Precise control method of cutting head position for boom-type roadheader in coal mine

In terms of the problem of excavation section automatic cutting shaping control for boom-type roadheader in coal mine, the transfer function model of cutting head control system was established and an accurate control method of boom-type roadheader cutting head position based on PID was proposed.According to the structure of cutting section for roadheader and its kinematic analysis, the transfer function model of cutting head control system for roadheader was established.In order to verify the correctness of transfer function model and PID control method, the simulation experiments were carried out and comparison test is carried out between PID and no PID by the experiment platform of boom-type roadheader.The contrast experiment results show that accuracy of cutting head position control was greatly improved by using the PID control method.The maximum error of vertical cutting is about 1%, the maximum error of horizontal cutting is about 1.7% and the error of height and width is about 1% for rectangular section.Therefore, the precise control of cutting head position was realized by the transfer function model established and the PID control method.It is of significance to realize an intelligent roadheader and ensure the safety and high-efficiency production of coal mine.