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- Title
煤矿掘进机自定位截割控制方法及试验研究.
- Authors
刘送永; 吴洪状; 程诚; 宋明江; 崔玉明
- Abstract
A self-positioning cutting control methods were proposed, and the experimental studies of roadheaders were conducted herein. An self-positioning cutting control strategy was proposed. The monocular vision and deep learning based six degrees of freedom pose detection method for roadheader body and the double-layer fuzzy adaptive backstepping control method with prescribed performance were utilized to achieve the self-positioning cutting of roadheaders. The tracking control of cutting head was realized at arbitrary body poses of the roadheaders. The cutting head tracking control experiments were carried out under two different body poses of the roadheaders. The experimental results il- lustrate that the maximum contour errors are within 48 mm and 52 mm(about 2.14% and 2.32%) respectively, which verifies the effectiveness of the proposed self-positioning cutting control method for the roadheaders.
- Subjects
BACKSTEPPING control method; SINGLE-degree-of-freedom systems; DEEP learning; ADAPTIVE fuzzy control
- Publication
China Mechanical Engineering, 2024, Vol 35, Issue 7, p1318
- ISSN
1004-132X
- Publication type
Article
- DOI
10.3969/j.issn.1004-132X.2024.07.020