Roadheader horizontal swing movement based on VP technology and SVR algorithm

Abstract

In tunnel construction, over-excavation and under-excavation by the roadheader often occur, which can lead to rough excavation cross-sections that require subsequent treatment resulting in additional time and cost. With a view to improving the quality of excavated tunnels, increasing the speed of the roadheader in tunneling applications, and accurately controlling the excavation process, a virtual prototype (VP) of the roadheader is built using Pro/Engineer, ADAMS, ANSYS, and EASY5. A mechanical model of the system is established and relationships between hydraulic piston expansion length, speed, and boom swing angle are determined. Then, a support vector regression (SVR) internal model controller is introduced into the roadheader swing system. An electromechanical fluid coupling automatic control system model is also established. Combining VP technology with the SVR algorithm, an internal model and inverse model of the roadheader horizontal swing system are obtained. Multi-domain co-simulations are performed. When the SVR internal model controller is incorporated, the gyration platform is more reliable, and the target position can be quickly tracked by the system. The cutting test bench of roadheader was built, and the cutting experiments were carried out by using SVR and PID control methods. Although the PID control system has a faster response, it is only 1.61 s faster than SVR, and the PID control method has a much higher over-excavation amount than SVR control method, and the maximum over-excavation amount is 3.22 times of SVR controller. Therefore, the SVR controller has better control over the over-excavation phenomenon and higher control accuracy. So the proposed method can be used to effectively solve the over-excavation and under-excavation problem.