發(fā)布時間：2018-09-05 12:26

【摘要】：針對現(xiàn)有采煤機定位與姿態(tài)調(diào)整方法準確性較差的問題,在地面有緩慢坡度變化的情況下,對基于捷聯(lián)慣導(dǎo)系統(tǒng)的采煤機定位與姿態(tài)調(diào)整方法進行了研究。首先介紹了采煤機定位技術(shù),即由捷聯(lián)慣導(dǎo)系統(tǒng)獲取采煤機運動參數(shù)信息,采用歐拉角法對數(shù)據(jù)進行處理,進而完成采煤機位姿解算及實時定位;然后以采煤機截割高度調(diào)整為例,介紹了基于捷聯(lián)慣導(dǎo)系統(tǒng)的采煤機姿態(tài)調(diào)整方法,重點推導(dǎo)了采煤機在不同截割工況下,采煤機截割高度與機身傾角之間的關(guān)系式;最后采用采煤機模型進行采煤機定位與截割高度調(diào)整實驗,結(jié)果表明基于捷聯(lián)慣導(dǎo)系統(tǒng)的采煤機定位與姿態(tài)調(diào)整方法可有效提高采煤機的定位與姿態(tài)調(diào)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.
【作者單位】： 太原理工大學(xué)機械工程學(xué)院;煤礦綜采裝備山西省重點實驗室;
【基金】：國家自然科學(xué)基金山西煤基低碳聯(lián)合基金資助項目(U1510116) 山西省回國留學(xué)人員科研資助項目(2016-043) 山西省基礎(chǔ)條件平臺項目(2014091016) 山西省高等學(xué)校創(chuàng)新人才支持計劃資助項目(2014)
【分類號】：TD421.6

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