近年来，悬臂式掘进机在巷道成形施工中的应用越来越广泛，其中自动化技术和自动截面成形技术现已成为国内外研究掘进机的技术焦点，并在实际应用中取得了一些成果。研究掘进机自动截割控制技术的目标是提高掘进工作面职工安全系数，适应工作环境的恶劣条件，降低截面成形成本高，提高截面成形精度。但是由于掘进面通风、定位等方面因素影响，悬臂式掘进装备的自动化、智能化截割控制技术水平亟待提高，以降低高粉尘、低照度和复杂背景下人工操作控制的难度，降低个人劳动强度，提高掘进机生产效率和巷道成形质量。 论文在总结并分析国内外在掘进机自动化控制技术方面研究现状及热点理论技术基础上，确定悬臂式掘进机自动截割控制技术方案，借助计算机、机器人控制、智能控制等技术，构建掘进机自动截割控制数学模型，研究巷道成形控制理论及使能技术，并结合实际工况条件，分析了系统误差来源，并搭建平台对系统进行了功能测试。 悬臂式掘进机自动截割控制系统是系统设计的核心，论文研发一种基于PCC和工控机的井下掘进装备控制系统，实现悬臂式掘进机的状态采集、数据处理、自动成形跟踪控制、截割头自适应截割控制等功能，对工况数据采集、数据解算处理，截割路径规划、截割头轨迹跟踪与自适应截割，以及CAN总线通信功能进行详细设计。 最后搭建了悬臂式掘进机自动截割控制系统，在建新煤化4203工作面进行了井下试验。实际使用情况与理论进行对比分析表明，自动化截割功能可有效提高掘进效率，大大降低操作人员劳动强度，对保证巷道成形质量提供了技术保障。

In recent years, the application of the boom-type roadheader in roadway forming construction becoming more and more extensive, in which automation technology and automatic section forming technology have become the technical focus of roadheader research at home and abroad, and some achievements have been achieved in practical application. The goal of studying the automatic cutting control technology of roadheader is to improve the safety factor of employees in heading face, adapt to the harsh conditions of working environment, reduce the cost of section forming and improve the precision of section forming. However, due to the influence of ventilation and positioning of roadheader, the automatic and intelligent cutting control technology level of the boom-type tunneling equipment needs to be improved, so that the difficulty of manual operation control under high dust, low illumination and complex background is reduced, to reduce the personal labor intensity and improve the production efficiency of roadheader and the quality of roadway forming. On the basis of summing up and analyzing the research status and hot spot theory and technology of automatic control technology of roadheader at home and abroad, this paper determines the scheme of automatic cutting control technology of boom-type roadheader, constructs the mathematical model of automatic cutting control of roadheader by means of computer, robot control, intelligent control and other technologies. Researches on the theory of roadway forming control and enabling technology, and then analyzes the source of system error combined with the actual working conditions, at last the function of the system test is carried out by building platform. The automatic cutting control system of boom-type roadheader is the core of the system design. In the paper, a control system of underground heading equipment based on PCC and industrial control computer is developed to realize the functions of boom-type roadheader, such as state acquisition, data processing, automatic forming tracking control, adaptive cutting control of cutting head, data acquisition, data calculation and processing, cutting path planning, cutting head trajectory tracking and adaptive cutting. And the Controller Area Network （CAN ）bus communication function is designed in detail. Finally, the automatic cutting control system of boom-type roadheader is built, and the underground test is carried out in the Jianxin Coal co.,LTD 4203 working face. The comparative analysis between the actual application and the theory shows that the automatic cutting function can effectively improve the driving efficiency, greatly reduce the labor intensity of the operators, and provide a technical guarantee for ensuring the forming quality of the roadway.