基于GPS的斗轮机定位算法的设计与实现  

Design and Implementation of Position Algorithm Forbucket Wheel Stacker Based on Global Position System

作　　者：苏炫辅 沈文忠[1] 杨彪[1] 

机构地区：[1]上海电力学院电子与信息工程学院,上海200090

出　　处：《上海电力学院学报》2017年第1期11-14,共4页Journal of Shanghai University of Electric Power

摘　　要：为进一步提高斗轮机回转角和俯仰角的测量精度,提出了基于GPS的斗轮机定位算法.天线分别安装在斗轮机的固定台和悬臂上,正常运行取煤时,实时获取固定台天线的坐标位置以及航向角,并运用三角转换得到悬臂天线的空间位置坐标,根据悬臂天线的空间位置求出悬臂的回转角和俯仰角.将得到的回转角和俯仰角参数输入斗轮机控制系统中,让斗轮机在设定的角度范围和特定的煤层自动取煤.实验结果表明,该方法测得的斗轮机回转角和俯仰角精度高,有利于斗轮机的精准控制.In order to further improve the accuracy of rotational angle and the pitch angle of the Bucket Wheel, a localization algorithm based on GPS is proposed. The Antenna are mounted re- spectively on the cantilever and station of bucket wheel stacker. When taking coal normally, we can get real-time fixed station antenna coordinate position and heading angle, at the same time calculate spatial location coordinates of the antenna using Delta conversion. Moreover, the spatial position of the cantilever＇ s antenna is converted into rotational angle and pitch angle. We can control the bucket wheel stacker taking coal automatically at a set angel and specific seam by using the rota- tional angle and the pitch angle as the input parameters to feedback control system. The result shows that the bucket wheel rotation angle and pitch angle precision are high, which is favorable to the accurate control of the bucket wheel.

关 键 词：全球定位系统 斗轮机 自动控制 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置] TM621[自动化与计算机技术—控制科学与工程]