工矿自动化2012，Vol.38Issue(2)：29-31,3.DOI:32-1627/TP.20120113.1302.009
悬臂式掘进机机身位姿误差消除策略的研究
Research of Errors Elimination Strategy of Body Pose of Boom-type Roadheader
摘要
Abstract
The paper proposed an errors elimination strategy of body pose of boom-type roadheader based on detection system of body pose of boom-type roadheader. Control principle of the strategy is as follows: judging pose errors size of each direction according to data collected by detection system of body pose of boom-type roadheader; adjusting boom-type roadheader through controlling track, shovel and support bracket to reduce errors of each direction of body when the errors are big; setting correct position of cutting contour and making automatic cutting according to current pose errors when the errors are reduced to control compensation range of cutting arm; calculating compensation quantity of residual pose errors of each direction and controlling boundary position of cutting section in automatic flitching process according to the compensation quantity. The strategy has certain reference for realizing automatic directional tunnelling and remote control of tunnelling.关键词
悬臂式掘进机/位姿检测/位姿误差/定向掘进/掘进远程控制Key words
boom-type roadheader/pose detection/pose error/directional tunnelling/remote control of tunnelling分类
矿业与冶金引用本文复制引用
杜毅博,穆晶,李睿,刘建功,吴淼..悬臂式掘进机机身位姿误差消除策略的研究[J].工矿自动化,2012,38(2):29-31,3.基金项目
国家高技术研究发展计划("863"计划)资源环境领域重点项目(2008AA062201) （"863"计划）
