悬臂式掘进机巷道断面自动精确成形系统研发
发布时间：2019-07-02 16:02
【摘要】：综掘工作面自动化和无人或少人化、数字化、智能化、信息化的研究,一直以来都是国内外采煤行业所追求的目标。矿井的工作条件及环境通常极为恶劣苛刻,而且掘进机工作装置的载荷特别复杂,工人操作掘进机时的视野差,所以通过工人井下手动操作掘进机进行截割作业非常困难,准确控制掘进机的车体位姿更是无从谈起。断面的成形质量和施工安全往往取决于人为因素,并且掘进效率低,工人劳动强度大,掘进机的驱动能力不能充分发挥,工人的施工安全和人身健康得不到切实有效的保障。本文的主要目标是实现悬臂式掘进机的断面自动精确成形,对掘进机的自动化截割具有重要理论价值和现实意义。首先通过机器人运动学和齐次坐标变换原理构建掘进机车体的全局坐标系和掘进机的运动学方程,建立了掘进机截割头相对于巷道坐标系的关系,为在关节空间和驱动空间的轨迹规划奠定基础；其次,对掘进机作业过程的工艺路径进行分析,分别对不同的路径采用不同的轨迹规划算法进行规划,获得时间最优、冲击最小的轨迹规划,以提高掘进机的掘进效率和掘进安全性能；通过研究截割头与巷道断面的位置关系,确定工艺路径上拐点的位置,提高断面的成形精度,并使用MATLAB进行仿真验证；最后通过VC++与MATLAB混合编程开发悬臂式掘进机断面自动成形规划系统,并通过三菱PLC的编程口通信协议实现了上位机与PLC的通讯,完成对FX2N数据寄存器的读写,并且制定通讯指令的格式。本文的创新之处在于以下几个方面：第一,通过对几种常见标准巷道断面工艺路径的确定,划分了截割轨迹的种类。对于水平直线段,在驱动空间内使用高阶多项式过渡的线性插值对其进行规划；对于非水平直线段,使用曲线特性优良的组合正弦曲线进行轨迹规划,并借助MATLAB的polyfit函数实现五次多项式的拟合,得到了满足要求的关节和驱动空间位置、速度和加速度曲线。第二,首次针对梯形斜边和圆弧拱顶建立了截割精度数学模型,提出了以截割精度为目标函数,用“近似迭代法”来寻找梯形断面和圆弧拱顶断面自动成形工艺路径中拐点位置,提高了截割断面的精度,这种方法不仅适用于梯形断面和圆弧拱顶断面,还可推广到一般的非矩形断面拐点位置的计算,具有一定的通用性,为断面的精确成形奠定了坚实的基础。第三,通过VC++调用M文件编译成的DLL完成了掘进机断面自动成形系统的开发。这样既能够使用VC++高效的开发界面,又能够利用MATLAB简单的实现复杂的算法,大大提高了开发效率。
[Abstract]:The research on automation, unattended, digitization, intelligence and informatization of fully mechanized mining face has always been the goal of coal mining industry at home and abroad. The working conditions and environment of the mine are usually extremely harsh, and the load of the working device of the roadheader is particularly complex, and the field of vision of the workers operating the roadheader is poor, so it is very difficult to cut through the manual operation of the roadheader, and it is impossible to accurately control the position and posture of the roadheader. The forming quality and construction safety of the section often depend on human factors, and the excavation efficiency is low, the labor intensity of the workers is high, the driving ability of the roadheader can not be brought into full play, and the construction safety and personal health of the workers can not be effectively guaranteed. The main goal of this paper is to realize the automatic and accurate forming of the section of the cantilever roadheader, which is of great theoretical value and practical significance for the automatic cutting of the roadheader. Firstly, the global coordinate system of the roadheader body and the kinematic equation of the roadheader are constructed by the principle of robot kinematics and homogeneous coordinate transformation, and the relationship between the cutting head of the roadheader and the roadway coordinate system is established, which lays the foundation for the trajectory planning in the joint space and the driving space. Secondly, the process path of roadheader operation process is analyzed, and different trajectory planning algorithms are used to plan different paths, and the trajectory planning with optimal time and minimum impact is obtained in order to improve the efficiency and safety performance of roadheader. By studying the position relationship between the cutting head and the roadway section, the position of the inflection point on the process path is determined, and the forming accuracy of the section is improved, and the simulation verification is carried out by MATLAB. Finally, the automatic forming planning system of cantilever roadheader section is developed by mixed programming of VC and MATLAB, and the communication between upper computer and PLC is realized through the programming port communication protocol of Mitsubishi PLC, the reading and writing of FX2N data register is completed, and the format of communication instruction is worked out. The innovation of this paper lies in the following aspects: first, through the determination of the technological paths of several common standard roadway sections, the types of cutting tracks are divided. For the horizontal line segment, the linear interpolation of high-order polynomial transition is used to plan the horizontal line segment, and for the non-horizontal line segment, the combined sinusoidal curve with excellent curve characteristics is used for trajectory planning, and the quintic multinomial fitting is realized with the help of polyfit function of MATLAB, and the joint and driving space position, velocity and acceleration curves are obtained. Secondly, the mathematical model of cutting accuracy is established for the first time for ladder oblique edge and circular arc arch roof. Taking the cutting accuracy as the objective function, the "approximate iteration method" is used to find the inflection point position in the automatic forming process path of ladder section and circular arc arch roof section, which improves the accuracy of cutting section. This method is not only suitable for ladder section and circular arc arch roof section, but also can be extended to the calculation of the inflection point position of non-rectangular section. It has certain generality and lays a solid foundation for the accurate forming of the section. Thirdly, the automatic forming system of roadheader section is developed by calling DLL compiled by VC. In this way, not only the efficient development interface of VC can be used, but also the complex algorithm can be realized simply by using MATLAB, which greatly improves the development efficiency.
【学位授予单位】：山东大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TD421.5
[Abstract]:The research on automation, unattended, digitization, intelligence and informatization of fully mechanized mining face has always been the goal of coal mining industry at home and abroad. The working conditions and environment of the mine are usually extremely harsh, and the load of the working device of the roadheader is particularly complex, and the field of vision of the workers operating the roadheader is poor, so it is very difficult to cut through the manual operation of the roadheader, and it is impossible to accurately control the position and posture of the roadheader. The forming quality and construction safety of the section often depend on human factors, and the excavation efficiency is low, the labor intensity of the workers is high, the driving ability of the roadheader can not be brought into full play, and the construction safety and personal health of the workers can not be effectively guaranteed. The main goal of this paper is to realize the automatic and accurate forming of the section of the cantilever roadheader, which is of great theoretical value and practical significance for the automatic cutting of the roadheader. Firstly, the global coordinate system of the roadheader body and the kinematic equation of the roadheader are constructed by the principle of robot kinematics and homogeneous coordinate transformation, and the relationship between the cutting head of the roadheader and the roadway coordinate system is established, which lays the foundation for the trajectory planning in the joint space and the driving space. Secondly, the process path of roadheader operation process is analyzed, and different trajectory planning algorithms are used to plan different paths, and the trajectory planning with optimal time and minimum impact is obtained in order to improve the efficiency and safety performance of roadheader. By studying the position relationship between the cutting head and the roadway section, the position of the inflection point on the process path is determined, and the forming accuracy of the section is improved, and the simulation verification is carried out by MATLAB. Finally, the automatic forming planning system of cantilever roadheader section is developed by mixed programming of VC and MATLAB, and the communication between upper computer and PLC is realized through the programming port communication protocol of Mitsubishi PLC, the reading and writing of FX2N data register is completed, and the format of communication instruction is worked out. The innovation of this paper lies in the following aspects: first, through the determination of the technological paths of several common standard roadway sections, the types of cutting tracks are divided. For the horizontal line segment, the linear interpolation of high-order polynomial transition is used to plan the horizontal line segment, and for the non-horizontal line segment, the combined sinusoidal curve with excellent curve characteristics is used for trajectory planning, and the quintic multinomial fitting is realized with the help of polyfit function of MATLAB, and the joint and driving space position, velocity and acceleration curves are obtained. Secondly, the mathematical model of cutting accuracy is established for the first time for ladder oblique edge and circular arc arch roof. Taking the cutting accuracy as the objective function, the "approximate iteration method" is used to find the inflection point position in the automatic forming process path of ladder section and circular arc arch roof section, which improves the accuracy of cutting section. This method is not only suitable for ladder section and circular arc arch roof section, but also can be extended to the calculation of the inflection point position of non-rectangular section. It has certain generality and lays a solid foundation for the accurate forming of the section. Thirdly, the automatic forming system of roadheader section is developed by calling DLL compiled by VC. In this way, not only the efficient development interface of VC can be used, but also the complex algorithm can be realized simply by using MATLAB, which greatly improves the development efficiency.
【学位授予单位】：山东大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TD421.5
【相似文献】
相关期刊论文 前10条
1 汪胜陆;孟国营;田R，
本文编号：2509070
本文链接：https://www.wllwen.com/kejilunwen/kuangye/2509070.html
