基于捷联惯导系统的采煤机定位与姿态调整

发布时间：2018-09-05 12:26

【摘要】：针对现有采煤机定位与姿态调整方法准确性较差的问题,在地面有缓慢坡度变化的情况下,对基于捷联惯导系统的采煤机定位与姿态调整方法进行了研究。首先介绍了采煤机定位技术,即由捷联惯导系统获取采煤机运动参数信息,采用欧拉角法对数据进行处理,进而完成采煤机位姿解算及实时定位;然后以采煤机截割高度调整为例,介绍了基于捷联惯导系统的采煤机姿态调整方法,重点推导了采煤机在不同截割工况下,采煤机截割高度与机身倾角之间的关系式;最后采用采煤机模型进行采煤机定位与截割高度调整实验,结果表明基于捷联惯导系统的采煤机定位与姿态调整方法可有效提高采煤机的定位与姿态调整精度。
[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.
【作者单位】：太原理工大学机械工程学院;煤矿综采装备山西省重点实验室;
【基金】：国家自然科学基金山西煤基低碳联合基金资助项目(U1510116) 山西省回国留学人员科研资助项目(2016-043) 山西省基础条件平台项目(2014091016) 山西省高等学校创新人才支持计划资助项目(2014)
【分类号】：TD421.6

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