综掘工作面掘进机导航系统优化  

Optimization of Navigation System for Roadheader in Fully Mechanized Excavation Face

作　　者：郝晋杰 Hao Jinjie(Shanxi Dibao Energy Co.,Ltd.,Taiyuan,Shanxi 030045)

机构地区：[1]山西地宝能源有限公司,山西太原030045

出　　处：《江西煤炭科技》2024年第1期115-117,共3页Jiangxi Coal Science & Technology

摘　　要：针对综掘工作面掘进机导航系统存在的累计误差大、定位精度低的问题,对其导航系统设计方案进行优化。在分析综掘工作面掘进机惯性导航工作原理的基础上,重点介绍了以STM32控制器为核心的导航系统软硬件设计方案以及晃动对准、零偏估计方案优化,最后完成试验验证与分析。试验分析结果表明,优化后的综掘工作面掘进机导航系统可将对准方位角误差控制在0.15°以内,零偏估计误差控制在15%以内,满足了掘进机导航精度的要求。In view of the problems of large accumulative errors and low positioning accuracy in the navigation system of roadheaders in fully mechanized excavation face,the article optimizes the design scheme of the navigation system,analyzes the working principle of inertial navigation of the roadheaders in fully mechanized excavation face,and focuses on introducing the software and hardware design scheme of the navigation system centered on the STM32 controller,as well as the optimization of the sway alignment and zero offset estimation scheme,whose experimental analysis results show that the optimized navigation system can control the alignment azimuth error within 0.15 ° and the zero deviation estimation error within 15%,and can meet the requirements for the navigation accuracy of roadheader.

关 键 词：综掘工作面 惯性导航 STM32控制器 导航精度 

分 类 号：TD421.5[矿业工程—矿山机电]