基于捷联惯导系统的采煤机定位与姿态调整

摘要

For problems of inaccurate shearer position and attitude adjustment,a shearer position and attitude adjustment method based on strapdown inertial navigation system was researched on the ground with slowly varied angle.Firstly,shearer position technology was introduced,namely strapdown inertial navigation system obtained motion parameters of shearer for further processing by Euler angle method,so as to complete attitude solution and real-time position of shearer.Then,an attitude adjustment method based on strapdown inertial navigation system was introduced by taking cutting height adjustment of shearer as an example,and relation between cutting height and body dip angle of shearer was derived under different shearer cutting conditions.Finally,shearer position and cutting height adjustment experiments were carried out by use of a shearer model.The experimental results show that the shearer position and attitude adjustment method based on strapdown inertial navigation system can effectively improve position and attitude adjustment accuracy of shearer.%针对现有采煤机定位与姿态调整方法准确性较差的问题,在地面有缓慢坡度变化的情况下,对基于捷联惯导系统的采煤机定位与姿态调整方法进行了研究.首先介绍了采煤机定位技术,即由捷联惯导系统获取采煤机运动参数信息,采用欧拉角法对数据进行处理,进而完成采煤机位姿解算及实时定位;然后以采煤机截割高度调整为例,介绍了基于捷联惯导系统的采煤机姿态调整方法,重点推导了采煤机在不同截割工况下,采煤机截割高度与机身倾角之间的关系式;最后采用采煤机模型进行采煤机定位与截割高度调整实验,结果表明基于捷联惯导系统的采煤机定位与姿态调整方法可有效提高采煤机的定位与姿态调整精度.