Travel Dynamics Analysis and Intelligent Path Rectification Planning of a Roadheader on a Roadway
The tunneling work belongs to the group operation of semi-closed space, and the work is difficult with a high risk coefficient. It is an urgent requirement of coal mining to achieve unmanned and intelligent tunneling work. The path rectification planning of roadheaders is a necessary step before roa...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-11-01
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| Series: | Energies |
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| Online Access: | https://www.mdpi.com/1996-1073/14/21/7201 |
| _version_ | 1827678194923208704 |
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| author | Xiaodong Ji Minjun Zhang Yuanyuan Qu Hai Jiang Miao Wu |
| author_facet | Xiaodong Ji Minjun Zhang Yuanyuan Qu Hai Jiang Miao Wu |
| author_sort | Xiaodong Ji |
| collection | DOAJ |
| description | The tunneling work belongs to the group operation of semi-closed space, and the work is difficult with a high risk coefficient. It is an urgent requirement of coal mining to achieve unmanned and intelligent tunneling work. The path rectification planning of roadheaders is a necessary step before roadway cutting. In the traditional dynamic modeling analysis of roadhead tracks, problems such as compaction resistance, bulldozing resistance, steering resistance, tunnel dip angle, ditching, and obstacle-crossing capacity are not considered. In order to approximate the kinematic and dynamic parameters of a roadheader’s deviation correction under actual working conditions, this paper establishes kinematic and dynamic models of a roadheader’s path rectification at low speeds and under complex working conditions, and calculates the obstacle-crossing ability of roadheaders in the course of path rectification by modes based on roadway conditions, crawler resistance, and driving performance of the roadheader. Field experiments were carried out to verify the effectiveness of the dynamic model. The dynamic roadheader model was used in combination with actual working conditions of roadways in order to establish a roadway grid model. The grid model was simplified using rectifying influence degree and distance cost. The roadheader dynamic model and grid model were then used to propose a path rectification planning and tracking algorithm based on particle swarm optimization of the actual roadway conditions and roadheader driving performance. Finally, the effectiveness and superiority of the algorithm were verified using MATLAB simulation. The algorithm can provide strong technical guarantee for the intelligence of roadheader and unmanned mining. The results presented here can provide theoretical and technical support for the structural optimization and intelligent travel control of roadheaders. |
| first_indexed | 2024-03-10T06:03:00Z |
| format | Article |
| id | doaj.art-c24cdb19554046cd8150f860de065ed8 |
| institution | Directory Open Access Journal |
| issn | 1996-1073 |
| language | English |
| last_indexed | 2024-03-10T06:03:00Z |
| publishDate | 2021-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Energies |
| spelling | doaj.art-c24cdb19554046cd8150f860de065ed82023-11-22T20:45:37ZengMDPI AGEnergies1996-10732021-11-011421720110.3390/en14217201Travel Dynamics Analysis and Intelligent Path Rectification Planning of a Roadheader on a RoadwayXiaodong Ji0Minjun Zhang1Yuanyuan Qu2Hai Jiang3Miao Wu4School of Mechanical Electronic and Information Engineering, China University of Mining and Technology (Beijing), Beijing 100083, ChinaSteta Key Laboratory of Tribology, Department of Precision Instruction, Tsinghua University, Beijing 100084, ChinaSchool of Mechanical Electronic and Information Engineering, China University of Mining and Technology (Beijing), Beijing 100083, ChinaSchool of Mechanical Electronic and Information Engineering, China University of Mining and Technology (Beijing), Beijing 100083, ChinaSchool of Mechanical Electronic and Information Engineering, China University of Mining and Technology (Beijing), Beijing 100083, ChinaThe tunneling work belongs to the group operation of semi-closed space, and the work is difficult with a high risk coefficient. It is an urgent requirement of coal mining to achieve unmanned and intelligent tunneling work. The path rectification planning of roadheaders is a necessary step before roadway cutting. In the traditional dynamic modeling analysis of roadhead tracks, problems such as compaction resistance, bulldozing resistance, steering resistance, tunnel dip angle, ditching, and obstacle-crossing capacity are not considered. In order to approximate the kinematic and dynamic parameters of a roadheader’s deviation correction under actual working conditions, this paper establishes kinematic and dynamic models of a roadheader’s path rectification at low speeds and under complex working conditions, and calculates the obstacle-crossing ability of roadheaders in the course of path rectification by modes based on roadway conditions, crawler resistance, and driving performance of the roadheader. Field experiments were carried out to verify the effectiveness of the dynamic model. The dynamic roadheader model was used in combination with actual working conditions of roadways in order to establish a roadway grid model. The grid model was simplified using rectifying influence degree and distance cost. The roadheader dynamic model and grid model were then used to propose a path rectification planning and tracking algorithm based on particle swarm optimization of the actual roadway conditions and roadheader driving performance. Finally, the effectiveness and superiority of the algorithm were verified using MATLAB simulation. The algorithm can provide strong technical guarantee for the intelligence of roadheader and unmanned mining. The results presented here can provide theoretical and technical support for the structural optimization and intelligent travel control of roadheaders.https://www.mdpi.com/1996-1073/14/21/7201roadheaderdynamics analysisrectification planparticle swarm optimization |
| spellingShingle | Xiaodong Ji Minjun Zhang Yuanyuan Qu Hai Jiang Miao Wu Travel Dynamics Analysis and Intelligent Path Rectification Planning of a Roadheader on a Roadway Energies roadheader dynamics analysis rectification plan particle swarm optimization |
| title | Travel Dynamics Analysis and Intelligent Path Rectification Planning of a Roadheader on a Roadway |
| title_full | Travel Dynamics Analysis and Intelligent Path Rectification Planning of a Roadheader on a Roadway |
| title_fullStr | Travel Dynamics Analysis and Intelligent Path Rectification Planning of a Roadheader on a Roadway |
| title_full_unstemmed | Travel Dynamics Analysis and Intelligent Path Rectification Planning of a Roadheader on a Roadway |
| title_short | Travel Dynamics Analysis and Intelligent Path Rectification Planning of a Roadheader on a Roadway |
| title_sort | travel dynamics analysis and intelligent path rectification planning of a roadheader on a roadway |
| topic | roadheader dynamics analysis rectification plan particle swarm optimization |
| url | https://www.mdpi.com/1996-1073/14/21/7201 |
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