Institute of Energy Engineering, Shanxi Institute of Science and Technology
College of Energy and Materials Engineering, Taiyuan University of Science and Technology

煤岩硬度显著影响悬臂式掘进机空间运行状态，分析掘进机空间运行状态与煤岩硬度变化的关联性，有助于更好地实现悬臂式掘进机自动化截割控制。为提高截割控制精度，提出了一种考虑煤岩硬度的悬臂式掘进机截割控制方法。根据动力学原理获得了悬臂式掘进机空间运行状态与煤岩硬度变化的关系，得出随着截割头与目标点之间的距离、运动范围半径及动态角度增大，截割头的运行稳定性会相应提高。采用加权平衡的方式确定自动化控制参数，采用PID控制和闭环模糊控制方法实现掘进机自动化截割控制。实验结果表明，该方法横向控制和纵向控制都表现出较好的性能，掘进机截割头摆速在2 s内达到稳定值，动态工作稳定性好；悬臂式掘进机截割头回转和升降角度变化轨迹与期望轨迹之间的吻合度较高，整体偏离程度较小，控制精度较高。

The coal rock hardness significantly affects the spatial operation status of boom-type roadheader. Analyzing the correlation between the spatial operation status of roadheader and changes in coal rock hardness can help better achieve automatic cutting control of boom-type roadheader. To improve the cutting control precision, a boom-type roadheader cutting control method considering coal rock hardness is proposed. Based on the principles of dynamics, the relationship between the spatial operation status of the boom-type roadheader and the changes of coal rock hardness is obtained. It is found that as the distance between the cutting head and the target point, the radius of the motion range, and the dynamic angle increase, the operational stability of the cutting head will correspondingly improve. The automation control parameters are determined using a weighted balance method, and PID control and closed-loop fuzzy control methods are used to achieve automatic cutting control of the roadheader. The experimental results show that the method exhibits good performance in both horizontal and vertical control. The cutting head swing speed of the roadheader reaches a stable value within 2 seconds, and the dynamic working stability is good. The alignment between the trajectory of the rotation and lifting angle change of the boom-type roadheader's cutting head and the expected trajectory is high, and the overall angle deviation is small, resulting in high control precision.

山西省基础研究计划项目（202303021211209）。

许向前，简阔，王宁，等. 考虑煤岩硬度的悬臂式掘进机截割控制[J]. 工矿自动化，2024，50（4）：153-158.

XU Xiangqian, JIAN Kuo, WANG Ning, et al. Cutting control of boom-type roadheader considering coal rock hardness[J]. Journal of Mine Automation，2024，50（4）：153-158.