| Theory and Method of Mechanical Design |
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| Research on trajectory planning method for roadheader section forming based on improved GWO algorithm |
Xuhui ZHANG1,2( ),Duwei TANG1,Wenjuan YANG1,2,Zheng DONG1,Chenhui TIAN1,Henghan YU1 |
1.College of Mechanical Engineering, Xi'an University of Science and Technology, Xi'an 710054, China
2.Shaanxi Key Laboratory of Intelligent Detection and Control for Mining Electromechanical Equipment, Xi'an 710054, China |
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Abstract Roadway section forming is an important process in coal mine boring process. However, the current roadway section forming operation is mostly carried out through manual control of the roadheader for reciprocating cutting, which restricts the intelligent development of coal mine boring face. Therefore, in view of the problems that the section forming trajectory planning does not consider the characteristics of coal and rock and has a single optimization objective, a trajectory planning method for the roadheader section forming based on the improved grey wolf optimizer (GWO) algorithm is proposed. Firstly, the cutting section environment was divided into four situations according to the location of the gangue, and the corresponding sections were rasterized and the raster maps were established. Meanwhile, the binary expansion method was used to expand the irregular gangue. Then, the GWO algorithm was improved to enhance its optimization performance and convergence speed. Nextly, simulation experiments were carried out to realize the planning of section forming trajectories for roadheader under four environments by using the improved GWO algorithm. Finally, the section cutting experiments were conducted by the roadheader prototype. The simulation results showed that compared with the traditional GWO algorithm, the improved GWO algorithm had a faster convergence speed and higher convergence accuracy. Under the four section environments, the section forming trajectory planned based on the improved GWO algorithm had the shortest length, the smallest under-excavated area and the least number of turns, which made it easier to realize high-precision and high-efficiency trajectory tracking control, thereby ensuring the roadway section forming quality. The experimental results showed that the section forming trajectory planned based on the improved GWO algorithm not only improved the cutting efficiency of the roadheader, but also met the quality requirements of the roadway section forming. The research results can provide new ideas and methods for the development of intelligent boring technology in coal mines.
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Received: 26 September 2024
Published: 02 July 2025
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基于改进GWO算法的掘进机断面成形轨迹规划方法研究
巷道断面成形是煤矿掘进过程中的重要工序，但目前的巷道断面成形作业多为人工控制掘进机进行往复式截割，制约了煤矿掘进工作面的智能化发展。为此，针对断面成形轨迹规划未考虑煤岩特征、优化目标单一的问题，提出了一种基于改进灰狼优化（grey wolf optimizer, GWO）算法的掘进机断面成形轨迹规划方法。首先，根据夹矸位置将待截割断面环境分为4种情况，对相应断面进行栅格化处理并建立栅格地图，同时采用二值膨胀法对不规则夹矸进行膨胀化处理。然后，对GWO算法进行了改进，以提升其寻优性能和收敛速度。接着，开展了仿真实验，利用改进GWO算法实现了4种环境下掘进机断面成形轨迹的规划。最后，利用掘进机样机开展了断面截割实验。仿真结果表明：相较于传统的GWO算法，改进GWO算法的收敛速度更快且收敛精度更高；在4种断面环境下，基于改进GWO算法规划的断面成形轨迹长度最短，欠挖面积最小，转向次数最少，更容易实现高精度、高效率的轨迹跟踪控制，保证了巷道断面的成形质量。实验结果表明，基于改进GWO算法规划的断面成形轨迹既能提高掘进机的截割效率，又能满足巷道断面成形的质量要求。研究结果可为煤矿井下智能掘进技术的发展提供新的思路和方法。
关键词：
掘进机,
轨迹规划,
断面成形,
欠挖面积,
灰狼优化算法
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