基于ARM的采煤机捷联惯性导航定位定姿系统研究

发布时间：2018-07-08 09:00

本文选题：综采工作面 + 采煤机定位定姿　；参考：《中国矿业大学》2017年硕士论文

【摘要】：煤炭是我国重要的基础能源和原料,随着国家在“去产能”和“调结构”的宏观调控下,确保煤矿开采的安全性以及高产高效变成了首要任务。煤矿井下综采工作面的智能化和自动化是实现矿井无人化、安全高效开采的重要前提,也是发展“数字矿山”,提高矿井机电装备机械化和自动化水平的重要组成部分。本文在国家高技术研究发展计划项目和江苏省“333工程”科研项目的资助下,以采煤机为研究对象,以捷联惯性导航系统为基础,以实现井下综采工作面无人化采矿为目标,通过分析“三机”装备—采煤机、液压支架、刮板输送机的运动规律,构建了运动学约束下采煤机定位定姿解算模型,开发了基于ARM的采煤机捷联惯导定位定姿系统,设计了针对模拟实验平台的上位机位姿检测软件。主要研究内容包括:首先,运动学约束下采煤机定位定姿方法研究。通过建立系统坐标系完成了采煤机结构与运动学模型分析,针对纯SINS下采煤机定位定姿技术在长航时位置存在累积误差,从而难以实现精确定位这一问题,对采煤机的运动特性进行分析,并建立综采工作面采煤机运动学约束模型,借助卡尔曼滤波辅助算法,建立了系统的状态方程和观测方程,对纯惯性导航下采煤机速度和位置误差进行补偿矫正。其次,采煤机捷联惯性导航定位系统误差分析。在对防爆型采煤机捷联惯导定位装置内部结构研究的基础上,分析了采煤机捷联惯导定位系统误差的来源,并结合定位装置阐明了采煤机捷联惯导定位系统安装偏差角和杆臂效应产生的原因,并提出了安装偏差角和杆臂效应误差补偿机制,通过仿真对比实验探讨了安装偏差角和杆臂效应矫正后的采煤机位置、速度、姿态的定位精度较高,为实现运动学约束下采煤定位定姿系统的高精度作理论铺垫。再次,运动学约束下采煤机定位实验系统的设计。提出了运动学约束下采煤机SINS定位定姿技术方案,完成包括数据存储模块、网络接口模块、电源模块、液晶显示模块等在内的硬件电路部分的设计。下位机软件程序中实现对SINS数据采集、数据自校验、导航信息解算、数据存储与通讯等功能。同时利用C#编程语言完成了监控上位机的设计,实现了人机交互、多路数据的实时监测、轨迹绘制等功能。最后,采煤机定位定姿实验及结果分析。搭建用来模拟采煤机在地下室狭长综采工作面割煤工作的实验平台,并开展采煤机定位定姿实验研究,验证了运动学约束下采煤机SINS定位理论模型的有效性,同时测试了定位系统精度。
[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.
【学位授予单位】：中国矿业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TD632.1

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