基于惯导系统的综采工作面自动调直技术

Automatic straightening technology of fully mechanized mining face based on inertial navigation system

针对煤矿综采工作面“三直一平”安全规定要求,研究应用了一种基于惯性导航系统的综采工作面自动调直系统。该系统以惯性导航系统为核心,搭载于采煤机机身内部,通过惯导内置三轴陀螺仪和三轴加速度计动态监测采煤机的俯仰角、横滚角、航偏角,实现对采煤机的位姿定位及轨迹生成。位姿及轨迹信息通过采煤机通讯通道上传至顺槽上位机软件,并计算出每个液压支架修正量和液压支架实际移架距离后由电液控完成移驾控制,实现工作面自动调直。将该技术在煤矿综采工作面实际应用,通过完整的8刀数据,生成综采工作面中部段X、Y、Z这3轴方向运动轨迹。结果表明,采煤机惯性导航系统能够准确跟踪并生成采煤机运动姿态,指导综采工作面实现自动调直功能。

According to the safety requirements of“three straights and one leveling”in fully mechanized mining face,an automatic straightening system of fully mechanized mining face based on inertial navigation system is studied and applied.The system takes the inertial navigation system as the core and is carried inside the shearer body.The pitch angle,roll angle and yaw angle of the shearer are dynamically monitored through the built-in three-axis gyroscope and three-axis accelerometer in the inertial navigation system,so as to realize the position and attitude positioning and trajectory generation of the shearer.The position,attitude and trajectory information are uploaded to the upper computer software along the trough through the communication channel of the shearer,and the correction amount of each hydraulic support and the actual moving distance of the hydraulic support are calculated.After that,the moving control is completed by the electro-hydraulic control to realize the automatic straightening of the working face.The technology is applied in fully mechanized mining face,and the motion trajectories of X,Y and Z axes in the middle section of fully mechanized mining face are generated through complete 8 cutter data.The results show that the shearer inertial navigation system can accurately track and generate the shearer motion attitude,and guide the fully mechanized mining face to realize the automatic straightening function.