中文摘要：

悬臂式掘进机截割臂系统受参数不确定、非线性、时变和负载干扰等因素的影响,使截割头不能精确按照预定的轨迹截割,导致超挖或欠挖的现象发生,断面成形质量差。为了实现断面精确成形,采用自适应迭代学习控制算法对截割头运行轨迹进行跟踪控制。建立掘进机截割臂的动力学模型,设计相应自适应迭代学习控制算法。仿真结果表明随着学习次数的增加截割臂横向摆角误差趋近于零,纵向摆角误差小于0.0007rad且逐渐趋于零,满足实际现场的精度要求,验证了该控制方法对截割轨迹跟踪的有效性,为掘进机器人断面自动截割成形的研究奠定理论基础。

英文摘要：

Cutting arm system of Boom-type roadheader is affected by parameter uncertainty,nonlinear,time-varying load disturbance and other factors,so that the cutting head is not exactly cut according to a predetermined trajectory,which results in over-excavation or under-excavation phenomenon occurrence and poor quality of the cross section shape. In order to achieve the precise forming of cross-section,adaptive iterative learning control algorithm to control is used in this paper. The dynamic model of horizontal swing and vertical swing arm of roadheader are established,appropriate adaptive iterative learning control method is designed. The simulation results show that transverse cutting arm swing angle error approaches zero with the increase in the number of study,vertical swing angle error is less than 0. 0007 rad and gradually to zero. It meets the accuracy requirements of the actual site,verifies the effectiveness of the control method for tracking,and lays a theoretical foundation for automatic cross-section for the tunneling machine cutting shaping research foundation.