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分析了掘进机器人截割臂的结构特点及动力学特性,建立了截割臂横摆动力学模型。利用了滑模控制算法对参数变化和扰动不灵敏特点,对截割臂横摆角度和长度控制进行了研究,并利用自适应技术对不确定负载进行在线估计。对截割臂横摆角速度跟踪控制和水平截割控制进行了仿真。仿真结果表明该方法是可行的,对煤岩特性变化具有较好的鲁棒性。研究结论为掘进机器人的煤岩截割控制及快速断面成形问题提供了重要的理论指导。
The structural characteristics and dynamic characteristics of cutting robot arm are analyzed. The yaw dynamics model of cutting arm is established. The sliding mode control algorithm is used to control the characteristics of the parameter variation and perturbation. The control of the yaw angle and length of the cutting arm is studied, and the on-line estimation of the uncertain load is carried out by using the adaptive technique. The yaw rate tracking control and horizontal cutting control of the cutting arm are simulated. The simulation results show that this method is feasible and has good robustness to the change of coal and rock properties. The conclusion of the study provides important theoretical guidance for the control of coal-rock cutting and the rapid cross-section forming of tunneling robots.