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基于惯性测量单元的刮板输送机形态监测

魏东 李祖旭 司垒 谭超 王忠宾 梁斌 肖俊鹏

魏东,李祖旭,司垒,等. 基于惯性测量单元的刮板输送机形态监测[J]. 工矿自动化,2023,49(8):37-52, 80.  doi: 10.13272/j.issn.1671-251x.2023010003
引用本文: 魏东,李祖旭,司垒,等. 基于惯性测量单元的刮板输送机形态监测[J]. 工矿自动化,2023,49(8):37-52, 80.  doi: 10.13272/j.issn.1671-251x.2023010003
WEI Dong, LI Zuxu, SI Lei, et al. Shape monitoring of scraper conveyor based on inertial measurement unit[J]. Journal of Mine Automation,2023,49(8):37-52, 80.  doi: 10.13272/j.issn.1671-251x.2023010003
Citation: WEI Dong, LI Zuxu, SI Lei, et al. Shape monitoring of scraper conveyor based on inertial measurement unit[J]. Journal of Mine Automation,2023,49(8):37-52, 80.  doi: 10.13272/j.issn.1671-251x.2023010003

基于惯性测量单元的刮板输送机形态监测

doi: 10.13272/j.issn.1671-251x.2023010003
基金项目: 中央高校基本科研业务费专项资金资助项目(2022QN1043)。
详细信息
    作者简介:

    魏东(1992—),男,辽宁阜新人,讲师,博士,研究方向为矿山装备智能化、煤矿人员安全保护,E-mail:weidongcmee@cumt.edu.cn

  • 中图分类号: TD634.2

Shape monitoring of scraper conveyor based on inertial measurement unit

  • 摘要: 刮板输送机作为综采工作面的核心运输装备,准确感知其形态是提升其带载能力、缓解传动冲击、改善综采工作面直线度的重要前提。目前常用的刮板输送机形态间接测量方法难以准确表征其形态,导致测量模型误差较大。针对该问题,采用惯性测量单元直接测量刮板输送机中部槽原始位姿信息,实现刮板输送机形态数据的准确获取。采用融合Heursure阈值规则和新阈值函数的小波阈值去噪方法滤除中部槽运动加速度信号中的噪声干扰,在此基础上分析了中部槽运动特征,设计了基于随机森林的中部槽运动状态识别模型,根据运动状态识别结果采用不同的策略更新中部槽位置,减小了随时间累计的IMU数据误差,提升了IMU位置解算精度。设计了改进哈里斯鹰优化(HHO)算法优化无迹卡尔曼滤波(UKF)进行中部槽姿态解算,通过实验验证了该方法解算的姿态角满足中部槽姿态测量要求。搭建了刮板输送机形态监测实验平台,对基于运动状态识别和改进HHO优化UKF的刮板输送机形态解算方法进行实验验证,结果表明:刮板输送机进行单次推溜且步距为250 mm时,由10节中部槽组成的刮板输送机在底板水平工况下,XY轴方向上位移的最大累计误差分别为6.4,8.4 mm,Z轴方向上位移始终保持不变,俯仰角、横滚角和航向角的最大累计误差分别为−0.148,−0.035,0.457º;在底板起伏工况下,XYZ轴方向上位移的最大累计误差分别为6.6,11.5,6.9 mm,俯仰角、横滚角和航向角的最大累计误差分别为−0.540,−0.157,0.817º。该方法可有效抑制累计误差,降低测量误差,实现刮板输送机形态的准确感知。

     

  • 图  1  中部槽位姿测量坐标系

    Figure  1.  Coordinate system for position and attitude measurement of middle trough

    图  2  刮板输送机形态测量坐标系

    Figure  2.  Coordinate system for shape measurement of scraper conveyor

    图  3  中部槽Y轴方向运动信息

    Figure  3.  Motion information of middle trough in Y-axis direction

    图  4  样本特征值

    Figure  4.  Eigenvalues of samples

    图  5  改进前后的收敛因子和逃逸能量对比

    Figure  5.  Comparison of convergence factor and escape energy before and after improvement

    图  6  基于改进HHO优化UKF的中部槽姿态解算流程

    Figure  6.  Flow of attitude calculation of middle trough based on UKF optimized by improved HHO

    图  7  中部槽姿态解算实验装置

    Figure  7.  Experimental equipment of attitude calculation of middle trough

    图  8  中部槽模型姿态解算实验结果

    Figure  8.  Experimental results of attitude calculation of middle trough model

    图  9  刮板输送机形态监测实验方案

    Figure  9.  Experimental scheme for shape monitoring of scrapper conveyor

    图  10  刮板输送机形态监测实验平台

    Figure  10.  Experimental platform for shape monitoring of scrapper conveyor

    图  11  底板水平工况下刮板输送机形态监测实验

    Figure  11.  Shape monitoring experiment of scrapper conveyor under the condition of horizontal floor

    图  12  底板水平工况下中部槽测量点位置

    Figure  12.  Measuring point position of middle trough under the condition of horizontal floor

    图  13  底板水平工况下测量点位置在XOY平面和XOZ平面的投影及误差

    Figure  13.  Projection and error of measuring point position on XOY and XOZ plane under the condition of horizontal floor

    图  14  底板水平工况下中部槽初始姿态角

    Figure  14.  The initial attitude angle of middle trough under the condition of horizontal floor

    图  15  底板水平工况下中部槽终止姿态角

    Figure  15.  The final attitude angle of middle trough under the condition of horizontal floor

    图  16  底板起伏工况下刮板输送机形态监测实验

    Figure  16.  Shape monitoring experiment of scrapper conveyor under the condition of undulating floor

    图  17  底板起伏工况下中部槽测量点位置

    Figure  17.  Measuring points position of middle trough under the condition of undulating floor

    图  18  底板起伏工况下测量点位置XOY平面和XOZ平面投影

    Figure  18.  Projection of measuring point position on XOY and XOZ plane under the condition of undulating floor

    图  19  测量点三轴方向的位置累计误差

    Figure  19.  Accumulated position error of measuring point in the three-axis direction

    图  20  底板起伏工况下中部槽初始姿态角

    Figure  20.  The initial attitude angles of middle trough under the condition of undulating floor

    图  21  底板起伏工况下中部槽终止姿态角

    Figure  21.  The final attitude angle of middle trough under the condition of undulating floor

    表  1  样本特征数据

    Table  1.   Feature data of samples

    序号F3F4F7F8
    10.696 40.652 90.046 00.409 7
    20.684 00.650 60.054 80.390 5
    1 0010.826 7−0.248 50.342 70.770 5
    2 0000.474 0−0.678 30.137 90.287 7
    下载: 导出CSV

    表  2  中部槽运动状态识别结果

    Table  2.   Recognition results of motion states of middle trough

    序号状态准确率/%
    1S1100
    2S296.4
    3S3100
    4S497.9
    下载: 导出CSV

    表  3  4种姿态解算算法的误差比较

    Table  3.   Error comparison of four attitude calculation algorithms (°)

    指标EKFUKFHHO优化UKF改进HHO优化UKF
    航向角最大误差0.4660.4370.4040.193
    平均绝对值误差0.2510.1980.1650.057
    横滚角最大误差−0.008−0.005−0.003−0.003
    平均绝对值误差0.0025.499×10−46.528×10−45.188×10−4
    俯仰角最大误差0.0250.0120.0110.010
    平均绝对值误差0.1030.0050.0015.805×10−4
    下载: 导出CSV
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  • 收稿日期:  2023-01-01
  • 修回日期:  2023-08-10
  • 网络出版日期:  2023-09-04

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