目前，悬臂式掘进机在我国的矿业生产中得到了广泛的应用，为了提高掘进机掘进巷道断面机械化、自动化程度以及提高效率，研究掘进机的成形控制系统具有重大意义。本论文以EBJ-132A型悬臂式掘进机为例，对其掘进巷道断面的成形和成形控制系统两方面进行研究。 在断面成形研究过程中，通过分析EBJ-132A型掘进机截割部主要工作机构和工作过程，建立了相关工作参数与巷道断面尺寸之间的数学模型。然后针对实际生产中几种常见的巷道断面形状，分别编制出相应的工作机构作业轨迹控制程序，并在计算机上显示出和实际情况相符合的截割头截割作业包络线图，验证截割头运动轨迹规划的正确性和相关工作机构参数的计算准确性。 在成形控制系统研究过程中，通过分析EBJ-132A型掘进机液压控制系统，在此基础上，对其改进，采用电液比例方向阀自动控制系统，并对其主要组成元件进行选型计算及建立了相关数学模型。然后利用MATLAB和AMESim软件对该控制系统进行了开环控制和PID控制仿真研究，仿真结果表明，电液比例控制系统具有较好的动态响应特性和控制特性。 本文对悬臂式掘进机断面成形基本理论的推导及控制仿真研究，为掘进机自动断面成形进行了有益的探索。

Nowadays, boom-type roadheader machines are widely used in mining production in our country. For improving its mechanization and automation, increasing its efficiency, it is very important to improve its shaping control system. With an example of EBJ-132A boom-type roadheader, the paper researches laneway’s section shaping and shaping control system. In the course of the study of section shaping, the paper analyzes the main working mechanism and procedures of cutting unit of EBJ-132A roadheader, builds the mathematical model of correlative working parameters and laneway section dimensions. Then according to the three different laneway section shapes, compiling boom-type roadheader working parameter calculation program, and plotting its cutting head trace, which can verify the accuracy of path planning of cutting part movement and working parameter. In the course of the study of shaping control, firstly, according to analyzing the hydraulic control system of EBJ-132A roadheader, the betterment on electrical-hydraulic proportional automatic control system is carried out based on that analysis. Secondly, model-choosing computation on the main components of the hydraulic system is finished and the mathematical models of these components were established. Lastly, MATLAB and AMESim software are used to carry out open-loop control and PID control simulation; the simulation results indicate the electrical-hydraulic proportional control system has excellent dynamic response characteristics and good control characteristics. The deducing process of basic concept and control simulation research provides beneficial exploration for the boom-type roadheader’s automatic section shaping.