工程设计学报2025，Vol.32Issue(3)：296-307,12.DOI:10.3785/j.issn.1006-754X.2025.04.172
基于改进GWO算法的掘进机断面成形轨迹规划方法研究
Research on trajectory planning method for roadheader section forming based on improved GWO algorithm
摘要
Abstract
Roadway section forming is an important process in coal mine boring process.However,the current roadway section forming operation is mostly carried out through manual control of the roadheader for reciprocating cutting,which restricts the intelligent development of coal mine boring face.Therefore,in view of the problems that the section forming trajectory planning does not consider the characteristics of coal and rock and has a single optimization objective,a trajectory planning method for the roadheader section forming based on the improved grey wolf optimizer(GWO)algorithm is proposed.Firstly,the cutting section environment was divided into four situations according to the location of the gangue,and the corresponding sections were rasterized and the raster maps were established.Meanwhile,the binary expansion method was used to expand the irregular gangue.Then,the GWO algorithm was improved to enhance its optimization performance and convergence speed.Nextly,simulation experiments were carried out to realize the planning of section forming trajectories for roadheader under four environments by using the improved GWO algorithm.Finally,the section cutting experiments were conducted by the roadheader prototype.The simulation results showed that compared with the traditional GWO algorithm,the improved GWO algorithm had a faster convergence speed and higher convergence accuracy.Under the four section environments,the section forming trajectory planned based on the improved GWO algorithm had the shortest length,the smallest under-excavated area and the least number of turns,which made it easier to realize high-precision and high-efficiency trajectory tracking control,thereby ensuring the roadway section forming quality.The experimental results showed that the section forming trajectory planned based on the improved GWO algorithm not only improved the cutting efficiency of the roadheader,but also met the quality requirements of the roadway section forming.The research results can provide new ideas and methods for the development of intelligent boring technology in coal mines.关键词
掘进机/轨迹规划/断面成形/欠挖面积/灰狼优化算法Key words
roadheader/trajectory planning/section forming/under-excavated area/grey wolf optimizer algorithm分类
矿业与冶金引用本文复制引用
张旭辉,汤杜炜,杨文娟,董征,田琛辉,余恒翰..基于改进GWO算法的掘进机断面成形轨迹规划方法研究[J].工程设计学报,2025,32(3):296-307,12.基金项目
国家自然科学基金资助项目(52104166) （52104166）
中国博士后科学基金面上项目(2022MD723826) （2022MD723826）
陕西省重点研发计划资助项目(2023-YBGY-063) （2023-YBGY-063）
