Directional Traveling Trajectory Tracking Control of Roadheader

doi:10.3901/JME.2025.12.356

Abstract

Abstract: Influenced by the bad roadway environment and complex floor conditions, the trajectory of roadheader is prone to deviate from the design trajectory, resulting in yaw position and pose deviation. The traditional control scheme that only considers the travelling velocity control or trajectory control cannot effectively realize the directional travelling trajectory tracking of roadheader. To realize the accurate control of the travelling trajectory, the traveling motion of roadheader under ideal and slip conditions are analyzed. Integrating the directional traveling trajectory controller and the traveling velocity controller, the double loop control scheme of directional traveling is constructed. The traveling trajectory tracking control under different conditions are studied and the influence of slip on traveling trajectory and velocity is obtained. Then, the trajectory tracking control experiment was carried on based on the directional traveling experiment system of roadheader. Results show that the trajectory tracking error in the arc segment is far greater than that in the straight segment. The maximum trajectory tracking error occurs in the arc segment and can be controlled within 1.5% of the arc length. The traveling velocity and control signal vary stably in the traveling process, illustrating that the proposed directional traveling trajectory tracking control scheme can effectively realize the directional traveling of roadheader.

Key words: roadheader, directional traveling, traveling velocity control, traveling trajectory control

CLC Number:

TH39

LIU Songyong, ZHANG Deyi, MENG Deyuan, JIANG Hongxiang, SONG Mingjiang. Directional Traveling Trajectory Tracking Control of Roadheader[J]. Journal of Mechanical Engineering, 2025, 61(12): 356-366.

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