CN114233312B - Free section cutting control system and control method of cantilever heading machine - Google Patents
Free section cutting control system and control method of cantilever heading machine Download PDFInfo
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- CN114233312B CN114233312B CN202111364668.0A CN202111364668A CN114233312B CN 114233312 B CN114233312 B CN 114233312B CN 202111364668 A CN202111364668 A CN 202111364668A CN 114233312 B CN114233312 B CN 114233312B
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- 238000005520 cutting process Methods 0.000 title claims abstract description 208
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000002159 abnormal effect Effects 0.000 claims abstract description 8
- 238000012545 processing Methods 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 230000005641 tunneling Effects 0.000 abstract description 17
- 238000010276 construction Methods 0.000 abstract description 7
- 238000009412 basement excavation Methods 0.000 abstract description 4
- 239000003921 oil Substances 0.000 description 33
- 238000004364 calculation method Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 239000011435 rock Substances 0.000 description 2
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
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- Excavating Of Shafts Or Tunnels (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention belongs to the technical field of automatic tunneling equipment, and particularly relates to a free section cutting control system and a control method of a cantilever tunneling machine; moving the cutting head to a first position point coordinate or a starting point coordinate of the contour line; starting a cutting motor, and cutting the cutting head to a proper depth at an automatic cutting starting point; the main control module performs automatic cutting according to the sequence of selecting coordinate points or the appointed cutting route and range; in the automatic cutting process, the main control module performs cutting control intervention when detecting that the feedback data of the running state feedback module is larger than a set value or is in an abnormal state. According to the invention, on the premise that the position information of the cantilever heading machine is not required to be acquired, the tunneling construction efficiency of the cantilever heading machine is improved, the tunnel forming quality is improved, and the over-excavation is avoided.
Description
Technical Field
The invention belongs to the technical field of automatic tunneling equipment, and particularly relates to a free section cutting control system and a control method of a cantilever tunneling machine.
Background
The cantilever tunneling machine is used as high-efficiency flexible tunneling equipment and is widely applied to the tunneling of tunnels and tunnels. At present, the problems of low working efficiency, severe working environment, high labor intensity of workers, poor tunnel forming quality and the like exist in the aspect of tunneling construction operation. In recent years, along with the development of related technologies, intelligent research of a cantilever heading machine becomes a hotspot of the industry, and automatic cutting under the premise of effectively controlling the super-undermining amount is a final research target. The automatic cutting control at the present stage is mainly based on the real-time position of the cantilever heading machine, and the position information is mainly obtained by adopting schemes such as total stations, inertial navigation, industrial cameras and the like, and the technical schemes are also in a research and test stage, so that the current situations of low working efficiency and poor forming quality of the heading construction can not be well solved in a short period.
Disclosure of Invention
Aiming at the problems of high cost and poor applicability of a cutting control system of a cantilever excavator in the prior art, the invention provides the free section cutting control system and the control method of the cantilever excavator, which have the advantages of low cost, convenience in operation and strong applicability, and under the premise of not acquiring the position information of the cantilever excavator, the tunneling construction efficiency of the cantilever excavator is improved, the tunnel forming quality is improved, and the occurrence of the condition of over-excavation and under-excavation is effectively avoided.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides a free section cutting control system of a cantilever heading machine, which comprises the following components:
the data input module is used for inputting equipment parameters;
the running state feedback module is used for detecting the running state of the equipment and feeding back the running state to the main control module;
the main control module is used for calculating and processing the input data of the data input module and the running state feedback module and outputting a control instruction;
the execution module is used for receiving and executing the control instruction of the main control module;
and the display module is used for displaying the real-time data of the sensor and the execution state of the equipment.
Further, the data input module is a keyboard or an operation switch and is used for inputting the cutting range coordinates and the alarm threshold value.
Further, the states fed back by the running state feedback module comprise cutting motor current, a cantilever heading machine body inclination angle, a cutting arm vibration number, an oil cylinder stroke, a supporting oil cylinder rotary oil cylinder pressure value and a device direction angle.
Further, the execution module comprises an oil cylinder proportional electromagnetic valve and an oil cylinder overflow electromagnetic valve.
The invention also provides a control method based on the cantilever heading machine free section cutting control system, which comprises the following steps:
step 1, a cutting arm is operated to move a cutting head to determine a cutting range on a section through selecting at least four non-collinear coordinate points, and the sequence of coordinate point selection determines a moving path of the cutting head during automatic cutting, or the cutting arm is operated to define a cutting range on the section through the cutting head;
step 2, determining and recording coordinates of at least four position points or coordinates of continuous points for defining a contour line by using an operation switch;
step 3, enabling automatic cutting initialization through operating a switch, and enabling a main control module to give a control instruction of an execution module to enable a cutting head to move to a first position point coordinate of at least four position point coordinates or a starting point coordinate for defining a contour line;
step 4, starting a cutting motor, and cutting a cutting head to a proper depth at an automatic cutting starting point;
step 5, automatically starting a cutting flow by operating a switch, and automatically cutting by a main control module according to the sequence of selecting coordinate points or the appointed cutting route and range;
step 6, in the automatic cutting process, when the main control module detects that the feedback data of the running state feedback module is larger than a set value or in an abnormal state, cutting control intervention is carried out;
and 7, after an automatic cutting process is finished, automatically resetting the cutting head to the starting position, and performing automatic cutting in the next cycle or setting the automatic cutting area selection of other positions on the section.
Further, before the step 1, the method further includes: before the cantilever heading machine performs cutting work, the equipment is moved to a proper position right in front of the section of the tunnel to be cut, and meanwhile, the main control module records the direction angle of the equipment facing the section at the moment.
Furthermore, the coordinate data in the step 2 are calibrated through the telescopic capacity of the support cylinder and the telescopic capacity of the rotary cylinder of the cantilever heading machine, namely the horizontal axis coordinate of each coordinate point is the telescopic capacity data of the rotary cylinder, and the vertical axis coordinate is the telescopic capacity data of the support cylinder.
Further, after the cutting motor is started in the step 4, the cantilever tunneling machine is operated to keep the direction angle recorded by the main control module to move to a proper position right ahead, and when the direction angle deviation is larger than the allowable value, the main control module sends out an adjustment alarm.
Further, in the step 5, a left-right circular upward cutting method is adopted for automatic cutting; when the cutting range of the cutting arm of the cantilever heading machine is smaller than the cross-sectional area, an automatic cutting range is defined by selecting at least four coordinate points, in this way, the cutting path direction is related to the sequence of the coordinate points, when the first coordinate point and the second coordinate point are from left to right, the cutting head circularly cuts upwards from left to right, and when the first coordinate point and the second coordinate point are from right to left, the cutting head circularly cuts upwards from right to left; when the cutting range of the cutting arm of the cantilever heading machine is larger than the area of the section, the cutting range to be cut is defined on the section.
Further, the step 6 specifically includes:
when the current of the cutting motor in unit time is detected to be larger than a rated current value, the vibration value of the cutting arm in unit time is detected to be larger than a set value or the pressure value of the supporting oil cylinder/the rotary oil cylinder in unit time is detected to be larger than the set value, the proportional electromagnetic valve current of the supporting oil cylinder and the rotary oil cylinder is reduced, and when the proportional electromagnetic valve current is smaller than a minimum value C p_min When the overflow electromagnetic valve current is smaller than the minimum value C, the overflow electromagnetic valve current of the support oil cylinder and the rotary oil cylinder is adjusted r_min When in use, alarming and prompting are carried out;
the abnormal state refers to when the difference between the inclination angle data of the cantilever excavator body and the inclination angle data recorded by the automatic cutting initialization exceeds a set threshold value X max 、Y max The device is offset in the automatic cutting process, the risk of overexcavation and underexcavation exists, and the cutting operation is stopped and an alarm is given.
Compared with the prior art, the invention has the following advantages:
1. the invention determines the cutting range by selecting at least four non-collinear coordinate points on the section to be cut, and the sequence of coordinate point selection determines the moving path of the cutting head during automatic cutting, or the cutting head is used for defining the cutting range on the section, so that the method for selecting the area to be cut meets the automatic cutting control requirement of rapidly selecting the area to be cut and the cutting path in large-section and stepped construction.
2. According to the invention, the average number of unit time such as current of a cutting motor, inclination angle of a cantilever heading machine body, vibration number of a cutting arm, pressure value of a rotary oil cylinder of a supporting oil cylinder and the like is taken as a basis, and instead of a certain instantaneous value reaching a threshold value, the automatic cutting machine starts to be adjusted immediately, so that unstable cutting speed and rising of hydraulic oil temperature caused by frequent adjustment of the oil cylinder propelling speed and pressure in the automatic cutting process are avoided.
The invention creatively proposes that in the automatic cutting process, the oil cylinder proportional electromagnetic valve is firstly adjusted according to the running state of equipment, so as to adjust the moving speed of the cutting arm, then the oil cylinder overflow electromagnetic valve is adjusted, so as to adjust the propelling pressure of the cutting head on the excavation section, thereby effectively reducing the overload protection stop and pick loss of the equipment and realizing the improvement of the tunneling construction efficiency on the premise of low cost.
4. According to the invention, the inclination angle and the direction angle of the cantilever excavator body in the automatic cutting state are judged in real time, and whether the equipment is deviated and turned in the automatic cutting process is determined, so that the effectiveness of automatic cutting is ensured, the control of super-digging and underdigging can be realized through simple setting, and the method is particularly suitable for the working conditions of high dust and unclear sight of the cantilever excavator; the specific effectiveness judging method comprises the following steps: when the difference value between the inclination angle data of the cantilever heading machine body and the inclination angle data recorded by the automatic cutting initialization exceeds a set threshold value, the equipment is indicated to deviate in the automatic cutting process; and when the difference value between the direction angle of the cantilever heading machine body and the initial direction angle exceeds a set threshold value, indicating that the equipment is turned in the automatic cutting process.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of a free-section cutting control system of a boom-cutter according to an embodiment of the present invention;
FIG. 2 is a flow chart of a free-section cutting control method of a boom-driven tunneling machine according to an embodiment of the present invention;
FIG. 3 is a schematic view of a left-to-right cyclic upward cutting of a cutting head when the first coordinate point and the second coordinate point are left-to-right in an embodiment of the present invention;
fig. 4 is a schematic view of a circular cutting from right to left by a cutting head when the first coordinate point and the second coordinate point are right to left according to an embodiment of the present invention.
The meaning represented by the numbers in the figures is:
1. the system comprises a data input module, a running state feedback module, a main control module, an execution module and a display module.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
As shown in fig. 1, the embodiment provides a free section cutting control system of a cantilever tunneling machine, which comprises a data input module 1, an operation state feedback module 2, a main control module 3, an execution module 4 and a display module 5.
The data input module 1 is used for inputting device parameters, such as input cutting range coordinates, alarm threshold values and the like, and can be a data input device such as a keyboard, an operation switch and the like.
The running state feedback module 2 is used for detecting the running state of the equipment and feeding back the running state to the main control module, and the fed back state comprises data such as cutting motor current, a cantilever heading machine body inclination angle, cutting arm vibration number, oil cylinder stroke, a supporting oil cylinder rotary oil cylinder pressure value, an equipment direction angle and the like.
The main control module 3 is used for performing calculation processing on input data of the data input module and the running state feedback module, and outputting control instructions, and can be a core control unit with calculation processing capability, such as a PLC controller, an industrial personal computer and the like.
The execution module 4 is used for receiving and executing the control instruction of the main control module, and comprises execution units such as an oil cylinder proportional electromagnetic valve, an oil cylinder overflow electromagnetic valve and the like.
The display module 5 is used for displaying real-time data of the sensor and the execution state of the equipment.
As shown in fig. 2, the embodiment also provides a control method based on the free section cutting control system of the cantilever heading machine, which comprises the following steps:
step S201, before the cantilever heading machine performs cutting work, the equipment is moved to a proper position right in front of the section of the tunnel to be cut, and meanwhile, the main control module records the direction angle of the equipment facing the section at the moment.
In step S202, the cutting arm is operated to move the cutting head to determine the cutting range on the cross section by selecting at least four non-collinear coordinate points, in this example, four non-collinear coordinate points are selected, and the sequence of coordinate point selection determines the moving path of the cutting head during automatic cutting, or the cutting arm is operated to define the cutting range on the cross section by the cutting head.
The invention can not only input the cutting range coordinate through the data input module, but also select at least four non-collinear coordinate points on the cutting section through the operation cutting head and simultaneously operate the switch to record the corresponding position coordinate, further, on the premise of sufficient calculation resources of an electric system, the maximum outline of the section to be cut is cut out on the cutting section through the operation cutting head, and simultaneously, the operation switch is used for recording the continuous point coordinate on the outline.
And step S203, determining and recording coordinates of at least four position points or coordinates of continuous points for defining a contour line by using an operation switch, wherein the coordinate data are calibrated by the telescopic capacity of a support cylinder and a rotary cylinder of the cantilever heading machine, namely, the horizontal axis coordinate of each coordinate point is telescopic capacity data of the rotary cylinder, and the vertical axis coordinate is telescopic capacity data of the support cylinder.
In step S204, the main control module gives a control instruction to the execution module (the oil cylinder proportional electromagnetic valve and the oil cylinder overflow electromagnetic valve) to move the cutting head to the first position point coordinate of at least four position point coordinates or to define the starting point coordinate of the contour line by operating the switch to enable automatic cutting initialization.
Step S205, a cutting motor is started, the cantilever tunneling machine is operated to keep the direction angle recorded by the main control module in step S201 moving to a proper position right ahead, when the direction angle deviation is larger than an allowable value, the main control module sends out an adjustment alarm, and meanwhile, the cutting head cuts to a proper depth (generally smaller than the length of the cutting head) at the automatic cutting starting point.
Step S206, the cutting process is automatically started through the operation switch, meanwhile, the main control module records the inclination angle data of the cantilever heading machine body, and the main control module automatically cuts according to the sequence of selecting coordinate points or the designated cutting route and range according to an automatic cutting control algorithm.
As shown in fig. 3 and 4, in the automatic cutting, a left-right circular upward cutting method is adopted in a normal case, when the cutting range of a cutting arm of the cantilever heading machine is smaller than the cross-sectional area, at least four coordinate points are selected to define the automatic cutting range, in this way, the cutting path direction is related to the sequence of selecting the coordinate points, and when the first coordinate point and the second coordinate point are from left to right, the cutting head circularly cuts upwards from left to right; when the first coordinate point and the second coordinate point are right-to-left, the cutting head circularly cuts upwards from right to left; in special cases, it is also possible to implement a cycle up and down left cut and a cycle up and down right cut. When the cutting range of the cutting arm of the cantilever heading machine is larger than the area of the section, the cutting range to be cut is defined on the section, the defined range or the distance between the cutting range and the planned boundary is related to the surrounding rock grade of the tunnel, and the distance between the defined boundary and the planned boundary is reduced when the surrounding rock stability is good.
Step S207, in the automatic cutting process, the main control module performs cutting control intervention when detecting that the feedback data of the running state feedback module is larger than a set value.
Specifically, when the current of the cutting motor is detected to be larger than the rated current value C in unit time max The vibration value of the cutting arm in unit time is larger than the set value V max Or the pressure value of the supporting oil cylinder/the rotary oil cylinder in unit time is larger than the set valueValue P max When the current of the proportional solenoid valve of the supporting oil cylinder and the rotary oil cylinder is smaller than the minimum value C, the current of the proportional solenoid valve is firstly reduced, namely the moving speed of the cutting arm is reduced p_min When the overflow electromagnetic valve current is smaller than the minimum value C, the overflow electromagnetic valve current of the supporting oil cylinder and the rotary oil cylinder is adjusted, namely the pushing pressure of the cutting head to the cutting section slitting is reduced r_min And when the equipment works abnormally, alarming and prompting are carried out, and the equipment is prompted to pay attention to the abnormal work.
Step S208, in the automatic cutting process, when the main control module determines that the automatic cutting is in an abnormal state, the abnormal state refers to that the difference value between the inclination angle data of the cantilever excavator body and the inclination angle data recorded by the automatic cutting initialization in step S206 exceeds the set threshold value X max 、Y max In this case, it is explained that the position of the lower cantilever heading machine and the position of the automatic cutting initialization at this moment has a large displacement, and there is a risk of overexcavation and underexcavation, the cutting operation should be stopped and an alarm should be given, and the automatic cutting flow can be reset.
Step S209, when an automatic cutting process is completed, the cutting head is automatically reset to the starting position, and the next cycle of automatic cutting or the automatic cutting area selection of other positions on the set section is performed.
It should be emphasized that, when selecting the range to be cut, four non-collinear coordinate points or other number of coordinate points may be used according to the actual situation, so long as the selection of the area to be cut can be achieved. Meanwhile, the automatic cutting path can realize the cutting from left to right in an up-and-down circulation mode or from right to left in an up-and-down circulation mode through the position sequence of the selected points. In the automatic cutting control process, the sequence of the oil cylinder proportional electromagnetic valve and the oil cylinder overflow electromagnetic valve can be adjusted according to actual conditions, or the oil cylinder overflow electromagnetic valve can be adjusted first and then the oil cylinder proportional electromagnetic valve can be adjusted.
According to the invention, the range to be cut is determined by selecting the position point or demarcating the range through the operation of the cutting arm, automatic cutting according to the preset cutting path is realized in the selected area, and meanwhile, cutting control intervention is performed according to equipment operation data in the cutting process, so that the tunneling construction efficiency and the tunnel forming quality of the cantilever tunneling machine are improved.
It should be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (6)
1. The control system comprises a data input module, an operation state feedback module, a main control module, an execution module and a display module, wherein: the data input module is used for inputting equipment parameters;
the running state feedback module is used for detecting the running state of the equipment and feeding back the running state to the main control module;
the main control module is used for calculating and processing the input data of the data input module and the running state feedback module and outputting a control instruction;
the execution module is used for receiving and executing the control instruction of the main control module;
the display module is used for displaying real-time data of the sensor and the execution state of the equipment;
the control method is characterized by comprising the following steps:
step 1, before a cantilever heading machine performs cutting work, moving the equipment to a proper position right in front of a section of a tunnel to be cut, and recording a direction angle of the equipment facing the section at the moment by a main control module;
step 2, the cutting arm is operated to move the cutting head to determine a cutting range on a section through selecting at least four non-collinear coordinate points, and the sequence of coordinate point selection determines a moving path of the cutting head during automatic cutting, or the cutting arm is operated to define a cutting range on the section through the cutting head;
step 3, determining and recording coordinates of at least four position points or coordinates of continuous points for defining the contour line by using an operation switch;
step 4, enabling automatic cutting initialization through operating a switch, and enabling a main control module to give a control instruction of an execution module to enable a cutting head to move to a first position point coordinate of at least four position point coordinates or a starting point coordinate for defining a contour line;
step 5, starting a cutting motor, operating the cantilever heading machine to keep the direction angle recorded by the main control module in the step 1 to move to a proper position right ahead, and sending an adjustment alarm by the main control module when the direction angle deviation is larger than an allowable value, and simultaneously cutting the cutting head to a proper depth at an automatic cutting starting point;
step 6, automatically starting a cutting flow through an operation switch, recording inclination angle data of the cantilever heading machine body by a main control module, and automatically cutting by the main control module according to the sequence of selecting coordinate points or the designated cutting route and range;
the automatic cutting adopts a cutting method with left and right circulation upwards; when the cutting range of the cutting arm of the cantilever heading machine is smaller than the cross-sectional area, an automatic cutting range is defined by selecting at least four coordinate points, in this way, the cutting path direction is related to the sequence of the coordinate points, when the first coordinate point and the second coordinate point are from left to right, the cutting head circularly cuts upwards from left to right, and when the first coordinate point and the second coordinate point are from right to left, the cutting head circularly cuts upwards from right to left; under special conditions, the left cutting of up-and-down circulation and the right cutting of up-and-down circulation are realized; when the cutting range of the cutting arm of the cantilever heading machine is larger than the area of the section, the cutting range to be cut is defined on the section;
step 7, in the automatic cutting process, the main control module performs cutting control intervention when detecting that the feedback data of the running state feedback module is larger than a set value;
step 8, in the automatic cutting process, when the main control module judges that the automatic cutting is in an abnormal state, the abnormal state refers to cantilever diggingThe difference value between the inclination angle data of the feeding machine body and the inclination angle data recorded in the automatic cutting initialization in the step 6 exceeds a set threshold value X max 、Y max Under the condition, the situation that the positions of the lower cantilever heading machine and the automatic cutting initialization have larger displacement and the risk of overexcavation and underexcavation exists is described, the cutting operation is stopped, an alarm is given, and the automatic cutting flow is reset;
and 9, after an automatic cutting process is finished, the cutting head is automatically reset to the starting position, and the next cycle of automatic cutting or the automatic cutting area selection of other positions on the set section is performed.
2. The control method based on the free-section cutting control system of the cantilever heading machine according to claim 1, wherein the data input module is a keyboard or an operation switch for inputting the cutting range coordinates and the alarm threshold.
3. The control method based on the free-section cutting control system of the cantilever excavator according to claim 1, wherein the states fed back by the operation state feedback module comprise cutting motor current, a cantilever excavator body inclination angle, a cutting arm vibration number, an oil cylinder stroke, a supporting oil cylinder rotary oil cylinder pressure value and an equipment direction angle.
4. The control method based on the free-section cutting control system of the cantilever excavator according to claim 1, wherein the execution module comprises an oil cylinder proportional electromagnetic valve and an oil cylinder overflow electromagnetic valve.
5. The control method based on the free section cutting control system of the cantilever heading machine according to claim 1, wherein the coordinate data in the step 3 are calibrated through the telescoping amounts of the support cylinder and the rotary cylinder of the cantilever heading machine, that is, the horizontal axis coordinate of each coordinate point is the telescoping amount data of the rotary cylinder, and the vertical axis coordinate is the telescoping amount data of the support cylinder.
6. The control method based on the free-section cutting control system of the cantilever heading machine according to claim 1, wherein the step 7 specifically includes:
when the current of the cutting motor in unit time is detected to be larger than a rated current value, the vibration value of the cutting arm in unit time is detected to be larger than a set value or the pressure value of the supporting oil cylinder/the rotary oil cylinder in unit time is detected to be larger than the set value, the proportional electromagnetic valve current of the supporting oil cylinder and the rotary oil cylinder is reduced, and when the proportional electromagnetic valve current is smaller than a minimum value C p_min When the overflow electromagnetic valve current is smaller than the minimum value C, the overflow electromagnetic valve current of the support oil cylinder and the rotary oil cylinder is adjusted rmin And (5) alarming.
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| CN115788477B (en) * | 2023-02-06 | 2023-05-30 | 太原理工大学 | Self-adaptive cutting control system and method for heading machine |
| CN115773128B (en) * | 2023-02-10 | 2023-05-19 | 三一重型装备有限公司 | Cutting control method and system of heading machine and heading machine |
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| CN112901195A (en) * | 2021-01-21 | 2021-06-04 | 中国矿业大学 | Automatic section forming control system and method for cantilever longitudinal shaft type heading machine |
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