中文摘要：

为了实现矿井巷道断面的自动精确成形,首先要研究掘进机截割头运行轨迹的跟踪策略。由于掘进机截割臂系统存在重复性、非线性和不确定性等特点,使截割头不易精确跟踪目标轨迹,出现超割或欠割现象,导致掘进机截割头的截割精度低,矿井巷道断面的自动成形质量低。为了完成对目标轨迹的精确跟踪,在截割头运行轨迹的跟踪策略中采用PD型迭代学习控制算法。根据拉格朗日法建立掘进机截割臂系统的动力学模型,并设计相应的PD型迭代学习控制器。仿真结果表明随着迭代学习次数的增加,跟踪曲线逐渐向期望的目标轨迹逼近,跟踪误差逐渐趋近于零。证明了PD型迭代学习算法对截割头运行轨迹精确跟踪的有效性,为煤矿井下掘进机断面自动成形研究提供了理论基础。

英文摘要：

In order to achieve the automatic and precise cross-section shaping in the coal mine,the running trajectory tracking strategy of roadheader cutting head is studied primarily.Owing to the repeatability,nonlinearity and uncertainty existing in the cutting arm system of roadheader,the cutting head cannot track the target trajectory accurately,leading to the phenomenon of over-cutting or under-cutting,which result in low precision of cutting and low quality of cross-section shaping.To accomplish the accurate tracking,a PD-type iterative learning control algorithm is used in running trajectory tracking strategy of roadheader cutting head.The kinetic model of cutting arm system is established using Lagrange equation,and the appropriate PD-type iterative learning controller is designed.The simulation results indicate that the tracking error decreases with the increase of learning times,and the tracking curve approaches to the desired target trajectory gradually.The method of PD-type iterative learning is effective in accurate tracking.