Research On High Precision Sensing Theory And Technology Of Shearer Operating Attitude Based On SINS

Intelligent mining is the demand and inevitable direction of the development of China’s coal industry.The operation attitude of Shearer Based on three-dimensional space scale is the necessary basic information to realize intelligent mining.The accurate perception of shearer’s running posture can not only provide a way to explore and predict the production status of intelligent chemical working face,but also provide basic information for intelligent control process such as independent height adjustment and coal cutting memory.The existing work has preliminarily realized the positioning and attitude determination of shearer,but the perception accuracy is still insufficient.The lack of real-time and accurate operation attitude information of Shearer has hindered the intelligent development of fully mechanized mining face at home and abroad for a long time.Aiming at this problem,this paper introduces strapdown inertial navigation technology,combined with experimental test,error compensation algorithm optimization and single axis rotation modulation and other methods,takes "inertial measurement unit error compensation-system error compensation algorithm-single axis rotation modulation" as the research main line,surrounds the component level,system level and agility of inertial navigation applied to high-precision perception of shearer running attitude In order to improve the perception accuracy of shearer’s running posture,it provides theoretical basis and technical reference for production state prediction and intelligent control of shearer.Based on the principle of strapdown inertial navigation,this paper constructs a real-time algorithm to solve the shearer’s attitude,and establishes the Kalman filter equations which can solve the optimal state estimation of SINS system.Aiming at the defect that the accumulated error of sins is difficult to be effectively corrected,the main error items of sins are defined as inertial sensor error,initial alignment error and installation error,and the main error items are compensated one by one.Aiming at the influence of strong vibration environment of shearer on the accuracy of sins,the vibration mechanical model of shearer is established,and the vibration response characteristics of shearer are obtained by simulation,which can effectively restrain the coning error and rowing error caused by Shearer Vibration.Under the condition that the precision of inertial sensor can not be further improved,the self compensation technology of rotation modulation error is proposed,the rotation model of actual transposition mechanism is established,and the error propagation characteristics of different single axis rotation modulation schemes are revealed.Based on the simulation results of different single axis rotation modulation schemes,the optimal rotation modulation scheme is optimized.The expressions of the four position rotation stop time related to the angular acceleration and modulation angular velocity of the indexing mechanism are derived.It is proved that the scheme can completely eliminate the influence of gyroscope bias drift.The experimental scheme of single axis rotation error modulation is designed,and the optimal rotation modulation parameters are studied and set.It is verified that the single axis rotation modulation can effectively improve the attitude sensing accuracy of inertial navigation system.The field application of shearer running attitude perception is studied.After error compensation,the positioning error is 17% before compensation,and the heading angle error is 75% before compensation.The accuracy of shearer operation attitude perception is significantly improved.This paper provides a more comprehensive theory and method to improve the perception accuracy of underground shearer operation posture,which not only helps to enrich the research results of intelligent perception of fully mechanized working face,but also provides theoretical reference and technical reference for the production state prediction of fully mechanized working face and intelligent control of underground mining equipment,and finally contributes to the development of intelligent mining face.There are 115 figures,15 tables and 128 references in this dissertation.