摘要
针对工况复杂且存在封闭边界的悬臂式掘进机在煤矿井下的受限巷道空间,为实现掘进机在工作空间内的自主纠偏并提高巷道断面截割质量,提出一种区域栅格化的掘进机自主纠偏方法。首先将综掘巷道环境自适应划分为区域栅格,并提出掘进机纠偏影响度作为模型降维与简化的指标,之后结合掘进机自身运动特点与实际工况,建立掘进机在栅格场景中的自主纠偏运动模型,并结合PID算法与神经网络的自主纠偏算法。基于EBZ-55掘进机与模拟巷道,与传统PID控制算法对比仿真结果验证了此种场景建模方法与纠偏算法的可行性与先进性。
The working conditions of roadheader are complex and closed boundary in the underground coalmine limited roadway space.To realize the auto rectification of the roadheader and improve the cutting quality,an auto rectification planning method based on the regional grid is proposed.First,the limited roadway space is divided into regional grid.Then,the rectification influence degree is presented as the metric of the model simplication.Based on the motion characteristics and practical condition of the roadheader,the auto rectification kinematic model is formulated in the regional grid map.The rectification algorithm is based on the combination of PID and neural network.Compared with the traditional PID controller,the experimental results show that the proposed model and rectification algorithm are feasible and advanced by utilizing EBZ-55 roadheader and simulated roadway.
作者
张敏骏
蔡岫航
吕馥言
宗凯
吴淼
Zhang Minjun;Cai Xiuhang;Lv Fuyan;Zong Kai;Wu Miao(School of Mechatronical ＆ Information Engineering, China University of Mining ＆ Technology （Beijing） , Beijing 100083, China;College of Mechanical and Electronic Engginering, Shandong University of Science and Technology, Qingdao 266590, China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2018年第3期62-70,共9页
Chinese Journal of Scientific Instrument
基金
国家重点基础研究发展计划(973计划)(2014CB046306)项目资助
作者简介
张敏骏（通信作者），2014年于中斟矿业大学（北京）获得学士学位，现为中国矿业大学（北京）博士研究生，主要研究方向为智能化矿山设备。E—mail：zmj0424@qq．com;吴淼，1992年于中国矿业大学扶得博士学位，现为中国矿业大学（北京）教授、博士生导师，主要研究方向为矿山设备机电一体化与智能化仪器。E—mail：wum@cumtb．edu．cn
