针对煤矿井下掘进机控制过程中,容易出现超挖、欠挖等问题。以掘进机在复杂的倾斜环境中,采用几何投影法,建立截割头的空间实时位置与巷道断面范围的空间数学模型。利用MATLAB软件平台,对断面成形进行控制仿真,验证了截割运动建模的正确性,为掘进机器人断面截割成形的准确控制奠定了基础。 Aimed at the coal mine tunnel boring machine control process, prone to over-excavation, under-dig and other issues. In the complicated tilting environment of roadheader, the geometrical projection method is used to establish the space mathematic model of the real-time position of the cutting head and the cross-section of the roadway. The MATLAB software platform was used to simulate the cross-section forming and verified the correctness of the cutting motion modeling, which laid the foundation for accurate control of cross-section cutting forming of the driving robot.