基于非完整性约束的采煤机定位方法

宋单阳; 杨金衡; 陶心雅; 卢春贵; 田慕琴; 宋建成

doi:10.13272/j.issn.1671-251x.2022020006

基于非完整性约束的采煤机定位方法

doi: 10.13272/j.issn.1671-251x.2022020006

1.
太原理工大学矿用智能电器技术国家地方联合工程实验室, 山西太原　030024
2.
太原科技大学电子信息工程学院, 山西太原　030024

基金项目: 山西省重点研发计划项目（202102010101005）。

详细信息

作者简介:
宋单阳（1992—），男，山西太原人，博士研究生，研究方向为矿用智能电器技术，E-mail：136862475@qq.com

中图分类号: TD679
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出版历程
- 收稿日期: 2022-02-07
- 修回日期: 2022-07-15
- 网络出版日期: 2022-03-15

Shearer positioning method based on non-holonomic constraints

1.
National and Provincial Joint Engineering Laboratory of Mining Intelligent Electrical Apparatus Technology, Taiyuan University of Technology, Taiyuan 030024, China
2.
School of Electronic Information Engineering, Taiyuan University of Science and Technology, Taiyuan 030024, China

摘要

摘要: 目前基于惯性导航系统和里程计组合的采煤机定位方法直接用里程计输出对惯性导航系统推算得到的采煤机前进速度进行修正，但抑制惯性导航系统误差发散的能力非常有限。采煤机在运动过程中满足非完整性约束的特点，即在采煤机不发生跳跃和侧滑的情况下，牵引齿轮和履带连接处的侧向和垂向速度为零。基于该特点，在惯性导航系统和里程计组合定位的基础上，提出了一种基于非完整性约束的采煤机定位方法。安装于采煤机机身中部的惯性测量单元输出经机械编排获得采煤机姿态、速度和位置信息；安装于采煤机牵引齿轮上的里程计输出用于计算采煤机瞬时速度。使用惯性导航系统的机械编排结果和误差传播模型建立卡尔曼滤波状态方程，在采煤机牵引齿轮和履带的连接处引入非完整性约束，利用惯性导航系统投影在连接处的速度与里程计输出的速度之差作为观测向量，建立卡尔曼滤波观测方程；将卡尔曼滤波算法处理后的结果作为误差反馈，对惯性导航系统的输出进行修正，得到采煤机姿态、速度和位置的最优估计。实验结果表明，相较于传统惯性导航系统和里程计组合的定位方法，加入非完整性约束后定位误差没有随时间发散，对实际轨迹具有良好的追踪性能；采煤机在前向、侧向、垂向上的定位误差分别降低了66%，62%，67%。
- 采煤机定位 /
- 惯性导航系统 /
- 里程计 /
- 非完整性约束 /
- 卡尔曼滤波
Abstract: At present, the shearer positioning method is based on the combination of the inertial navigation system and odometer. The method directly uses the output of the odometer to correct the shearer forward speed calculated by the inertial navigation system. However, the capability of suppressing the error divergence of the inertial navigation system is very limited. The shearer in the process of movement meets the characteristics of the non-holonomic constraints. When the shearer does not jump and sideslip, the lateral velocity and vertical velocity at the connection between the traction gear and the crawler are zero. Based on this characteristic, a new shearer positioning method based on non-holonomic constraints is proposed on the basis of the combination of the inertial navigation system and odometer. The output of the inertial measurement unit arranged in the middle of the shearer's body is mechanically arranged, so as to obtain the attitude, speed and position information of the shearer. The output of the odometer installed on the traction gear of the shearer is used to calculate the instantaneous velocity of the shearer. The Kalman filtering state equation is established by using a mechanical arrangement result of the inertial navigation system and an error propagation model. The non-integrity constraint is introduced at the joint of a traction gear and a crawler of the shearer. The Kalman filtering observation equation is established by using the difference between the velocity projected at the joint by the inertial navigation system and the velocity output by the mileometer as an observation vector. The output of the inertial navigation system is modified by using the results of the Kalman filtering algorithm as error feedback. Then the optimal estimation of the attitude, speed and position of the shearer is obtained. The experimental results show that compared with the traditional combined positioning method of inertial navigation system and odometer, the positioning error does not diverge with time after the non-holonomic constraint is added. The positioning method has good tracking performance on the actual trajectory. The positioning errors of the shearer in the forward, lateral and vertical directions are reduced by 66%, 62% and 67% respectively.
- shearer positioning /
- inertial navigation system /
- odometer /
- non-holonomic constraints /
- Kalman filtering

HTML全文

图 1 基于非完整性约束的采煤机定位方法原理

Figure 1. Principle of shearer positioning method based on non-holonomic constraints

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图 2 坐标系

Figure 2. Coordinate systems

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图 3 采煤机行驶轨迹

Figure 3. Shearer running trajectory

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图 4 采煤机定位误差

Figure 4. Shearer positioning error

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表 1 惯性测量单元性能参数

Table 1. Performance parameters of inertial measurement unit

参数	陀螺仪	加速度计
动态范围	$ \pm 500 $ °/s	$ \pm 2g $
零偏	$\pm 0.5 $ °/s	$ \pm 0.025g $
随机误差	$0.24 $ °/$\sqrt{\mathrm{h} } $	9 μm·$ \sqrt{\mathrm{h}}/\mathrm{s} $
比例因子误差	$\pm 0.82{\text{%}}$	$\pm 1.46{\text{%}}$

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表 2 采煤机定位误差最大值

Table 2. The maximum positioning error of shearer m

方向	定位误差最大值
方向	传统方法	本文方法
x	0.88	0.30
y	0.08	0.03
z	0.12	0.04

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