采煤机惯性导航定位方法研究.pdf

硕士学位论文 采煤机惯性导航定位方法研究 Research on Inertial Navigation Positioning of Shearer 作 者万 淼 导 师王忠宾 教授 中国矿业大学 二○二○年六月 学位论文使用授权声明 学位论文使用授权声明 本人完全了解中国矿业大学有关保留、使用学位论文的规定，同意本人所撰 写的学位论文的使用授权按照学校的管理规定处理 作为申请学位的条件之一， 学位论文著作权拥有者须授权所在学校拥有学位 论文的部分使用权，即①学校档案馆和图书馆有权保留学位论文的纸质版和电 子版，可以使用影印、缩印或扫描等复制手段保存和汇编学位论文；②为教学和 科研目的，学校档案馆和图书馆可以将公开的学位论文作为资料在档案馆、图书 馆等场所或在校园网上供校内师生阅读、浏览。另外，根据有关法规，同意中国 国家图书馆保存研究生学位论文。 （保密的学位论文在解密后适用本授权书） 。 作者签名 导师签名 年 月 日 年 月 日 中图分类号 TD421 学校代码 10290 UDC 621 密 级 公开 中国矿业大学 硕士学位论文 采煤机惯性导航定位方法研究 Research on Inertial Navigation Positioning of Shearer 作 者 万淼 导 师 王忠宾 教授 申请学位 工学硕士 培养单位 机电工程学院 学科专业 机械设计及理论 研究方向 煤矿机电装备自动化 答辩委员会主席 谭超 副教授 评 阅 人 二○二○年六月 致 谢 致 谢 时光荏苒，三年的硕士研究生学习生活即将画上一个圆满的句号。非常有幸 能够进入中国矿业大学这座历久弥新的百年学府， 在这里我聆听了老师们的教诲， 结识了新的朋友，在和谐而又严谨的校园氛围中完成了我研究生生涯的学习。此 时此刻，我的心中充满无限感激。 首先感谢我的导师王忠宾教授，本论文是在导师的悉心指导下完成的。三年 来，导师在我的学业上谆谆教诲，在生活上给予关怀和爱护，在论文的选题与立 意方面倾注了无数心血。他敏锐的思维、严谨的治学态度、渊博的学识、诚挚谦 虚的品格和宽厚善良的处世方式，永远值得我学习。在此，向恩师表示崇高的敬 意和衷心的感谢。 感谢课题组谭超、刘新华、司垒、闫海峰、姚新港、黄嘉兴、杨寅威和韩振 铎等老师在课题研究和科研实践中给予的热忱鼓励和悉心指导， 在这里同样向他 们致以深深的敬意 感谢课题组路绪良、魏东、李沛阳、武子清、熊祥祥、吴虹霖、刘博文、吴 越和王浩等同门师兄师弟师妹在论文撰写期间提供的大力支持和无私帮助， 在此 致以最真挚的谢意。 特别感谢我的父母，在我求学期间给予我始终如一的鼓励、关怀和支持，一 直以来都是我前进的动力。 最后，向百忙之中评审本论文的各位专家老师表示衷心的感谢 I 摘 要 摘 要 采煤机是综采工作面的核心装备之一， 采煤机的快速准确定位是实现其记忆 截割、智能调高和智能调速的前提。基于惯性导航的采煤机准确定位，不仅可以 确定其运行位置，也可以测量运动方向。但利用惯性导航对运动中的采煤机进行 定位时，会产生累积误差，造成采煤机定位不准确，影响采煤机记忆截割、智能 调高和智能调速的效果。为了提高采煤机的定位精度，本文对采煤机惯性导航定 位方法进行了深入研究，建立了采煤机惯性导航定位模型和定位误差模型，研究 了基于果蝇优化卡尔曼滤波算法的采煤机惯性导航定位初始对准方法， 以及基于 差分式惯性传感组件的采煤机位姿差分解算方法。论文的主要研究内容如下 （1） 分析了采煤机基本结构及其与刮板输送机、 液压支架的协同工作原理， 建立了采煤机惯性导航定位模型， 分析了采煤机惯性导航定位产生的主要误差类 型，提出了一种采煤机惯性导航定位方案。 （2）建立了采煤机惯性导航定位的姿态误差模型、速度误差模型、位置误 差模型和系统误差模型，为了提高采煤机惯性导航定位的初始对准精度，对果蝇 优化算法进行了改进， 研究了基于果蝇优化卡尔曼滤波算法的采煤机惯性导航定 位初始对准方法，为提高采煤机惯性导航定位精度奠定了基础。 （3）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，针对 上述两类漂移误差，建立了差分式惯性传感组件数据融合模型，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， 提高了采煤机惯性导航定位的位姿 解算精度。 （4）设计并搭建了采煤机惯性导航定位实验平台，并在江苏省矿山智能采 掘装备中心进行了地面实验， 实验验证了采煤机惯性导航定位方法的正确性和有 效性。 该论文有图 35 幅，表 5 个，参考文献 97 篇。 关键词关键词采煤机；惯性导航定位；优化方法；位姿差分解算 II Abstract The shearer is one of the core equipments of the fully mechanized coal face. The fast and accurate positioning of the shearer is the prerequisite for its memory cutting, intelligent height adjustment and intelligent speed adjustment. The accurate positioning of the shearer based on inertial navigation can not only determine its operating position, but also measure the direction of movement. However, when inertial navigation is used to locate the shearer in motion, the cumulative errors will occur, resulting in inaccurate positioning of the shearer, which affects the effect of the shearers memory cutting, intelligent height adjustment and intelligent speed adjustment. In order to improve the positioning accuracy of the shearer, in this paper, the inertial navigation positioning of the shearer is studied in depth. Shearer inertial navigation positioning model and shearer inertial navigation positioning error model are established. The initial alignment of shearer inertial navigation positioning based on a fruit fly optimized Kalman filter algorithm, and differential calculation of shearer position and attitude based on differential inertial sensor group are studied. The main research contents of the paper are as follows 1 The basic structure of the shearer and its cooperative working principle with the scraper conveyor and hydraulic support are analyzed, and the inertial navigation positioning model of the shearer is established. The main error types generated by the inertial navigation positioning of the shearer are analyzed, a scheme of shearer inertial navigation positioning is proposed. 2 The attitude error model, speed error model, position error model and system error model of the shearer inertial navigation positioning are established. In order to improve the initial alignment accuracy of the shearer inertial navigation positioning, the fruit fly optimization algorithm was improved, and an initial alignment of shearer inertial navigation positioning based on a fruit fly optimized Kalman filter algorithm is studied, and the initial alignment accuracy of the shearer inertial navigation positioning is improved, which lays a foundation for improving the accuracy of shearer inertial navigation positioning. 3 The deterministic drift and non-deterministic drift produced by the inertial navigation positioning of the shearer are analyzed. For the above two types of drift errors, a data fusion model of differential inertial sensor group is established, and a differential calculation of shearer position and attitude based on differential III inertial sensor group is studied, which improves the accuracy of the shearers position and attitude calculation. 4 The shearer inertial navigation positioning experiment plat are designed and built, and the ground experiment was tested in Jiangsu Mining Intelligent Equipment Center. The experiment verified the correctness and effectiveness of the shearer inertial navigation positioning . The paper has 35 pictures, 5 tables, and 97 references. Keywords shearer; inertial navigati positioning; optimization ; differential calculation of position and attitude IV 目 录 目 录 摘摘 要要............................................................................................................................ I 目目 录录.......................................................................................................................... IV 图清单图清单...................................................................................................................... VIII 表清单表清单........................................................................................................................... X 变量注释表变量注释表 ................................................................................................................. XI 1 绪论绪论............................................................................................................................ 1 1.1 课题来源及背景 ..................................................................................................... 1 1.2 课题研究现状及存在问题 ..................................................................................... 2 1.3 课题研究内容与方法 ............................................................................................. 5 1.4 课题研究意义 ......................................................................................................... 6 1.5 论文结构 ................................................................................................................. 6 2 采煤机惯性导航定位机理分析采煤机惯性导航定位机理分析 ............................................................................... 8 2.1 采煤机的基本结构及工作原理 ............................................................................. 8 2.2 采煤机惯性导航定位模型 ................................................................................... 11 2.3 采煤机惯性导航定位方案 ................................................................................... 18 2.4 本章小结 ............................................................................................................... 19 3 采煤机惯性导航定位初始对准方法研究采煤机惯性导航定位初始对准方法研究 ............................................................. 21 3.1 采煤机惯性导航定位误差模型 ........................................................................... 21 3.2 采煤机惯性导航定位初始对准方法 ................................................................... 25 3.3 基于果蝇优化卡尔曼滤波算法的初始对准方法仿真与分析 ........................... 35 3.4 本章小结 ............................................................................................................... 37 4 采煤机位姿差分解算方法研究采煤机位姿差分解算方法研究 ............................................................................. 38 4.1 差分式惯性传感组件数据融合模型建立 ........................................................... 38 4.2 采煤机位姿差分解算算法 ................................................................................... 40 4.3 采煤机运动工况模拟 ........................................................................................... 42 4.4 采煤机位姿差分解算算法仿真与分析 ............................................................... 45 4.5 本章小结 ............................................................................................................... 57 5 实验研究实验研究 ................................................................................................................. 58 5.1 实验平台搭建 ....................................................................................................... 58 5.2 采煤机惯性导航定位实验 ................................................................................... 63 V 5.3 本章小结 ............................................................................................................... 69 6 总结与展望总结与展望 ............................................................................................................. 70 6.1 总结 ....................................................................................................................... 70 6.2 展望 ....................................................................................................................... 70 参考文献参考文献 ..................................................................................................................... 72 作者简历作者简历 ..................................................................................................................... 78 学位论文原创性声明学位论文原创性声明 ................................................................................................. 79 学位论文数据集学位论文数据集 ......................................................................................................... 80 VI Contents Abstract ........................................................................................................................ II Contents ...................................................................................................................... VI List of Figure .......................................................................................................... VIII List of Figure ............................................................................................................... X List of Variables ......................................................................................................... XI 1 Introduction ............................................................................................................... 1 1.1 Origin and Background ............................................................................................ 1 1.2 Research Status and Problems ................................................................................. 2 1.3 Research Contents and s .............................................................................. 5 1.4 Research Significance .............................................................................................. 6 1.5 Structure of Thesis ................................................................................................... 6 2 Mechanism Analysis of Shearer Inertial Navigation Positioning ......................... 8 2.1 Basic Structure and Work Principle of Shearer ....................................................... 8 2.2 Shearer Inertial Navigation Positioning Model ..................................................... 11 2.3 Scheme of shearer inertial navigation positioning ................................................. 18 2.4 Summary ................................................................................................................ 19 3 Research on Initial Alignment of Shearer Inertial Navigation Positioning .................................................................................................................. 21 3.1 Shearer Inertial Navigation Positioning Error Model ............................................ 21 3.2 Initial Alignment of Shearer Inertial Navigation Positioning .................. 25 3.3 Simulation and AnalysisInitial of Alignment Based on A Fruit Fly- Optimized Kalman Filter Algorithm ............................................................................ 35 3.4 Summary ................................................................................................................ 37 4 Research on Differential Calculation of Shearer Position and Attitude ....................................................................................................................... 38 4.1 Establishment of Data Fusion Model for Differential Inertial Sensor Group ........ 38 4.2 Differential Calculation Algorithm of Shearers Position and Attitude ................. 40 4.3 Simulation of The Working Condition of the Shearer ........................................... 42 4.4 Simulation and Analysis on The Differential Calculation Algorithm of Shearers Position and Attitude .................................................................................................... 45 4.5 Summary ................................................................................................................ 57 VII 5 Experimental Study ................................................................................................ 58 5.1 Constructe the Experimental Plat ................................................................... 58 5.2 Shearer Inertial Navigation Positioning Experiment ............................................. 63 5.3 Summary ................................................................................................................ 69 6 Summary and Forecast ........................................................................................... 70 6.1 Summary ................................................................................................................ 70 6.2 Forecast .................................................................................................................. 70 References ................................................................................................................... 72 Author’s Resume ........................................................................................................ 78 Declaration of Thesis Originality.............................................................................. 79 Thesis Data Collection ............................................................................................... 80 VIII 图清单 图清单 图序号 图名称 页码 图 2-1 采煤机三维模型 8 Figure 2-1 Three-dimensional model of the shearer 8 图 2-2 三机协同工作过程 10 Figure 2-2 Three-machine collaborative work process 10 图 2-3 第一步割煤过程 10 Figure 2-3 The first step of cutting coal 10 图 2-4 第二步割