of the results have been put into practical application. However, these studies are still in its infancy in our country. The final aim of researching on automatic roadheader is to replace the manually operated roadheader, develop its application domain, adapt to poor working conditions, cut production cost, improve tunnel profiling precision, reduce labor intensity and increase production efficiency. The goal of this thesis is to achieve automatic cross section profiling of longitudinal axis boom-type roadheader. Kinematics, dynamics and electro-hydraulic proportional control system for the roadheader are analyzed and modelled. Monitoring theory of cross section contour, as well as cutting trajectory planning theory and control strategy are studied.
The overall coordinate system of roadheader is constructed, and close kinematics loop is established. Kinematics of manipulator, body and roadheader are analyzed using the theory of homogeneous transformation and robotic kinematics, and the kinematics equations in the joint space and the drive space are established, and spatial position of roadheader cutting head are given. Kinematics simulations are completed.
Cutting resistance forces are analyzed and studied. Based on the D'Alembert principle and the Lagrange equation, the joint generalized force, the joint generalized torque and the dynamic model of the roadheader manipulator are established. Research showed that the dynamatics equation is closely related to the form and the position of the manipulator, and have the characteristics of non-linear and strong-coupling.
The pressure compensation electro-hydraulic proportional system of the roadheader is designed, and the working principle of LSS (Load Sensing System) is analyzed. Models of the hydraulic control system for the roadheader manipulator are deduced. Some key parameters are estimated and identified. Study showed that the hydraulic control system model is multi-variable, slow time-varying and non-linear.
Real-time monitor of the position of the cutting head and the size of the contour is very important to automatic cross section profiling. From structure of the cutting head, coordinates of pick are established according to position of contour boundary. Relations among the cutting limit scope of the pick, the joint angle of the manipulator, and the cutting depth are analyzed, and coordinates of the contour boundary are given. Curve equation and coordinate of the cross section contour and the directional expression of tunnel centerline are established.
Shapes of the cutting trajectory are analyzed and summarized, and trajectory plannings of the manipulator in the joint space and the driving space are developed by straight-line interpolation method with parabola transition, and simulations are carried out. Calibrations of the non-parallel cross section and adjustments of the cross section are studied.
With the joint angle, the cylinder drive force, the cylinder output speed and travel as controlled objects, control strategies of accurate trajectory tracking for the manipulator are studied, which include non-linear PID control of the joint angle, variable structure control of the cylinder drive force and model reference adaptive control of the cylinder output travel. Control algorithms are designed, and simulations and experiments are carried out. It is shown whatever for control precision and velocity the accurate trajectory tracking is reached using the adaptive control of the cylinder drive velocity and travel. So the adaptive control in the thesis can be utilized for trajectory tracking control of the manipulator. The results of experiment proved the validity of the fundamental research.
引文
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