综采工作面刮板输送机直线度测量方法与控制策略研究

Aimed at improving the mining fleet automatically and realizing the unmanned mining, this research focuses on the measurement method and control strategy of the straightness for the scraper conveyer on mechanized mining face. Firstly, with analyzing dynamic characteristics of the shearer based on nonlinear dynamics theory and dynamic programming theory, the dynamic model and srapdown inertial navigation equation of the shearer are respectively established. The SINS vibration error compensation strategy under complex operating conditions is studied and the curvature calculation model for scraper conveyer is built based on the attitude parameter of shearer. Secondly, according to the kinematics laws of mining fleet, the optimized deployment strategy of chain-type ultra wide band wireless sensor networks is researched and the integrated positioning model of shearer with SINS/UWB is constructed; and through analyzing the asynchronous data transmission characteristic for SINS and UWB, the asynchronous data fusion model of integrated positioning system is constructed and then the straightness calculation strategy for scraper conveyer is established under the position and attitude parameter of shearer. Thirdly, with the propelling and advancing control strategy of electro-hydraulic system for hydraulic support and the stroke monitoring method of hydraulic cylinder, the error compensation method of pin lug coupling gap of scraper conveyer, which is under multiple cutting cycle, is proposed. Finally, the accurate straightness control for scraper conveyer is achieved on collaboration positioning experiment platform. The research results can provide theoretical basis for collaborative automation of mining fleet on mechanized mining face, and lay the theoretical and experimental basis for moving target positioning in similar closed environment.

本项目以综采工作面核心装备—刮板输送机为研究对象，以实现综采工作面无人化采矿为目标，开展综采工作面刮板输送机直线度测量方法及控制策略研究。利用非线性动力学理论构建采煤机动力学模型及捷联惯导系统方程，探寻复杂工况下的SINS振动误差补偿策略，构建采煤机姿态下刮板输送机曲率解算模型；通过研究采矿机群运动学规律，探寻综采工作面超宽带链式优化部署策略，构建SINS/UWB采煤机组合定位系统，分析SINS与UWB异步数据传输特性，进行组合定位系统异步数据融合模型构建，建立采煤机位姿下刮板输送机直线度解算策略；开展液压支架电液系统推溜控制策略及其液压缸行程监测方法研究，据此提出多截割循环下的刮板输送机销耳间隙误差补偿方法，搭建综采“三机”协同定位实验平台，实现刮板输送机直线度的精确控制。研究成果可为综采工作面采矿机群协同自动化提供理论支撑，同时可为同类封闭环境下移动目标协同定位与控制奠定理论与实验基础。

刮板输送机是采煤机的行走轨道，轨道直线度在采煤机协同作业中起着极其重要的作用。刮板输送机轨道不平顺会使采煤机和刮板输送机承受很大的切割阻力和运行阻力。另外，轨道不平顺或变形是造成安全事故的关键因素之一。因此，刮板输送机的直线度控制具有重要 的理论意义和工程应用价值。本项目严格按照时间表围绕项目预定研究内容和目标进行研究，并在相关方面进行了扩展，实现了以下目标：矿井封闭环境下刮板输送机直线度精确测量以及直线度控制策略。首先，运用航位推算手段建立了刮板输送机形态检测模型，随后针对强振动环境下SINS初始对准算法性能下降的问题，提出了高效、高精度的SINS初始对准算法。其次，建立了SINS/WSN融合下的刮板输送机直线度检测状态空间模型，采用无迹卡尔曼滤波算法对刮板输送机的位姿进行有效估计。针对超宽带无线定位系统在复杂坏境中出现的定位数据丢失以及粗大误差等导致SINS /UWB组合系统定位精度下降的问题，提出了一种基于超宽带定位系统容错判断的组合定位方法，其中采用运动学约束以及容错定位的手段对累积误差以及粗大误差进行补偿。最后，研究了刮板输送机和液压之间的销耳间隙和联动效应，并在此基础上详细推导了销耳间隙和联动效应的误差补偿模型。为了进一步提高刮板输送机的控制精度，采用模糊自适应PID控制策略对PID参数进行在线整定，并搭建实验台验证刮板输送机直线度控制实验的有效性。本项目成果将有助于井下综采工作面自动化的发展。本项目研究过程中共发表论文15篇（全部标注本项目批准号U161010021），其中SCI收录论文6篇，EI收录论文5篇，会议论文2篇，中文核心论文2篇；申请发明专利12项，已获授权2项；申请并授权软件著作权2项；培养博士研究生4名，硕士研究生4名。