无人值守掘进机行走双模态模糊控制策略

摘要

In order to solve problem that walking trajectory of unattended roadheader deviated from center line of roadway,the motion model of roadheader was established based on analysis of excavation construction procedure,and the fuzzy control strategy of walking of unattended roadheader based on dualmodality structure was proposed to realize directional adjustment and forward control.Relationship between steering angle and driving wheel speed and establishment of fuzzy control model were mainly focused.The experiment results indicate that the control strategy can satisfy requirements of excavation construction procedure of roadheader.%为了解决无人值守掘进机在行走过程中行走轨迹偏离巷道中线的问题,在分析掘进机掘进施工程序的基础上,建立了掘进机运动模型,并提出了基于双模态结构的无人值守掘进机行走模糊控制策略,实现了掘进机的方向调整、前行控制,侧重介绍了掘进机转向角与驱动轮转速的关系方程和模糊控制模型建立方法.实验结果表明,所建立的控制策略满足掘进机的掘进施工程序要求.