1.College of Mechanical & Information Engineering,China University of Mining and Technology (Beijing),Beijing ,China；2.College of Mechanical and Electronic Engineering，Shandong University of Science and Technology，Qingdao ,China

In order to study the reliability of anti-skid control of cantilever roadheader when developing on complex floors, based on the analysis of the characteristics of roadway floor in fully mechanized face, the calculation functions of track slip and traction force of the roadheader under different conditions were obtained.The traction force of the roadheader decreases rapidly with the increase of the slippage, which seriously affects the normal excavation of the roadheader.The calculation method of the expected slippage rate of the roadheader under different road conditions was obtained.By analyzing the excavation resistance of the roadheader, the dynamic model of the roadheader in inclined roadway was established, and the anti-slip control method of the track of the PID roadheader based on BP neural network model was put forward.The system simulation model and hydraulic model were established by Simulink and AMESim.The control algorithm was obtained based on matlab, and three typical anti-skid control situations of floor were simulated.The simulation results show that the BP neural network PID anti-skid control system has excellent control accuracy, response speed and environmental adaptability, and this can ensure the normal tunneling of roadheaders under different road conditions.

国家重点基础研究计划（973计划）基金资助项目（2014CB046306）；山东省博士基金资助项目（ZR2018BEE014）