本文選題：本安電路 + 慣性器件��； 參考：《成都理工大學(xué)》2015年碩士論文

【摘要】：隨著我國煤礦綜合機(jī)械化采煤技術(shù)的發(fā)展,礦井安全生產(chǎn)對(duì)井下勘探孔、放水孔、瓦斯抽放孔等施工裝備和技術(shù)的要求也不斷提高,不但要求鉆孔施工裝備具有較高的鉆進(jìn)效率,同時(shí)要能夠?qū)崿F(xiàn)對(duì)鉆孔軌跡的準(zhǔn)確控制,高精度軌跡測(cè)量是鉆孔軌跡準(zhǔn)確控制的前提,則需要研發(fā)一種高精度礦用隨鉆軌跡測(cè)量系統(tǒng)顯得尤為重要。隨鉆軌跡測(cè)量系統(tǒng)最初應(yīng)用在石油鉆井領(lǐng)域,時(shí)至今日隨鉆軌跡測(cè)量系統(tǒng)在石油鉆井領(lǐng)域的應(yīng)用技術(shù)已經(jīng)比較成熟；而隨鉆軌跡測(cè)量系統(tǒng)在煤礦井下的相關(guān)技術(shù)尚處于起步階段,目前主要存在煤礦鉆孔空間狹小、通信傳輸方式受限、鉆柱振動(dòng)、電磁干擾和變化的溫度場(chǎng)給軌跡測(cè)量帶來的干擾等應(yīng)用問題,與此同時(shí)存在存儲(chǔ)點(diǎn)數(shù)少、實(shí)時(shí)性較差和無法全姿態(tài)測(cè)量、精度不高、人機(jī)界面功能少以及操作步驟繁瑣等技術(shù)問題。針對(duì)目前礦用隨鉆軌跡測(cè)量系統(tǒng)所面臨的一些問題,與此同時(shí)由于隨著微慣性傳感技術(shù)的發(fā)展,其很好地滿足工況對(duì)鉆進(jìn)姿態(tài)測(cè)量系統(tǒng)小型化、低成本、低功耗、高精度和空間全姿態(tài)測(cè)量的要求。為此本文采用基于MEMS慣性傳感器內(nèi)置三軸加速度計(jì)以及三軸陀螺儀并分別采用小波算法和小波以及Kalman的雙重算法濾波,并用輔助慣性測(cè)量器件三軸磁強(qiáng)計(jì)與以上濾波數(shù)據(jù)采用基于四元數(shù)的互補(bǔ)濾波器進(jìn)行數(shù)據(jù)融合算法實(shí)現(xiàn)礦用隨鉆軌跡測(cè)量系統(tǒng)全姿態(tài)動(dòng)態(tài)高精度實(shí)時(shí)測(cè)量鉆孔軌跡。本課題采用AD公司的MEMS六軸慣性器件ADS16445和Honey well公司的三軸磁阻式數(shù)字羅盤HMC5883L作為采集傳感器,前端采集數(shù)據(jù)經(jīng)基于ARMv7架構(gòu)的STM32的數(shù)字解算平臺(tái)并經(jīng)由RS485總線傳輸至裝有虛擬監(jiān)控軟件的井口儀器上,并在井口儀器上進(jìn)行姿態(tài)角、軌跡圖表顯示以及操控孔內(nèi)儀器。通過本課題的研究,基本實(shí)現(xiàn)了礦用隨鉆軌跡測(cè)量系統(tǒng)的雛形,其具有良好的人機(jī)界面并具有較高的測(cè)量精度。
[Abstract]:With the development of comprehensive mechanized coal mining technology in China, the requirements of mine safety production for underground exploration holes, drainage holes, gas drainage holes and other construction equipment and technology are also increasing. Drilling equipment is required not only to have high drilling efficiency, but also to realize the accurate control of the borehole trajectory, which is the premise of the accurate control of the borehole trajectory. Therefore, it is very important to develop a kind of high-precision measurement system of mine track while drilling. The track measurement system while drilling was initially applied in the field of oil drilling, but the application technology of track while drilling system in the field of oil drilling has been relatively mature up to now. However, the relevant technology of the track measurement system while drilling is still in its infancy in the coal mine. At present, the main problems are the narrow borehole space, the limited communication transmission mode, the vibration of drill string. Electromagnetic interference (EMI) and the interference brought by changing temperature field to trajectory measurement have some problems, such as less storage points, poor real-time performance and low precision. The man-machine interface function is few and the operation step is tedious and so on technical question. Aiming at some problems faced by mine while drilling trajectory measurement system, at the same time, due to the development of micro inertial sensing technology, it can well meet the requirements of miniaturization, low cost and low power consumption of drilling attitude measurement system. The requirement of high precision and full attitude measurement in space. In this paper, a three-axis accelerometer and a three-axis gyroscope are adopted based on MEMS inertial sensors, and wavelet algorithm, wavelet algorithm and Kalman algorithm are used to filter them, respectively. The three-axis magnetometer of auxiliary inertial measurement device and the above filtering data are used for data fusion algorithm based on quaternion complementary filter to realize dynamic and high-precision real-time measurement of borehole trajectory in mine while drilling trajectory measurement system. ADS16445, a MEMS six-axis inertial device, and HMC5883L, a three-axis magnetoresistive digital compass made by Honey well, are used as acquisition sensors. The data collected from the front end are transmitted to the wellhead instrument equipped with virtual monitoring software via the digital solution platform of STM32 based on ARMv7 architecture and transmitted to the wellhead instrument via RS485 bus. The attitude angle, trajectory chart display and control of the instrument in the hole are carried out on the wellhead instrument. Through the research of this subject, the prototype of mine track measurement system while drilling is basically realized, which has good man-machine interface and high measuring precision.
【學(xué)位授予單位】：成都理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TD41;TD178

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本文編號(hào)：2010744