悬臂式掘进机自动定位技术研究与试验

Research and test on automatic positioning technology for boomed roadheader

在巷道断面自动截割技术中,悬臂式掘进机自动定位精度直接影响断面成型精度。针对悬臂式掘进机自动定位精度要求高、作业环境恶劣的问题,在分析悬臂式掘进机运动特点的基础上,提出利用零速修正提高悬臂式掘进机惯性导航系统定位精度的方法。建立了悬臂式掘进机惯性定位系统,利用零速修正法提高其定位精度并完成实验室验证和工业性试验。试验结果表明,60~90s零速修正间隔时,按照悬臂式掘进机移动速度和工作节拍,惯性导航系统定位精度可以达到厘米级,并且具有较好的稳定性。实验室试验中,持续170min的间断行进试验结果表明,采用零速修正算法后,惯性导航系统累积定位偏差没有明显增大趋势,惯性导航系统中与时间有关的定位偏差得到有效抑制;工业性试验中,在约120min的试验过程中,定位偏差呈现缓慢增大趋势,表明振动工况对零速修正算法的有效性有一定的抑制。

In the automatic cutting technology for roadway section, the positioning accuracy of the boomed roadheader directly affects the forming accuracy of the section. In view of the problems such as high positioning accuracy and severe working environment of the boomed roadheader, based on the analysis on the motion characteristics of the boomed roadheader, a method of improving the positioning accuracy of the inertial navigation system of the boomed roadheader by using zero speed correction was proposed. The inertial positioning system of the boomed roadheader was established, and the positioning accuracy was improved by zero speed correction method. In addition, laboratory verification and industrial test were completed. The test results showed that the positioning accuracy of the inertial navigation system reached centimeter level with good stability according to the travel speed and the working rhythm of the boomed roadherder at 60 . 90 s intervals of zero speed correction. In the laboratory test, the intermittent travel test lasting for 170 min showed: after the zero speed correction algorithm being applied, there was no obvious increasing trend of the accumulative positioning deviation of the inertial navigation system, and the time-related positioning deviation of the inertial navigation system was effectively suppressed. In the industrial test, there was a slowly increasing trend of the positioning deviation in the course of about 120 min, which indicated the vibration condition restrained the effectiveness of the zero speed correction algorithm to a certain extent.