The pitch angle of a roadheader is the key factor to ensure the quality during the formation of a roadway. Various control strategies have been employed to adjust the attitude angle of different cars or planes to achieve distinct goals for a roadheader. In this paper, we established a mathematical model of the pitch angle and adjustment actuator, as well as their transitive relation. The model was verified experimentally using a real roadheader. The accuracy in the adjustment of the pitch angle was analyzed using the model by designing and simulating the PID controller, fuzzy logic controller (FLC), and dynamic error elimination controller (DEEC). The performance of the controllers were tested by simulation and experiment using four types of input signal. The responses were compared with the expected results. The DEEC reduced the response time and overshoot but increased the robustness. Thus, this controller is better than the PID and FLC.

Study on the pitch angle control of a robotized hydraulic drive roadheader using different control methods

The purpose of this work is to improve the cutting stability of robotized roadheader through the full coverage cutting path planning of the coal lane cross-section containing gangue. Cutting gangue...

Full coverage cutting path planning of robotized roadheader to improve cutting stability of the coal lane cross-section containing gangue:

Accurately mastering the power transmission characteristics of the cutting arm transmission shaft system is key to improving the reliability and working capacity of the cantilever roadheader. Based on the rigid–flexible coupling vibration characteristic modeling of the roadheader cutting arm, the vibration characteristics of different substructures in the transmission shaft system of the roadheader cutting arm were considered, the dynamic characteristic model was comprehensively constructed, and the numerical analysis was carried out with the parameters of the XTR260 tunnel hard rock roadheader to compare the vibration characteristics of the cutting head under different cutting conditions. The experiment was carried out by using an artificial concrete wall, and the measurement results verify the established dynamic model that lays the foundation for the dynamic design of a high-performance roadheader.

/pdf/cutting-mechanism-rotor-system-dynamic-characteristics-of-3j159ulq.pdf

Cutting Mechanism Rotor System Dynamic Characteristics of Cantilever Roadheader under Random Hard Rock Load

A Real-Time Autonomous Calibration Method for an Attitude Laser Measurement System for the Roadheader

The safe and stable operation of roadheader is of great significance to the efficient and rapid production of a coal mine. Health diagnosis based on vibration signals has been studied in bearings and motors. Complex geological conditions and bad working environment lead to the characteristics of nonlinear and time-varying vibration signals of a roadheader. In this paper, a health state analysis method based on reference manifold (RM) learning and improved K-means clustering analysis was proposed; the method was verified by using the real-time collected roadheader cutting reducer fault signal. Firstly, the comparison signal and analysis signal were extracted from the actual collected vibration data of the roadheader, and the referential analysis samples were constructed through time domain and wavelet packet energy analysis. Then, the characteristic structure of the low-dimensional space of the referential analysis samples is obtained by Locally Linear Embedding (LLE), which is a method of manifold learning. Through the improved K-means clustering analysis method, the low-dimensional structure parameters were analyzed and the clustering effect index was obtained, which was used as the health evaluation index (HEI). Finally, the normal distribution model of the health evaluation index is established, and the confidence interval of the health evaluation index is determined, so as to realize the health state analysis of the roadheader and realize the fault warning function. Through the analysis of data of three sensors, the results show that the roadheader failed on the 15th day, which is consistent with the actual working condition. Through practical analysis, the effectiveness of the method was verified and provided a kind of fault analysis idea and method for equipment working under complex working conditions and the theoretical basis for fault type analysis.

/pdf/health-diagnosis-of-roadheader-based-on-reference-manifold-2zhv4ywggy.pdf

Health Diagnosis of Roadheader Based on Reference Manifold Learning and Improved K-Means

The intense vibration of a roadheader rotary table damages the cutting system of the roadheader and reduces the efficiency. This paper analyzes the vibration of a rotary table by combining the finite element model with tested data from an underground coalmine. First, the force of the rotary table during the cutting procedure was analyzed, and the finite element model was built using Pro/E and ADAMS. The tested data were then imported into the model after selection, procession, and combination were conducted. Next, the six lowest-order parameters of the rotary table were calculated. A vibration analysis of the rotary table under certain working conditions was conducted, and the results were compared with those from a modal experiment using a single-point excitation method. According to the comparison between the simulation result and experiments, it is clear that this method is both reasonable and feasible. And it could supplement the theoretical foundation of the analysis of other roadheader components, providing reference for the improvement of the structure and dynamic properties of a roadheader. In addition, other vibration components of a roadheader such as the cutting head and the cutting arm could also be analyzed through the proposed method, with very reliable precision.

/pdf/analysis-of-vibration-of-roadheader-rotary-table-based-on-1op2uyoddb.pdf

Xiaodong Ji

Papers

Analysis of Vibration of Roadheader Rotary Table Based on Finite Element Method and Data from Underground Coalmine

Health Diagnosis of Roadheader Based on Reference Manifold Learning and Improved K-Means