Research on Control System of Pitching Pose Error Elimination for Boom-Type Roadheader

The current roadheader automatic cutting technology has been relatively mature, the pose error elimination control technology has become a research hotspot. Pitch pose error of roadheader is too large will cause automatic excavating cut roof or floor, and will make the machine lose its stability. According to the movement way and the work requirements of roadheader, this paper put forward the control method of controlling shovel plate and back support to eliminate the impact of pitching pose error , and the corresponding sensors were selected based on the actual situation. According to the kinematics analysis of shovel plate and back support, the specific control method of the research was completed. The above system has been tested on EBZ200 type roadheader and testing results is good. The study of this system is a part of the pose error elimination control for roadheader, which will lay a foundation for the detection of roadheader pose and directional tunneling.