基于差分式惯性传感组件的采煤机位姿解算法  

Position and Attitude Calculation Algorithm of Shearer Based on Differential Inertial Sensors

作　　者：司垒[1] 王忠宾[1] 谭超[1] 梁斌[1,2] 万淼[1] SI Lei;WANG Zhongbin;TAN Chao;LIANG Bin;WAN Miao(School of Mechatronic Engineering,China University of Mining and Technology Xuzhou,221116,China;Xuhai College,China University of Mining and Technology Xuzhou,221008,China)

机构地区：[1]中国矿业大学机电工程学院,徐州221116 [2]中国矿业大学徐海学院,徐州221008

出　　处：《振动．测试与诊断》2021年第2期220-227,406,共9页Journal of Vibration,Measurement & Diagnosis

基　　金：国家自然科学基金资助项目(U1510117);中国博士后科学基金资助项目(2019M661974,2020T130696);江苏省高等学校自然科学研究面上资助项目(19KJB510014);江苏高校优势学科建设工程项目(PAPD)。

摘　　要：采煤机是综采工作面的关键设备之一,其准确定位是实现工作面智能化开采的前提。首先,分析了采煤机惯性导航定位产生的确定性漂移和非确定性漂移误差,建立了差分式惯性传感组件数据融合模型;其次,研究了基于差分式惯性传感组件的采煤机位姿差分解算方法,模拟了采煤机作起伏运动的运行曲线;最后,对位姿差分解算算法进行了仿真分析,仿真结果表明采煤机在作起伏运动时,提出的差分位姿解算算法在累积误差和最大误差方面均小于原始位姿解算算法。笔者设计并搭建了采煤机惯性导航定位实验平台和运动工况模拟实验台,进行了相应的实验分析,实验结果验证了所提姿态解算方法的可行性和有效性。The shearer is one of the key equipment in the fully mechanized mining face,and its accurate positioning is the premise to realize the intelligent mining of the mining face. The deterministic drift and non-deterministic drift errors generated by the inertial navigation positioning of shearer are analyzed,and the data fusion model of the differential inertial sensor module is established to study the differential calculation method of the shearer position and attitude. The shearer operating condition of undulating motion is simulated,and the simulation analysis of the differential calculation algorithm is carried out. The simulation results show that the proposed calculation algorithm is superior to the original method in terms of the cumulative error and the maximum error. An experimental platform for shearer inertial navigation positioning and a motion condition simulation test platform are designed and built to analyze. The experimental results verify the feasibility and effectiveness of the proposed position and attitude calculation method.

关 键 词：采煤机 位姿解算 惯性导航 精确定位 

分 类 号：TH6[机械工程—机械制造及自动化] TD42[矿业工程—矿山机电]