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螺旋钻采煤机在钻采过程中,由于受地质条件等因素的影响,钻具容易发生偏斜。采煤过程中钻具的纠偏,对提高生产效率、延长钻具寿命具有重要意义。构建了煤层的造斜力模型,采用三轴加速度传感器MPU6050获取钻具偏斜角度,结合PID控制算法,通过电液伺服阀对钻具进行纠偏,保证了采煤机的定向钻进。
During the process of drilling, the boring machine is prone to deflection because of the geological conditions and other factors. Correction of drilling tools during coal mining is of great significance to improving production efficiency and prolonging the life of drilling tools. The model of the inclined force of coal seam was built. The triaxial acceleration sensor MPU6050 was used to obtain the angle of the tool. By combining the PID control algorithm and the electro-hydraulic servo valve, the drilling tool was rectified to ensure the directional drilling of shearer.