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通过对掘进机截割过程的分析,建立了工作机构工作参数和巷道断面尺寸之间的数学模型,导出了悬臂转角、液压缸行程及截割头空间坐标的位置关系。在此基础上,开发了以单片机为核心的悬臂式掘进机切割的控制系统,可精确控制悬臂的摆动行程,并实时反应截割头所在位置,实现了基于负载反馈的掘进机截割机构的调速。该系统可对电动机参数进行连续在线检测,自动进行截割电动机的恒功率控制,并采用CAN总线技术编制了CAN节点通信程序,实现了系统的网络通信。
Based on the analysis of the cutting process of TBM, the mathematical model between the working parameters and the section size of the tunnel is established, and the position relationship between the boom angle, the stroke of the hydraulic cylinder and the space coordinates of the cutting head is derived. On this basis, the control system of the cantilever boring machine cutting with the single chip microcomputer as the core is developed, which can precisely control the swinging stroke of the cantilever and reflect the position of the cutting head in real time, so as to realize the boring machine cutting mechanism based on load feedback Speed. The system can continuously detect the motor parameters continuously and automatically control the constant power of the cutting motor. The CAN bus communication program is programmed by CAN bus technology to realize the network communication of the system.