Self-positioning Cutting Control Methods and Experimental Research for Coal Mine Roadheaders

被引：0

作者：

Liu, Songyong ^{[1
]}

Wu, Hongzhuang ^{[2
]}

Cheng, Cheng ^{[2
]}

Song, Mingjiang ^{[1
,3
]}

Gui, Yuming ^{[4
]}

机构：

[1] School of Mcchatronic Engineering, China University of Mining and Technology, Jiangsu, Xuzhou,221116, China

[2] School of Future Science and Engineering, Soochow University, Jiangsu, Suzhou,215021, China

[3] Taiyuan Research Institute Co.,Ltd., China Coal Science & Industry Group, Taiyuan,030006, China

[4] School of Mcchatronic Engineering, Jiangsu Normal University, Jiangsu, Xuzhou,221116, China

来源：

Zhongguo Jixie Gongcheng/China Mechanical Engineering | 2024年 / 35卷 / 07期

关键词：

Adaptive control systems - Backstepping - Tracking (position);

D O I：

10.3969/j.issn.1004-132X.2024.07.020

中图分类号：

学科分类号：

摘要：

A self-positioning cutting control methods were proposed, and the experimental studies of roadheaders were conducted herein. An self-positioning cutting control strategy was proposed. The monocular vision and deep learning based six degrees of freedom pose detection method for roadheader body and the double-layer fuzzy adaptive backstepping control method with prescribed performance were utilized to achieve the self-positioning cutting of roadheaders. The tracking control of cutting head was realized at arbitrary body poses of the roadheaders. The cutting head tracking control experiments were carried out under two different body poses of the roadheaders. The experimental results illustrate that the maximum contour errors arc within 48 mm and 52 mmCabout 2.14% and 2.32%) respectively, which verifies the effectiveness of the proposed self-positioning cutting control method for the roadheaders. © 2024 Chinese Mechanical Engineering Society. All rights reserved.

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页码：1318 / 1329

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