三维激光雷达隔振系统的研究

发布时间：2018-06-01 00:19

本文选题：被动隔振 + 主动隔振　；参考：《华中科技大学》2014年硕士论文

【摘要】：煤矿井下开采环境十分复杂，通过三维可视化技术监控井下的工作环境，可以给技术人员提供详细的巷道结构和环境的数据，从而为进一步的开采和施工提供意见。为了监控井下的三维场景，需要在掘进机上安装一个三维激光雷达来采集数据信息，但是采煤工作面和掘进工作面的设备很多，环境很恶劣，掘进机的振动强烈，其产生的振动会给三维激光雷达造成严重的抖动，对其正常工作造成严重的影响。为了减弱或者隔离这种影响，我们可以在掘进机和雷达之间加入一套隔振系统，使三维激光雷达能够正常工作。被动隔振系统结构简单，容易设计，，能有效隔离大多数的高频振动，在工业生产中得到广泛应用。但是被动隔振系统对于低频振动没有隔离效果，而且其参数比较固定，当隔振环境变化时，需要重新设计参数，给人们带来不便。本文设计了一套被动隔振实验方案，并在振动平台上采集数据并进行分析，结果表明该隔振方案具有良好的隔振效果。主动隔振技术可以弥补被动隔振技术的不足，对于低频振动，主动隔振技术具有良好的隔振效果。根据模糊控制的基本原理，本文提出了一种适用于振动主动控制的模糊控制规则，并进行了隔振平台的设计。仿真结果表明，本文所设计的隔振系统对于周期振动信号具有较好的控制效果。
[Abstract]:The underground mining environment is very complex. Monitoring the underground working environment by 3D visualization technology can provide detailed data of roadway structure and environment for technicians, thus providing advice for further mining and construction. In order to monitor the underground 3D scene, we need to install a 3D lidar on the roadheader to collect data information. However, there are a lot of equipments in the coal mining face and the tunneling face, the environment is very bad, and the vibration of the roadheader is strong. The vibration will cause severe jitter to the 3D lidar, which will have a serious effect on the normal operation of the radar. In order to weaken or isolate this effect, we can add a vibration isolation system between the roadheader and radar to make 3D lidar work normally. Passive vibration isolation system is simple in structure and easy to design. It can effectively isolate most of the high frequency vibration and is widely used in industrial production. But passive vibration isolation system has no isolation effect for low-frequency vibration, and its parameters are relatively fixed. When the isolation environment changes, the parameters need to be redesigned, which brings inconvenience to people. In this paper, a set of passive vibration isolation experiment scheme is designed, and the data are collected and analyzed on the vibration platform. The results show that the vibration isolation scheme has a good vibration isolation effect. Active vibration isolation technology can make up for the deficiency of passive vibration isolation technology, and it has good isolation effect for low frequency vibration and active vibration isolation technology. According to the basic principle of fuzzy control, this paper presents a fuzzy control rule suitable for active vibration control, and designs the vibration isolation platform. The simulation results show that the vibration isolation system designed in this paper has a good control effect on the periodic vibration signal.
【学位授予单位】：华中科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TB535.1

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