Abstract
Abstract
The control of dynamic spatial posture for cantilever roadheader is one of the vital problems for intelligent mining, which directly affect the forming quality of cutting tunnel. Therefore, this paper proposed an intelligent optimal combination compensation strategy to adjust the real-time dynamic posture of cantilever roadheader. First, based on the topological structure analysis of cantilever roadheader, the structural loop compensation model for spatial posture deviation was established. Afterward, the principal component analysis (PCA) and multi-objective particle swarm optimization (MPSO) algorithm were applied to improve the analysis speed and accuracy of posture deviation. Finally, parallel dynamic cooperative optimization (PDCO) strategy was combined to achieve the accurate adjusting of posture deviation. The actual experimental and application results indicate that the intelligent optimal combination compensation strategy proposed in the paper can significantly improve the accuracy of the cutting tunnel. The intelligent optimal compensation strategy proposed in this paper transforms the transient spatial posture deviation into structural loop compensation, and implements by parallel cooperative strategy, finally to realize the fast analysis and efficient implementation of spatial dynamic posture deviation for cantilever roadheader during cutting process. The work of this paper provides an effective reference for intelligent deep and remote underground mining, and it can also be applied to effective control of dynamic spatial posture for intelligent engineering machinery products.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Reference19 articles.
1. [1] http://www.chinacoal-safety.gov.cn/gk/tzgg/201901/t20190109_223745.shtml
2. [2] Shaffer, G. K. and Stentz, A. , “A Robotic system for underground coal mining,” IEEE International Conference on Robotics and Automation, (1992) pp. 633–638.
3. A Parallel Robot Error Comprehensive Compensation Method
4. Determination method of index weight based on principal component analysis;Han;J. Sichuan Mil Eng,2012
Cited by
2 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献