In order to improve the trajectory tracking control accuracy of the cutting head of the roadheader and realize the automatic cutting and forming of the roadway section,the mechanical hydraulic co-simulation model of the cutting part of the roadheader was established by using ADAMS and AMESim.The kinematics analysis and inverse kinematics solution of the horizontal and vertical swing of the cantilever were carried out.According to the coordinates of the cutting head in the fuselage coordinate system,a new method was proposed,the target displacement of the rotary and lifting hydraulic cylinder was generated through the inverse kinematics solution,then the motion trajectory of the cutting head was controlled by the electro-hydraulic proportional closed-loop control system of rotation and lifting.Taking the rectangular section as an example,an S-like cutting path planning was proposed.The tracking control simulation of cutting head trajectory and the automatic cutting control simulation of the given section parameters were carried out.The simulation results show that the maximum error of the cutting head trajectory tracking control simulation is 3.52 mm,which has high control accuracy.