悬臂式掘进机惯性定位技术研究与试验  

Research and Test on Inertial Positioning Technology of Boom-Type Roadheader

作　　者：田原 TIAN Yuan(CCTEG Taiyuan Research Institute Co., Ltd., Taiyuan 030006, China;Shanxi Tiandi Coal Mining Machinery Co., Ltd., Taiyuan 030006, China)

机构地区：[1]中国煤炭科工集团太原研究院有限公司 [2]山西天地煤机装备有限公司

出　　处：《煤矿机电》2020年第1期9-12,共4页Colliery Mechanical & Electrical Technology

基　　金：山西省重点研发计划资助项目(201803D121128);天地科技股份有限公司科技创新创业资助资金项目(2018-TD-MS042);中国煤炭科工集团太原研究院技术创新项目(M2018-02)

摘　　要：在巷道断面自动截割技术中,掘进机定位精度直接影响断面成型精度。分析了掘进机的运动特点,建立了掘进机惯性定位系统,将PHINS惯性导航系统用于掘进机自动定位,利用零速修正法提高其定位精度并完成工业性试验。试验结果表明,修正间隔时间为60 s时,北向定位偏差均值约0.0311 m,东向定位偏差均值约0.0624 m;在约2 h试验期间,掘进机间断行进约42 m,北向定位偏差累积约为0.249 m,东向定位偏差累积约为0.49 m;小范围连续运动超过10 min时,定位精度明显变差,定位偏差超过5 m。试验结果证明,60 s零速修正间隔可以满足掘进机对短时定位精度的要求,长时定位精度若要满足自动截割要求,仍需要进一步改进零速修正算法或融合其他定位方法。In the automatic cutting technology of roadway section,the positioning accuracy of roadheader directly affects the forming accuracy of the section.The movement characteristics of the roadheader have been analyzed,the inertial positioning system of the roadheader has been established,PHINS inertial navigation system to the automatic positioning of the roadheader has been applied,its positioning accuracy by zero-speed correction method has been improved and the industrial test has been completed.The test results showed that when the correction interval was 60 seconds,the mean value of positioning deviation in the north direction was about 0.0311 m,and that in the east direction was about 0.0624 m.During the test period of about 2 hours,the roadheader moved intermittently about 42 m,the accumulation of positioning deviation in the north direction was about 0.249 m,and the accumulation of positioning deviation in the east direction is about 0.49 m.When the small range of continuous motion exceeds 10 minutes,the positioning accuracy became obviously worse,and the positioning deviation exceeds 5 m.The test results showed that the 60 s zero-speed correction interval can meet the requirement of short-time positioning accuracy of roadheader.The long-time positioning accuracy not only needs to meet the requirement of automatic cutting,but also needs to further improve the zero-speed correction algorithm or integrate other positioning methods.

关 键 词：掘进机 自动定位 惯性导航 零速修正 

分 类 号：TD421.5[矿业工程—矿山机电]