带式输送机自移机尾监控系统的研究

发布时间：2018-01-15 21:42

本文关键词：带式输送机自移机尾监控系统的研究　出处：《安徽理工大学》2016年硕士论文　论文类型：学位论文

【摘要】：自移机尾在提高综采运输效率方面具有重要意义。现有的自移机尾由于缺乏有效可靠的监控系统,需要较高的技术经验的操作者才能在复杂的井下地面环境中对其进行使用和调节,这种控制方式不仅精度和效率较低,且操作者的工作量大,限制了采掘面推进的速度,不利于矿井的自动化和智能化发展。因此,为实现自移式机尾自动化监控,提高矿井自动化控制水平,完成了下述工作：首先,结合自移式机尾的机械结构和液压系统设计了自移式机尾的监控系统。监控系统的硬件系统主要由单片机最小系统、电源模块、人机交互模块、、位移测量模块、倾角测量模块、电磁阀驱动模块及串口通信模块构成。其次,为了优化该系统,对监控系统控制算法进行仿真,为了使角度传感器反馈的数据更加精确,系统采用卡尔曼滤波对其进行降噪处理,解决了角度传感器信号的波动,提高了位姿检测精度。在Matlab中通过PID算法对支腿液压缸进行优化控制,抑制了高频干扰。这些都极大地提升系统的整体性能。最后,在不完全微分PID控制及卡尔曼滤波仿真的基础上,完成了监控系统软件的设计,并列出所需核心程序代码。本监控系统可实现电液自动顺序动作控制和自动调平,可对自移式机尾进行实时监测,反馈系统运行状态。为煤矿机械进一步实现自动化奠定了坚实的基础。
[Abstract]:The self-moving tail is of great significance in improving the efficiency of fully mechanized mining transportation. The existing self-moving tail lacks an effective and reliable monitoring system. The operator who needs high technical experience can use and adjust it in the complex underground surface environment. This control method is not only low precision and efficiency, but also the heavy workload of the operator. Therefore, in order to realize the automatic monitoring of self-moving machine tail, improve the level of mine automation control, the following work has been completed: first of all. Combined with the mechanical structure of self-moving tail and hydraulic system, the monitoring system of self-moving tail is designed. The hardware system of the monitoring system is mainly composed of single chip microcomputer minimum system, power module, man-machine interaction module, etc. Displacement measurement module, inclination measurement module, solenoid valve driving module and serial communication module. Secondly, in order to optimize the system, the control algorithm of the monitoring system is simulated. In order to make the data of angle sensor feedback more accurate, the system adopts Kalman filter to reduce the noise, and solves the fluctuation of angle sensor signal. The precision of position and pose detection is improved. In Matlab, the PID algorithm is used to optimize the control of the hydraulic cylinder, which suppresses the high frequency interference. All of these greatly improve the overall performance of the system. Finally. On the basis of incomplete differential PID control and Kalman filter simulation, the software design of monitoring system is completed. The monitoring system can realize the electro-hydraulic automatic sequential action control and automatic leveling, and can monitor the self-moving tail in real time. Feedback system operating state. For the further automation of coal mine machinery laid a solid foundation.
【学位授予单位】：安徽理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TD634.1

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