中国机械工程2024，Vol.35Issue(7)：1318-1329,12.DOI:10.3969/j.issn.1004-132X.2024.07.020
煤矿掘进机自定位截割控制方法及试验研究
Self-positioning Cutting Control Methods and Experimental Research for Coal Mine Roadheaders
摘要
Abstract
A self-positioning cutting control methods were proposed,and the experimental studies of roadheaders were conducted herein.An self-positioning cutting control strategy was proposed.The monocular vision and deep learning based six degrees of freedom pose detection method for roadheader body and the double-layer fuzzy adaptive backstepping control method with prescribed performance were utilized to achieve the self-positioning cutting of roadheaders.The tracking control of cutting head was realized at arbitrary body poses of the roadheaders.The cutting head tracking control experi-ments were carried out under two different body poses of the roadheaders.The experimental results il-lustrate that the maximum contour errors are within 48 mm and 52 mm(about 2.14％and 2.32％)re-spectively,which verifies the effectiveness of the proposed self-positioning cutting control method for the roadheaders.关键词
巷道掘进机/位姿检测/轨迹跟踪控制/自定位截割Key words
roadheader/pose detection/trajectory tracking control/self-positioning cutting分类
矿业与冶金引用本文复制引用
刘送永,吴洪状,程诚,宋明江,崔玉明..煤矿掘进机自定位截割控制方法及试验研究[J].中国机械工程,2024,35(7):1318-1329,12.基金项目
江苏省杰出青年基金(BK20211531) （BK20211531）
徐州市重点研发计划(KC22404) （KC22404）
江苏省产学研合作项目(BY20230191) （BY20230191）
江苏师范大学博士学位教师科研支持项目(22XFRS011) （22XFRS011）
