【摘要】：針對(duì)現(xiàn)有采煤機(jī)定位與姿態(tài)調(diào)整方法準(zhǔn)確性較差的問題,在地面有緩慢坡度變化的情況下,對(duì)基于捷聯(lián)慣導(dǎo)系統(tǒng)的采煤機(jī)定位與姿態(tài)調(diào)整方法進(jìn)行了研究。首先介紹了采煤機(jī)定位技術(shù),即由捷聯(lián)慣導(dǎo)系統(tǒng)獲取采煤機(jī)運(yùn)動(dòng)參數(shù)信息,采用歐拉角法對(duì)數(shù)據(jù)進(jìn)行處理,進(jìn)而完成采煤機(jī)位姿解算及實(shí)時(shí)定位;然后以采煤機(jī)截割高度調(diào)整為例,介紹了基于捷聯(lián)慣導(dǎo)系統(tǒng)的采煤機(jī)姿態(tài)調(diào)整方法,重點(diǎn)推導(dǎo)了采煤機(jī)在不同截割工況下,采煤機(jī)截割高度與機(jī)身傾角之間的關(guān)系式;最后采用采煤機(jī)模型進(jìn)行采煤機(jī)定位與截割高度調(diào)整實(shí)驗(yàn),結(jié)果表明基于捷聯(lián)慣導(dǎo)系統(tǒng)的采煤機(jī)定位與姿態(tài)調(diào)整方法可有效提高采煤機(jī)的定位與姿態(tài)調(diào)整精度。
[Abstract]:Aiming at the problem of poor accuracy of the existing positioning and attitude adjustment methods of shearer, the positioning and attitude adjustment method of shearer based on strapdown inertial navigation system is studied under the condition of slow slope change on the ground. Firstly, the technology of shearer positioning is introduced, that is, the information of shearer motion parameters is obtained by strapdown inertial navigation system, and the data is processed by Eulerian angle method, and then the position and pose calculation and real-time positioning of shearer are completed. Then, taking the cutting height adjustment of shearer as an example, the paper introduces the method of attitude adjustment of shearer based on strapdown inertial navigation system, and emphatically deduces the relation between cutting height and fuselage inclination of shearer under different cutting conditions. Finally, the shearer model is used to adjust the position and cutting height of the shearer. The results show that the positioning and attitude adjustment method based on strapdown inertial navigation system can effectively improve the accuracy of the positioning and attitude adjustment of the shearer.
【作者單位】： 太原理工大學(xué)機(jī)械工程學(xué)院;煤礦綜采裝備山西省重點(diǎn)實(shí)驗(yàn)室;
【基金】：國(guó)家自然科學(xué)基金山西煤基低碳聯(lián)合基金資助項(xiàng)目(U1510116) 山西省回國(guó)留學(xué)人員科研資助項(xiàng)目(2016-043) 山西省基礎(chǔ)條件平臺(tái)項(xiàng)目(2014091016) 山西省高等學(xué)校創(chuàng)新人才支持計(jì)劃資助項(xiàng)目(2014)
【分類號(hào)】：TD421.6

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