Research on Path Planning and Control Method for Secondary Autonomous Cutting of Cantilever Roadheader in a Large-Section Coal Roadway
نویسندگان
چکیده
A cantilever roadheader is the main tunneling equipment for underground coal mine roadways. The key to safe, efficient and intelligent development of enterprises achieve autonomous cutting control roadheader. In order realize automatic shaping a large-section roadway, path planning method secondary were studied. Wangjialing 12307 belt roadway was used as engineering background, vertical displacement law roof under different paths simulated with FLAC 3D software, reasonable determined according actual situation, industrial test carried out. simplified model spatial position attitude coordinate system established, kinematics analyzed, expression head center in obtained. pick derived, inflection point step distance relationship between boundary, flow designed. Finally, reliability verified MATLAB simulation. research works provide theoretical foundation “secondary roadheader”.
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ژورنال
عنوان ژورنال: Sustainability
سال: 2022
ISSN: ['2071-1050']
DOI: https://doi.org/10.3390/su15010560