基于航位推测的刮板输送机形态检测研究
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摘要
针对煤矿综采工作面自动化中刮板输送机直线度检测困难及测量精度不高的问题,利用捷联惯导提出了一种基于中部槽结构尺寸航位推测的刮板输送机形态检测新方法。首先,选择Rodrigues参数法进行惯导姿态解算,其次采用加速度传感器测量采煤机经过刮板输送机连接间隙时产生的振动信号,建立了Butterworth滤波下的刮板输送机节数检测模型,最后在考虑刮板输送机连接间隙的情况下构建刮板输送机形态检测模型。利用采煤机和轨道模型在水平、竖直面分别搭建实验平台,实验结果表明,刮板输送机形态的跟踪误差小于14mm。该形态检测方法为刮板输送机形态的检测提供了一种新思路,并为综采工作面自动校直的实现提供了一定的理论支持。
In terms of the problem that the straightness detection of scraper conveyor is difficult and the measurement accuracy is not high at a fully mechanized coal face, a new method of scraper conveyor shape detection, which is based on the size of central shute and the dead reckoning,is proposed using SINS. Firstly,the INS attitude is calculated by Rodrigues parameter algorithm. Then,the vibration signal can be obtained using the IMU when shearer passes the connection portion of scraper conveyor and the section number detection model of scraper conveyor can be established with Butterworth filter. At last,the shape detection model of scraper conveyor is built with the consideration of connection gap. An experimental platform is built both in horizontal and vertical plane with the models of shearer and scraper conveyor. Furthermore,the results of experiment show that the shape tracking error of scraper conveyor is less than 14 mm. The shape detection method proposed provides a new way for the shape detect of scraper conveyor,which provides a theoretical basis for the implementation of automatic alignment at the fully mechanized coal face.
In terms of the problem that the straightness detection of scraper conveyor is difficult and the measurement accuracy is not high at a fully mechanized coal face, a new method of scraper conveyor shape detection, which is based on the size of central shute and the dead reckoning,is proposed using SINS. Firstly,the INS attitude is calculated by Rodrigues parameter algorithm. Then,the vibration signal can be obtained using the IMU when shearer passes the connection portion of scraper conveyor and the section number detection model of scraper conveyor can be established with Butterworth filter. At last,the shape detection model of scraper conveyor is built with the consideration of connection gap. An experimental platform is built both in horizontal and vertical plane with the models of shearer and scraper conveyor. Furthermore,the results of experiment show that the shape tracking error of scraper conveyor is less than 14 mm. The shape detection method proposed provides a new way for the shape detect of scraper conveyor,which provides a theoretical basis for the implementation of automatic alignment at the fully mechanized coal face.
引文
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[2]WANG Jinhua.Development and prospect on fully mechanized mining in Chinese coal mines[J].International Journal of Coal Science&Technology,2014,1(3):253-260.
[3]王金华.我国煤矿开采机械设备自动化技术新进展[J].煤炭科学技术,2013,41(1):1-4.WANG Jinhua.New progress on China coal mining machinery equipment and automation technology[J].Coal Science and Technology,2013,41(1):1-4.
[4]李守滨,韦文术,牛剑峰.液压支架电液控制及工作面自动化技术综述[J].煤炭科学技术,2007,35(11):1-5.LI Shoubin,WEI Wenshu,NIU Jianfeng.Statement on electric and hydraulic control of hydraulic powered support and mining face automation technology[J].Coal Science and Technology,2007,35(11):1-5.
[5]牛剑锋,李俊士.一种煤矿工作面液压支架调制系统和调直方法[P].中国专利:CN201310492654.6,2013.
[6]李伟,张行,朱真才,等.综采工作面刮板输送机机身自动调直装置及方法[P].中国专利:N201510379025.1,2015-07-01.
[7]黄曾华,王旭鸣,张炳权,等.一种使用编码器校正工作面液压支架组直线度的系统[P].中国专利:CN201410103860.8,2014-03-19.
[8]张守祥,冯银辉,李重重,等.一种使用光纤的工作面液压支架组直线度控制方法[P].中国专利:CN201410103904.7,2014-03-19.
[9]黄曾华,张守祥,李昊,等.一种使用光纤的工作面液压支架组直线度控制系统[P].中国专利:CN201410103888.1,2014-07-09.
[10]牛剑锋,魏文艳,赵文生.一种采煤工作面直线度控制方法[P].中国专利:201210142362.5,2012-05-10.
[11]LAI J Z,LV P,LIU J Y,et al.Noncommutativity error analysis of strap down inertial navigation system under the vibration in UAVs[J].International Journal of Advanced Robotic Systems,2012,9:1-8.
[12]REID D C,HAINSWORTH D W,RAILSTON J C,et al.Inertial navigation:enabling technology for longwall mining automation[A].Computer Applications in Minerals Industries[A],2003.
[13]张斌,方新秋,邹永铭,等.基于陀螺仪和里程计的无人工作面采煤机自主定位系统[J].矿山机械,2010,38(9):10-13.ZHANG Bin,FANG Xinqiu,ZOU Yongming,et al.Auto-positioning system of shearer operating on manless working face based on gyroscope and odometer[J].Mining&Processing Equipment,2010,38(9):10-13.
[14]FANG Xinqiu,ZHAO Junjie,HU Yuan.TESTS and error analysis of a self-positioning shearer operating at a manless working face[J].Mining Science and Technology,2010,20(1);53-58.
[15]张智喆,王世博,张博渊,等.基于采煤机运动轨迹的刮板输送机布置形态检测研究[J].煤炭学报,2015,40(11):2514-2521.ZHANG Zhizhe,WANG Shibo,ZHANG Boyuan,et al.SHAPE detection of scraper conveyor based on shearer trajectory[J].Journal of China Coal Society,2015,40(11):2514-2521.
[16]JIMENEZ A R,SECO F,PRIETO C,et al.A comparison of pedestrian dead-reckoning algorithms using a low-cost MEMS IMU[C].Proc.IEEE Int.Symp.Intell.Signal Process[A].(WISP),Budapest,Hungary,2009:37-42.
[17]李阳星,李晓辉.基于ADAMS平面转弯带式输送机的动态特性[J].黑龙江科技大学学报,2015,25(5):482-488.LI Yangxing,LI Xiaohui.Dynamic characteristics analysis of belt conveyor with horizontal curves based on ADAMS[J].Journal of Heilongjiang University of Science&Technology,2015,25(5):482-488.
[18]周广林,韩瑞飞.辊子压带式带式输送机的动态特性[J].黑龙江科技大学学报,2014,24(1):85-90.ZHOU Guanglin,HAN Ruifei.Dynamic characteristics analysis of roller sandwich belt conveyor[J].Journal of Heilongjiang Universi-ty of Science&Technology,2014,24(1):85-90.
[19]王大伟,贾荣丛,王划一.基于Matlab的巴特沃斯滤波器设计[J].现代电子技术,2012,35(21):71-72.WANG Dawei,JIA Rongcong,WANG Huayi.Design of butterworth analog filter based on matlab[J].Modem Electronics Technique,2012,35(21):71-72.
[20]杨海,李威,张金尧,等.移动装备捷联惯性导航系统误差补偿技术研究[J].农业机械学报,2015,46(8):361-366,378.YANC Hai,LI Wei,ZHANG Jinyao,et al.Error compensation technology of strapdown inertial navigation system for mobile equipment[J].Transactions of the Chinese Society for Agricultural Machinery,2015,46(8):361-366,378.
[21]张金尧,李威,杨海,等.采煤机捷联惯导定位方法研究[J].工矿自动化,2016,42(3):52-55.ZHANG Jinyao,LI Wei,YANG Hai,et al.Study of shearer positioning method using strapdown inertial navigation system[J].Industry and Mine Automation,2016,42(3):52-55.
[22]孙丽,秦永元.捷联惯导系统姿态算法比较[J].中国惯性技术学报,2006,14(3):6-10.SUN Li,QIN Yongyuan.Comparison of attitude algorithms of SINS[J].Journal of Chinese Inertial Technology,2006,14(3):6-10.
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