井下掘进机行进纠偏调度规划与控制研究
Study on path planning and tracking of the underground mining road-header
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摘要: 根据井下掘进机行进特点制定机身纠偏路径规划,建立掘进机履带式行走位姿偏差模 型;以履带移动线速度和转向角速度作为路径跟踪控制输入量,基于滑模控制器理论设计控制律 以确保位姿偏差的收敛性;利用李雅普诺夫稳定原则证明了路径跟踪控制的稳定性;以某结构尺 寸的掘进机为对象,对多种典型偏航情况进行了机身的纠偏调度仿真。 结果表明,基于位姿偏差 的路径跟踪控制能在有限的调度周期内实现机身纠偏,掘进机的纠偏路径规划和路径跟踪调度 方案整体合理可行,可为深入研究煤巷自动掘进提供良好基础。Abstract: Accordingtotheworkingcharacteristicsoftheundergroundroad-header,pathplanningand movementsschedulingforpathcorrectionoftheroad-headerisformulated.Thepositionandorientation errorsoftheroad-headerduringworkingarealsopresentedbasedonitskinematicmodel.Takingthe workingspeedandturningangularspeedascontrolinputs,thecontrollawisdesignedandsimplifiedto ensurethe convergence of position and orientation errors based on the theory of sliding mode control.ThestabilityoftheproposedcontrolsystemisprovedbyusingtheprincipleofLyapunov.Thecorrespondingsimulationsshowthatthedesignedtrackingcontrolenablestheroad-headertocomebackto theaimedpathwithinlimitedadjustingsteps,Thewholeschedulingschemeintroducedforpathcorrectionisreasonableandfeasible,andcanprovideapositivefoundationforfurtherstudyofautomaticmininginthecoalindustry.
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