Modeling and response analysis of the attitude angles of roadheader for steep coal seam

This study presents a dynamical model of the attitude angles of boom-type roadheader, to reveal the response characteristics of the attitude angles in steep coal seam. Based on the Lagrange equation, the dynamical model of the attitude angles of roadheader is established, then the simulation system is constructed in Simulink, to solve the dynamical model. Afterwards, a calculating method of the cutting load is proposed, to formulate the external loads of the roadheader during cutting process. Focused on the steep coal seam, of which the dip angle is 30°, the dynamical model is solved, and the solving results influenced by different factors are obtained. The results show that, the variations of roadheader’s attitude are affected greatly by the cutting load, while the influence of swing angle of the cutting arm is relatively slight. Among the three attitude angles, the pitch angle varies most greatly, which can reach up to 9.1° and 8.7° during horizontal and vertical cutting process respectively. Finally, the numerical simulation results are verified by experimental data. The dynamical model and response characteristics of roadheader’s attitude angle presented in this paper, can provide useful basis for prediction of roadheader’s operating status and rectification of roadheader’s attitude in steep coal seam.