综采工作面轨迹测量与直线度控制方法

Trajectory Measurement and Straightness Control Method of Fully Mechanized Mining Fac

保证综采工作面的直线度是实现煤炭安全高效开采的基础,基于采煤机、刮板输送机和液压支架之间的几何约束关系,将刮板运输机的直线度和采煤机的运行轨迹作为综采工作面的直线度的反映。为了提高采煤机运行轨迹的计算精度,将惯性导航传感器和液压支架位移传感器数据进行迭代式修正与融合。首先分别对单一液压支架的历史位移序列建立纵向误差模型,对所有液压支架的一次位移序列建立横向误差模型,再采用灰色系统理论对两个序列进行误差消除与数据修正。然后通过惯性导航传感器的数据得到采煤机轨迹,将处理后的液压支架数据进行叠加形成支架轨迹,再采用卡尔曼滤波方法对采煤机轨迹和支架轨迹进行迭代更新得到预测轨迹,同时迭代修正采煤机轨迹和预测轨迹数据。仿真试验表明,该方法可以有效对惯性导航传感器和液压支架误差进行补偿,提高了控制精度。

Ensuring the straightness of the fully mechanized mining face is the foundation for achieving safe and efficient coal mining.Based on the geometric constraint relationship between shearer,scraper conveyor and hydraulic support,the straightness of scraper conveyor and the operating trajectory of shearer were taken as the reflection of the straightness of fully mechanized mining face.In order to improve the calculation accuracy of the operating trajectory of the shearer,the inertial navigation sensor and hydraulic support displacement sensor data were iteratively corrected and fused.Firstly,a longitudinal error model was established for the historical displacement sequence of a single hydraulic support,and a lateral error model was established for the primary displacement sequence of all hydraulic supports.Grey system theory was used to eliminate errors and correct data for the two sequences.Then,the data from the inertial navigation sensor was used to obtain the shearer trajectory.The processed hydraulic support data was overlaid to form the support trajectory,and the Kalman filtering method was used to iteratively update the shearer trajectory and the support trajectory to obtain the predicted trajectory.At the same time,the shearer trajectory and the predicted trajectory data were iteratively corrected.Simulation experiments show that this method can effectively compensate for the errors of the inertial navigation sensors and hydraulic supports,and improve control accuracy.