本文選題：綜采工作面 + 采煤機(jī)定位定姿�。� 參考：《中國礦業(yè)大學(xué)》2017年碩士論文

【摘要】：煤炭是我國重要的基礎(chǔ)能源和原料,隨著國家在“去產(chǎn)能”和“調(diào)結(jié)構(gòu)”的宏觀調(diào)控下,確保煤礦開采的安全性以及高產(chǎn)高效變成了首要任務(wù)。煤礦井下綜采工作面的智能化和自動化是實現(xiàn)礦井無人化、安全高效開采的重要前提,也是發(fā)展“數(shù)字礦山”,提高礦井機(jī)電裝備機(jī)械化和自動化水平的重要組成部分。本文在國家高技術(shù)研究發(fā)展計劃項目和江蘇省“333工程”科研項目的資助下,以采煤機(jī)為研究對象,以捷聯(lián)慣性導(dǎo)航系統(tǒng)為基礎(chǔ),以實現(xiàn)井下綜采工作面無人化采礦為目標(biāo),通過分析“三機(jī)”裝備—采煤機(jī)、液壓支架、刮板輸送機(jī)的運動規(guī)律,構(gòu)建了運動學(xué)約束下采煤機(jī)定位定姿解算模型,開發(fā)了基于ARM的采煤機(jī)捷聯(lián)慣導(dǎo)定位定姿系統(tǒng),設(shè)計了針對模擬實驗平臺的上位機(jī)位姿檢測軟件。主要研究內(nèi)容包括:首先,運動學(xué)約束下采煤機(jī)定位定姿方法研究。通過建立系統(tǒng)坐標(biāo)系完成了采煤機(jī)結(jié)構(gòu)與運動學(xué)模型分析,針對純SINS下采煤機(jī)定位定姿技術(shù)在長航時位置存在累積誤差,從而難以實現(xiàn)精確定位這一問題,對采煤機(jī)的運動特性進(jìn)行分析,并建立綜采工作面采煤機(jī)運動學(xué)約束模型,借助卡爾曼濾波輔助算法,建立了系統(tǒng)的狀態(tài)方程和觀測方程,對純慣性導(dǎo)航下采煤機(jī)速度和位置誤差進(jìn)行補償矯正。其次,采煤機(jī)捷聯(lián)慣性導(dǎo)航定位系統(tǒng)誤差分析。在對防爆型采煤機(jī)捷聯(lián)慣導(dǎo)定位裝置內(nèi)部結(jié)構(gòu)研究的基礎(chǔ)上,分析了采煤機(jī)捷聯(lián)慣導(dǎo)定位系統(tǒng)誤差的來源,并結(jié)合定位裝置闡明了采煤機(jī)捷聯(lián)慣導(dǎo)定位系統(tǒng)安裝偏差角和桿臂效應(yīng)產(chǎn)生的原因,并提出了安裝偏差角和桿臂效應(yīng)誤差補償機(jī)制,通過仿真對比實驗探討了安裝偏差角和桿臂效應(yīng)矯正后的采煤機(jī)位置、速度、姿態(tài)的定位精度較高,為實現(xiàn)運動學(xué)約束下采煤定位定姿系統(tǒng)的高精度作理論鋪墊。再次,運動學(xué)約束下采煤機(jī)定位實驗系統(tǒng)的設(shè)計。提出了運動學(xué)約束下采煤機(jī)SINS定位定姿技術(shù)方案,完成包括數(shù)據(jù)存儲模塊、網(wǎng)絡(luò)接口模塊、電源模塊、液晶顯示模塊等在內(nèi)的硬件電路部分的設(shè)計。下位機(jī)軟件程序中實現(xiàn)對SINS數(shù)據(jù)采集、數(shù)據(jù)自校驗、導(dǎo)航信息解算、數(shù)據(jù)存儲與通訊等功能。同時利用C#編程語言完成了監(jiān)控上位機(jī)的設(shè)計,實現(xiàn)了人機(jī)交互、多路數(shù)據(jù)的實時監(jiān)測、軌跡繪制等功能。最后,采煤機(jī)定位定姿實驗及結(jié)果分析。搭建用來模擬采煤機(jī)在地下室狹長綜采工作面割煤工作的實驗平臺,并開展采煤機(jī)定位定姿實驗研究,驗證了運動學(xué)約束下采煤機(jī)SINS定位理論模型的有效性,同時測試了定位系統(tǒng)精度。
[Abstract]:Coal is an important basic energy and raw material in our country. With the macro regulation of "removing capacity" and "adjusting structure", it is the primary task to ensure the safety and high production and efficiency of coal mining. The intellectualization and automation of fully mechanized coal mining face in coal mine is an important prerequisite for the realization of mine unmanned, safe and efficient mining. The development of "digital mine" is an important part of the mechanization and automation of mine mechanical equipment. Under the support of the national high technology research and development project and the scientific research project of "333 project" in Jiangsu Province, this paper takes the coal mining machine as the research object, based on the strapdown inertial navigation system, so as to realize the downhole fully mechanized mining face no one Based on the analysis of the movement rules of "three machine" equipment - shearer, hydraulic support and scraper conveyor, the positioning and positioning calculation model of shearer under kinematic constraints is constructed. The positioning and positioning system of strapdown inertial navigation system based on ARM is developed, and the host position attitude detection software for simulated experimental platform is designed. The research contents include: first, study on the positioning method of the coal shearer under the kinematic constraints. Through the establishment of the system coordinate system, the structural and kinematic model of the shearer is completed. In order to solve the problem of accurate positioning, it is difficult to realize the precise positioning of the position and position of the mining machine under the pure SINS. The characteristics are analyzed, and the kinematic constraint model of the coal shearer in fully mechanized coal mining face is set up. With the aid of Calman filter auxiliary algorithm, the state equation and the observation equation are established. The error of the speed and position of the shearer under the pure inertial navigation system is compensated. Secondly, the error analysis of the Czech inertial navigation and positioning system of the shearer. On the basis of the study of the internal structure of the strapdown inertial navigation device of the shearer, the source of the error of the strapdown inertial navigation system of the shearer is analyzed, and the reasons for the installation deviation angle and the pole arm effect of the strapdown inertial navigation system of the shearer are explained with the positioning device, and the error compensation mechanism of the installation deviation angle and the pole arm effect is put forward. The simulation contrast experiment discusses the position of the shearer, the position of the shearer which is corrected by the deviation angle and the pole arm effect, and the positioning accuracy of the speed and attitude is high. It is a theoretical paving for the high precision of the coal mining positioning system under the kinematic constraints. Again, the design of the mining machine positioning experiment system under the kinematic constraint is designed. The SI of the shearer under the kinematic constraint is put forward. NS positioning technology scheme, complete the design of hardware circuit part including data storage module, network interface module, power module, liquid crystal display module and so on. In the software program of the lower computer, the functions of data acquisition, data self checking, navigation information solution, data storage and communication are realized in the software program of the lower computer. At the same time, the C# programming language is used to complete the functions. Monitor the design of the upper computer, realize the functions of human-computer interaction, real-time monitoring of multiple data, track drawing and other functions. Finally, the experiment and results analysis of the positioning and setting of the coal shearer. The experimental platform is set up to simulate the coal cutting machine in the narrow and long mechanized mining face of the basement, and the experimental research on the position and orientation of the coal mining machine is carried out, and the kinematic agreement is verified. The validity of the SINS positioning theory model of the shearer and the accuracy of the positioning system are tested.
【學(xué)位授予單位】：中國礦業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TD632.1

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本文編號：2106908