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硕士学位论文 综采工作面刮板输送机直线度检测方法 研究 Study on the Measurement of Scraper Conveyor Straightness in Fully Mechanized Mining Face 作 者夏 婷 导 师李 威 教授 中国矿业大学 二〇一九年五月 万方数据 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 万方数据 中图分类号 TD421 学校代码 10290 UDC 622 密 级 公开 中国矿业大学 硕士学位论文 综采工作面刮板输送机直线度检测方法研究 Study on the Measurement of Scraper Conveyor Straightness in Fully Mechanized Mining Face 作 者 夏 婷 导 师 李 威 申请学位 工学硕士 培养单位 机电工程学院 学科专业 机械电子工程 研究方向 状态检测 答辩委员会主席 程刚 评 阅 人 二〇一九年五月 万方数据 论文审阅认定书论文审阅认定书 研究生 夏婷 在规定的学习年限内， 按照研究生培养方案的要 求，完成了研究生课程的学习，成绩合格；在我的指导下完成本学位 论文,经审阅，论文中的观点、数据、表述和结构为我所认同，论文 撰写格式符合学校的相关规定， 同意将本论文作为学位申请论文送专 家评审。 导师签字 年 月 日 万方数据 致谢致谢 时光飞逝， 岁月如梭,三年的研究生学习生活和科研工作即将结束。 转眼间， 真的是很快，我就要离开中国矿业大学这个百年学府，踏上自己人生的另一个阶 段，开启新的篇章。从小就对这个神圣的地方十分向往，三年过去了，在此即将 毕业之际，向所有的老师、同学、家人致以深深的感谢 最重要的就是衷心感谢我的导师李威教授，感谢他的谆谆教诲，感谢他的无 私奉献。本研究论文是在李威导师的悉心指导下完成的，从论文的选题到撰写完 成，最后到论文的修改上，导师都倾注了大量心血。桃李不言，下自成蹊，导师 以身作则，给了我深远的影响。硕士三年，导师不仅在科研的道路上给予了极大 的引导， 在生活上也使我受益良多。 恩师仁厚的心怀， 高远的见识， 正直的品格、 渊博的知识、严谨的治学态度、温和的为人处世原则，润物细无声，默默侵润着 我的学习和生活，值得我一生去学习。在此，向导师表示由衷的感谢，感谢您的 辛勤培养和无微不至的关怀。 感谢本课题组王禹桥副教授、范孟豹教授、杨雪锋副教授以及许少毅老师， 四位老师在学习和生活中给予了我很大的帮助。四位老师博大的胸襟，活跃的学 术思维，独到的眼光，丰富的阅历，严谨的态度深深感染着我，让我在未来的道 路上坚定自己，不断进步。 感谢杨海博士，司卓印硕士，张金尧硕士，王超硕士，陈宇鸣博士在课题研 究和论文撰写方面的帮助。感谢鞠锦勇博士，路恩博士，盛连超博士对我的建议 和指导。感谢实验室闻东东博士，王承涛博士，李猛猛硕士，郑威硕士，王翠苹 硕士，方震东硕士，王亚清硕士以及其他的伙伴们的陪伴与支持。感谢所有的朋 友和同学，给予我生活中的关心和帮助。 感谢一直无条件支持我的父母和家人， 是你们的无言奉献和悉心关怀支撑着 我一直勇敢前行，无畏艰难。感谢我的好朋友在我迷茫无助的时候给予我最大的 鼓励，感谢你们的陪伴。 感谢中国矿业大学和机电工程学院的领导、老师们对我的教育和培养。 最后，衷心感谢在百忙之中评阅本文的各位专家，谢谢您 万方数据 I 摘摘 要要 作为重要的能源之一， 煤炭资源的安全高效开发利用是国内外学者研究的热点， 实现井下综采工作面无人或少人开采，实现采矿“三机”即采煤机、刮板输送机、液 压支架的自动化是煤矿生产安全高效的有效途径。其中，刮板输送机既是采煤机 的运行轨道，又是液压支架的支点，且承担运输煤炭的工作， “三机”协调运行 使刮板输送机呈现弯曲状态时， 刮板输送机的运行阻力和采煤机的截割阻力将会 增加，加大能源的消耗；而且弯曲程度过大容易出现卡链、断链甚至采煤机脱离 刮板输送机的现象，造成非计划性停产和人员伤亡，所以准确检测并保证刮板输 送机的直线度对煤矿井下的安全高效开采具有重要意义。 本文选取刮板输送机作为研究对象， 对刮板输送机直线度检测技术开展研究， 提出了基于采煤机位姿的刮板输送机直线度检测方法， 研究了采煤机动力学模型 下的捷联惯导误差补偿方法，建立了 SINS/超声波组合定位系统，搭建了 SINS/ 超声波组合导航下刮板输送机直线度检测的实验平台并进行了实验研究。 主要研 究内容包括 （1）基于采煤机位姿的刮板输送机直线度检测模型研究。通过分析综采工 作面采矿“三机”运动特性，研究刮板输送机与采煤机约束力学特性，提出一种基 于采煤机位姿信息的刮板输送机直线度检测方法。 分析采煤机跨度影响下的位姿 信息对刮板输送机直线度解算的影响规律， 建立采煤机位姿与刮板输送机直线度 之间的转换模型。 （2）采煤机动力学模型下捷联惯导振动误差补偿的刮板输送机直线度检测 研究。根据综采工作面采矿“三机”的工作特性，分析采煤机的运动轨迹及其运动 特征，建立以质量-弹簧-阻尼系统为基础的采煤机动力学模型，利用旋转矢量算 法进行采煤机动态坏境下圆锥误差和划船误差补偿的研究， 为刮板输送机直线度 的检测奠定基础。 （3）SINS/超声波组合导航的刮板输送机直线度检测方法研究。建立 SINS/ 超声波组合定位系统，分析 SINS/超声波组合定位系统的数据传输特性，构建组 合系统空间状态方程和量测方程， 运用容积卡尔曼滤波算法对组合定位系统的数 据进行精确滤波，得到组合定位系统下采煤机的精确位姿信息；利用采煤机位姿 与刮板输送机直线度之间的转换模型，实现刮板输送机直线度的精确解算。 （4）仿真分析及实验研究。建立刮板输送机直线度检测方法的仿真系统， 并基于 Matlab 编程进行仿真研究。搭建采煤机-刮板输送机直线度检测模拟实验 平台，开展采煤机振动误差补偿实验及刮板输送机直线度检测实验，以验证刮板 输送机直线度检测方案和振动误差补偿的可行性、准确性。 万方数据 II 该论文包含图 67 幅，表 15 个，参考文献 93 篇。 关键词关键词刮板输送机；采煤机位姿；动力学模型；SINS/超声波组合定位；直线 度检测； 万方数据 III Abstract As one of the important energy sources, the safe and efficient development and utilization of coal resources is a hot topic for scholars at home and abroad.It is an effective way to achieve safe and efficient coal production that realizing the unmanned or small-scale mining of the underground fully mechanized mining face, realizing the automation of the mining “three machines”, that is, the shearer, the scraper conveyor and the hydraulic support. The scraper conveyor is not only the running track of the shearer, but also the fulcrum of the hydraulic support, and bears the work of transporting coal. When the “three machines“ coordinate operation makes the scraper conveyor appear curved, the running resistance of the scraper conveyor and the cutting resistance of the shearer will increase, increasing energy consumption.Moreover, if the degree of bending is too large, the card chain, the broken chain or even the shearer will be separated from the scraper conveyor, resulting in unplanned shutdown and casualties, so accurately detecting and ensuring the straightness of the scraper conveyor for safe and efficient mining under the coal mine. It is of great significance. Scraper conveyor is selected as the research object, and the straightness detection technology of the scraper conveyor is researched. The straightness detection of the scraper conveyor based on the position of the shearer is proposed, and the of strapdown inertial error compensation under the shearer dynamics model is studied. The SINS/ultrasonic combination positioning system is established. The experimental plat for straightness detection of scraper conveyor under SINS/ultrasonic integrated navigation was built and experimental research was carried out.The main research contents include 1 Research on straightness detection model of scraper conveyor based on shearer position. Based on the analysis of the “three-machine“ movement characteristics of fully mechanized mining face mining, the mechanical properties of scraper conveyor and shearer are studied. A straightness detection of scraper conveyor based on the position and posture ination of shearer is proposed. Analyze the influence law of the pose ination under the influence of the span of the shearer on the straightness calculation of the scraper conveyor, and establish the conversion model between the position of the shearer and the straightness of the scraper conveyor. 万方数据 IV 2 Research on Straightness Detection of Scraper Conveyor with Strapdown Inertial Vibration Error Compensation under Shearer Dynamics Model. According to the working characteristics of mining “three machines“ in fully mechanized mining face, the trajectory and motion characteristics of the shearer are analyzed, and the shearer dynamics model of is established based on a mass-spring-damping system.The rotation vector algorithm is used to study the cone error and rowing error compensation under the dynamic environment of the shearer,which lays a foundation for the detection of the straightness of the scraper conveyor. 3 Research on straightness detection of scraper conveyor for SINS/ultrasonic integrated navigation. The SINS/ultrasonic combination positioning system is established, and the data transmission characteristics of the SINS/ultrasonic combined positioning system are analyzed. The space state equation and observation equation of the combined system are constructed. The volume Kalman filter algorithm is used to accurately filter the data of the combined positioning system, and the precise position and posture ination of the shearer under the combined positioning system is obtained. The accurate calculation of the straightness of the scraper conveyor is realized by using the conversion model between the position of the shearer and the straightness of the scraper conveyor. 4 Simulation analysis and experimental research.The simulation system of the straightness detection of the scraper conveyor was established, and the simulation research was carried out based on Matlab programming. Set up the shearing machine-scraper conveyor straightness simulation experiment plat, carry out the shearer vibration error compensation experiment and the scraper conveyor straightness test to verify the feasibility and accuracy of the straightness detection scheme and vibration error compensation of the scraper conveyor. In this thesis, there are 67 figures,15 tables and 93 references. Keywords scraper conveyor; shearer position and attitude; dynamics model; SINS/ultrasonic combination positioning; straightness measurement; 万方数据 V 目目 录录 摘摘 要要......................................................................................................................................... 1 目目 录录........................................................................................................................................ V 图清单图清单 .................................................................................................................................... IX 表清单表清单 ................................................................................................................................. XIII 变量注释表变量注释表 ......................................................................................................................... XIV 1绪论绪论 ....................................................................................................................................... 1 1.1 课题来源.................................................................................................................. 1 1.2 课题研究背景和意义.............................................................................................. 1 1.3 课题研究现状及存在的问题.................................................................................. 3 1.4 论文主要研究内容及全文框架.............................................................................. 6 2基于采煤机位姿信息的刮板输送机直线度检测基于采煤机位姿信息的刮板输送机直线度检测模型模型 .................................................... 8 2.1 刮板输送机组成及直线度表达.............................................................................. 8 2.2 刮板输送机直线度检测模型.................................................................................. 9 2.3 检测过程误差分析................................................................................................ 12 2.4 杆臂效应误差补偿................................................................................................ 14 2.5 本章小结................................................................................................................ 21 3采煤机动力学模型下捷联惯导振动误差补偿采煤机动力学模型下捷联惯导振动误差补偿的刮板输送机直线度检测的刮板输送机直线度检测研究研究 ......... 22 3.1 采煤机位姿解算模型............................................................................................ 22 3.2 采煤机动力学模型................................................................................................ 27 3.3 动力学模型下捷联惯导振动误差补偿................................................................ 34 3.4 本章小结................................................................................................................ 42 4 SINS/超声波组合定位下刮板输送机直线度检测方法超声波组合定位下刮板输送机直线度检测方法研究研究 ........................................ 43 4.1 超声波定位系统构建............................................................................................ 44 4.2 SINS/超声波组合定位系统构建 .......................................................................... 47 4.3 基于 CKF 的 SINS/超声波组合定位融合算法 ................................................... 48 4.4 定位融合算法下刮板输送机直线度检测模型仿真分析.................................... 51 4.5 本章小结................................................................................................................ 54 5 刮板输送机直线度检测刮板输送机直线度检测实验及结果分析实验及结果分析 ...................................................................... 56 5.1 模拟平台搭建........................................................................................................ 56 万方数据 VI 5.2 实验目标................................................................................................................ 61 5.3 实验步骤................................................................................................................ 62 5.4 实验结果及分析.................................................................................................... 67 5.5 本章小结................................................................................................................ 79 6总结与展望总结与展望 ......................................................................................................................... 80 6.1 总结........................................................................................................................ 80 6.2 展望........................................................................................................................ 81 参考文献参考文献 ................................................................................................................................ 83 作者简历作者简历 ................................................................................................................................ 89 学位论文原创性声明学位论文原创性声明 ........................................................................................................... 90 学位论文数据集学位论文数据集 .................................................................................................................... 91 万方数据 VII Contents Abstract ...................................................................................................................... III Contents .................................................................................................................... VII List of Figures ............................................................................................................ IX List of Tables ........................................................................................................... XIII List of Variables........................................................................................................ XV 1 Introduction ............................................................................................................... 1 1.1 Project Origin ........................................................................................................... 1 1.2 Project Research Background and Significance ...................................................... 1 1.3 Research Status and Problems ................................................................................. 3 1.4 Main Research Content and Full-text Framework ................................................... 6 2 Straightness Detection Model of Scraper Conveyor based on Position of Shearer .......................................................................................................................... 8 2.1 Composition and Straightness Expression of Scraper Conveyor ............................ 8 2.2 Scraper Conveyor Straightness Detection Model .................................................... 9 2.3 Error Analysis of Detection Process ...................................................................... 12 2.4 Error Compensation for Rod Arm Effect ............................................................... 14 2.5 Summary ................................................................................................................ 21 3 Research on Straightness Detection of Scraper Conveyor with Strapdown Inertial Vibration Error Compensation under Shearer Dynamics Model ........... 22 3.1 Position and Attitude Calculation Model of Shearer ............................................. 22 3.2 Dynamics Model of Shearer .................
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