煤炭工程 ›› 2023, Vol. 55 ›› Issue (5): 183-187.doi: 10.11799/ce202305031

• 装备技术 • 上一篇    下一篇

矿用EBZ220型掘进机行驶控制系统设计研究

周开平   

  1. 中国煤炭科工集团太原研究院有限公司
  • 收稿日期:2023-01-08 修回日期:2023-02-19 出版日期:2023-05-19 发布日期:2023-05-19
  • 通讯作者: 周开平 E-mail:tymkyzkp@163.com

Design and Research on Driving Control System of EBZ220 Tunnel Boring Machine

开平 Zhou KaipingZhou   

  • Received:2023-01-08 Revised:2023-02-19 Online:2023-05-19 Published:2023-05-19
  • Contact: 开平 Zhou KaipingZhou E-mail:tymkyzkp@163.com

摘要: 为提高矿用EBZ220型掘进机左右履带行驶的稳定性和同步性,阐述了掘进机行驶控制系统的工作原理和负载特性,分析了掘进机行驶跑偏的影响因素,并对跑偏进行了理论计算。设计了基于PID控制算法的电液同步行驶控制策略,轮边测速装置及智能行驶系统等关键技术。测试结果表明,EBZ220型掘进机左侧履带角速度均值为0.554 rad/s,右侧履带角速度均值为0.553 rad/s,左右履带行驶同步性良好,跑偏量满足掘进机煤炭行业标准,为煤矿井下快速掘进向智能化、无人化发展提供可靠的行驶技术方案。

关键词: EBZ220型掘进机, 行驶系统, 负载特性, 电液控制, 同步性

Abstract: In order to improve the stability and synchronization of the left and right tracks of the mining EBZ220 roadheader, this paper expounds the working principle and load characteristics of the roadheader driving control system, analyzes the influencing factors of the roadheader driving deviation and the theoretical calculation of the deviation, designs the key technologies such as the electro-hydraulic synchronous driving control strategy based on the PID control algorithm, the wheel side speed measuring device and the intelligent driving system, and the test results show that, The average angular velocity of the left track of EBZ220 roadheader is 0.554rad/s, and the average angular velocity of the right track is 0.553rad/s. The driving synchronization of the left and right tracks is good, and the deviation meets the coal industry standard of the roadheader, which provides a reliable driving technical scheme for the development of intelligent and unmanned underground rapid tunneling.

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