【摘要】 针对悬臂式掘进机截割头位置控制问题，建立掘进机截割部系统非线性模型。分析截割部回转比例阀控双缸液压系统和升降比例阀控双缸同步液压系统的压力、流量特性，结合回转和升降机械系统的运动学和动力学分析，建立截割部系统非线性数学模型。在MATLAB/Simulink环境构建截割部系统仿真模型，对掘进机典型截割工况进行仿真。仿真结果表明：悬臂的回转角度与升降角度能够很好地跟踪目标角度，且模型能反映截割部系统各参数的变化情况，为后续掘进机截割头的精确定位及掘进机的自动截割提供了理论基础。更多还原

【Abstract】 In terms of the problem of cutting head position control of boom-type roadheader, the nonlinear model of the cutting part system of roadheader was established.The cutting part had a proportional valve controlled double cylinder hydraulic system of rotary part and a proportional valve controlled double cylinder synchronous hydraulic system of lifting part, and the pressure and flow characteristics of the hydraulic system of the rotary part and lifting part were analyzed.Combined with the kinematics and dynamics analysis of the mechanical system of the rotary part and lifting part, the nonlinear mathematical model of the cutting part system was established.The simulation model of the cutting part system was constructed in MATLAB/Simulink environment.Based on the model, the typical cutting conditions of roadheader were simulated.The simulation results show that the rotation angle and lifting angle of the cutting part can track the target angle well, and the model can reflect the changes of various parameters in the cutting part system.It provides a theoretical basis for the precise positioning of the cutting head of the roadheader and the automatic cutting of the roadheader.更多还原