基于激光测量技术的掘进机航向角精度研究  

Research on course angle accuracy of roadheader based on laser measurement

作　　者：陈慎金 成龙[1] 王鹏江 李瑞[1] 刘丹 吴淼[1] CHEN Shen-jin;CHENG Long;WANG Peng-jiang;LI Rui;LIU Dan;WU Miao(School of Mechanical Electronic and Information Engineering, China University of Mining and Technology （Beijing）, Beijing 100083, China)

机构地区：[1]中国矿业大学(北京)机电与信息工程学院,北京100083

出　　处：《煤炭工程》2018年第7期107-110,共4页Coal Engineering

基　　金：国家重点基础研究发展计划(973计划)资助项目(2014CB046306)

摘　　要：为实现悬臂式掘进机位姿的高精度自主测量,建立了基于激光测量技术的掘进机位姿检测系统,并对掘进机航向角精度进行研究。介绍了测量系统的组成和工作原理;由误差传递理论及掘进机航向角解算数学模型,推导出航向角误差传递方程;并应用MATLAB进行仿真分析研究。结果表明:实验仿真与实际理论分别得出的航向角在多因素条件下测量误差变化规律基本相同,此测量系统在目前的各类掘进机定位定向方法中测量精度是最高的。完全满足目前煤矿综掘工作面对悬臂式掘进机航向角测量精度的要求。In order to realize the high precision and autonomous measurement of the roadheader, a laser position and attitude measurement system based on laser measurement technology is established to study the accuracy of the course angle of the roadheader. The composition and working principle of the measuring system are introduced. According to the error transfer theory and the course angle salving mathematical model, the course angle error transfer equation is established and the MATLAB is used to carry out the simulation analysis of measuring process. And the analysis results show that the course angle measurement error of experimental simulation and practical theoretical study is basically the same, and this measurement system is the highest accuracy in the current various types of roadheader positioning and orientation method, which fully satisfies the requirements of the course angle of roadheader in current production of coal mines.

关 键 词：激光测量 掘进机 航向角 误差分析 

分 类 号：TD421.5[矿业工程—矿山机电]