基于SINS/轴编码器组合的采煤机定位方法与试验研究  

Experimental study on shearer positioning method based on SINS and Encoder

作　　者：李昂[1,2] 郝尚清[1,2,3] 王世博[1,2] 葛兆亮 葛世荣[1,2] 

机构地区：[1]中国矿业大学机电工程学院,江苏徐州221116 [2]中国矿业大学矿山智能采掘装备协同创新中心,江苏徐州221116 [3]山西太重煤机煤矿装备成套有限公司,山西太原030032

出　　处：《煤炭科学技术》2016年第4期95-100,共6页Coal Science and Technology

基　　金：国家高技术研究发展计划(863计划)资助项目(2013AA06A411);中国矿业大学重大项目培育基金资助项目(2012ZDP09)

摘　　要：为提高采煤机三维惯性定位精度,介绍了一种基于捷联惯性导航系统(SINS)与轴编码器组合的采煤机定位方法,构建了采煤机定位方程。利用捷联惯性导航系统测出采煤机的实时姿态,轴编码器测出采煤机的位移增量,根据采煤机的实时姿态,将采煤机坐标系下的位移增量变换到导航坐标系下累加得到采煤机位置。该方法不仅能自主实时确定采煤机的三维位置,并且可有效减小纯惯性导航中的累积误差。同时,通过井上试验和井下试验验证了该定位方法的可行性,评价了该定位方法的定位精度。In order to improve the accuracy of the shearer three-dimensional inertial positioning,a shearer positioning method based on the combination of encoder and strap-down inertial navigation system（ SINS） was proposed and the positioning equations was built.The realtime attitude and displacement increment of the shearer were respectively measured with the SINS and encoder.The position of the shearer was calculated through transforming the displacement increment of the shearer from shearer coordinate frame to navigation coordinate frame.This positioning method can accurately measure the three-dimensional position of a longwall shearer,and effectively reduce the accumulated errors of the pure-inertial navigation.To verify the feasibility and evaluate the accuracy of positioning method through laboratory tests and field tests.

关 键 词：采煤机 定位方法 捷联惯性导航系统 轴编码器 

分 类 号：TD632[矿业工程—矿山机电]